Vehicle control method, device, storage medium and equipment

Abstract

The present invention discloses a vehicle control method, device, storage medium and equipment for simplifying the application process of controlling vehicle braking. The method includes: determining whether there is a target vehicle in front of the current vehicle; there is a collision point between the target vehicle and the current vehicle. In the case that there is a target vehicle in front of the current vehicle, the maximum braking time of the current vehicle and the target driving time for the target vehicle to pass the collision point from the current position of the target vehicle are determined; the maximum braking time is the time when the driver of the current vehicle starts braking from the current position of the current vehicle with a preset maximum braking acceleration and reaches the collision point. If the maximum braking time is less than or equal to the target driving time, the current vehicle is controlled to brake at the maximum braking acceleration.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, device, storage medium and equipment. Background Art

[0002] An intersection is a flat intersection, that is, a place where two or more roads intersect at the same level. Intersections are prone to traffic accidents due to the crisscrossing of roads and the large number of vehicles.

[0003] When a vehicle reaches an intersection and determines that there is a risk of collision at the intersection, the method of controlling the vehicle to stop is as follows: technicians need to adapt the algorithm model according to the road environment in the early stage, and use high-precision maps to build models. The server calculates the warning grid occupied by each vehicle through the algorithm model based on the speed and position reported by each vehicle. If different vehicles occupy the same warning grid at a certain moment, the server determines that the vehicles will collide, and then controls the vehicles to stop.

[0004] However, in the application process of the above vehicle control method, a lot of calculation work is required to adapt the algorithm model to different regions and different road complexities, which will make the application process of controlling vehicle braking extremely complicated. Summary of the invention

[0005] The present invention provides a vehicle control method, device, storage medium and equipment for simplifying the application process of controlling vehicle braking.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme:

[0007] In a first aspect, a vehicle control method is provided. The method includes: determining whether there is a target vehicle in front of the current vehicle; there is a collision point between the target vehicle and the current vehicle. In the case that there is a target vehicle in front of the current vehicle, determining the maximum braking time of the current vehicle and the target driving time for the target vehicle to pass the collision point from the current position of the target vehicle; the maximum braking time is the time when the driver of the current vehicle starts braking at a preset maximum braking acceleration from the current position of the current vehicle to the collision point. In response to the maximum braking time being less than or equal to the target driving time, the current vehicle is controlled to brake at the maximum braking acceleration.

[0008] The present invention provides a vehicle control method. The method includes: according to the maximum braking time of the current vehicle and the target driving time of the target vehicle, the maximum braking time is the time it takes for the driver of the current vehicle to reach the collision point after starting braking at a preset maximum braking acceleration from the current position of the current vehicle. In this way, since the calculation process of the maximum braking time and the target driving time in the vehicle control method provided by the present invention is simple and the amount of calculation is small, there is no need to use an algorithm model to determine whether there is a risk of collision between the current vehicle and the target vehicle. When the maximum braking time is less than the target driving time, it can be easily determined that the two vehicles have collided, thereby controlling the current vehicle to brake at the maximum braking acceleration, which can greatly simplify the application process of controlling vehicle braking.

[0009] In a possible implementation, the above-mentioned "determining the maximum braking time of the current vehicle" includes: determining the stable braking time of the current vehicle; wherein the stable braking time is the time required for the current vehicle to reach the collision point after braking to the maximum braking acceleration and braking at the maximum braking acceleration. The sum of the preset braking processing time, the preset braking response time, the preset dynamic braking time and the stable braking time is determined as the maximum braking time; the braking processing time is the driver's reaction time, the braking response time is the response time of the current vehicle's braking, and the dynamic braking time is the time required for the current vehicle to brake from a non-braking state to the maximum braking acceleration.

[0010] In a possible implementation, the above “determining the stable braking time of the current vehicle” includes obtaining the speed of the current vehicle and the first distance from the current position of the current vehicle to the collision point. The stable braking time is determined according to the speed of the current vehicle, the first distance, the maximum braking acceleration, and the dynamic braking time.

[0011] In a possible implementation, the above “determining the target travel time” includes:

[0012] The speed of the target vehicle, the second distance from the current position of the target vehicle to the collision point, and the body length of the target vehicle are obtained. According to the speed of the target vehicle, the second distance, and the body length of the target vehicle, a target travel time is determined.

[0013] In a possible implementation, the method further includes: after controlling the current vehicle to brake at the maximum braking acceleration for a preset time, re-determining the maximum braking time to obtain an updated maximum braking time, and re-determining the target driving time to obtain an updated target driving time. In response to the updated maximum braking time being greater than the updated target driving time, canceling the braking of the current vehicle.

[0014] In a second aspect, a vehicle control device is provided, comprising: a determination unit and a control unit; the determination unit is used to determine whether there is a target vehicle in front of the current vehicle; there is a collision point between the target vehicle and the current vehicle. The determination unit is also used to determine the maximum braking time of the current vehicle and the target driving time for the target vehicle to pass the collision point from the current position of the target vehicle when there is a target vehicle in front of the current vehicle; the maximum braking time is the time when the driver of the current vehicle starts braking from the current position of the current vehicle with a preset maximum braking acceleration and reaches the collision point. The control unit is used to control the current vehicle to brake at the maximum braking acceleration in response to the maximum braking time being less than or equal to the target driving time.

[0015] In a possible implementation, the determination unit is specifically used to: determine the stable braking time of the current vehicle; wherein the stable braking time is the time required for the current vehicle to reach the collision point after braking to the maximum braking acceleration and braking at the maximum braking acceleration; the sum of a preset braking processing time, a preset braking response time, a preset dynamic braking time and the stable braking time is determined as the maximum braking time; the braking processing time is the driver's reaction time, the braking response time is the response time of the current vehicle's braking, and the dynamic braking time is the time required for the current vehicle to brake from a no-braking state to the maximum braking acceleration.

[0016] In a possible implementation, the determination unit is specifically used to: obtain the current vehicle speed and the first distance from the current position of the current vehicle to the collision point; and determine the stable braking time according to the current vehicle speed, the first distance, the maximum braking acceleration and the dynamic braking time.

[0017] In a possible implementation, the determination unit is specifically configured to obtain the speed of the target vehicle, the second distance from the current position of the target vehicle to the collision point, and the body length of the target vehicle, and determine the target travel time according to the speed of the target vehicle, the second distance, and the body length of the target vehicle.

[0018] In a possible implementation, the device further includes a canceling unit; a determining unit further configured to, after the preset time of controlling the current vehicle to brake at the maximum braking acceleration, redetermine the maximum braking time to obtain an updated maximum braking time, and redetermine the target driving time to obtain an updated target driving time. The canceling unit is configured to cancel the braking of the current vehicle in response to the updated maximum braking time being greater than the updated target driving time.

[0019] In a third aspect, an electronic device is provided, comprising: a processor, a memory and a communication interface; wherein the communication interface is used for communication between the communication device and other devices or networks; the memory is used to store one or more programs, the one or more programs including computer execution instructions, and when the electronic device is running, the processor executes the computer execution instructions stored in the memory to enable the electronic device to perform the vehicle control method as in the first aspect.

[0020] In a fourth aspect, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the vehicle control method of the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of a vehicle control system provided by an embodiment of the present invention;

[0022] Figure 2 One of the flow charts of a vehicle control method provided by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of a vehicle driving provided by an embodiment of the present invention;

[0024] Figure 4 A second flow chart of a vehicle control method provided by an embodiment of the present invention;

[0025] Figure 5 A third flow chart of a vehicle control method provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of a vehicle braking acceleration provided by an embodiment of the present invention;

[0027] Figure 7 A fourth flow chart of a vehicle control method provided by an embodiment of the present invention;

[0028] Figure 8 A fifth flow chart of a vehicle control method provided by an embodiment of the present invention;

[0029] Fig. 9 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention;

[0030] Fig.10 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in some embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments provided by the present disclosure, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present disclosure.

[0032] Unless the context requires otherwise, throughout the specification and claims, the term "comprise" and other forms thereof, such as the third person singular form "comprises" and the present participle form "comprising", are to be interpreted as open, inclusive, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific example" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner.

[0033] Unless the context requires otherwise, throughout the specification and claims, the term "include" and its other forms, such as the third person singular form "include" and the present participle form "include", are interpreted as open and inclusive, that is, "including, but not limited to". That is, "include" or "include" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" are intended to indicate that specific features, structures, materials or characteristics related to the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics described may be included in any one or more embodiments or examples in any appropriate manner.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0035] In the description of the present invention, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is only a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0036] As used herein, the term "if" is optionally interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined that" or "if [a stated condition or event] is detected" are optionally interpreted to mean "upon determining that" or "in response to determining that" or "upon detecting [a stated condition or event]" or "in response to detecting [a stated condition or event]," depending on the context.

[0037] The use of "adapted to" or "configured to" herein is meant to be open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps.

[0038] Additionally, the use of “based on” is meant to be open and inclusive, as a process, step, calculation, or other action “based on” one or more stated conditions or values ​​may, in practice, be based on additional conditions or values ​​beyond those stated.

[0039] The inventive concept of the present invention is introduced below:

[0040] An intersection is a flat intersection, that is, a place where two or more roads intersect at the same level. Intersections are prone to traffic accidents due to the crisscrossing of roads and the large number of vehicles.

[0041] Currently, when a vehicle drives to an intersection and determines that there is a risk of collision at the intersection, the method of controlling the vehicle to stop driving is: for different regions and roads of different complexity, technicians need to do a lot of algorithm model adaptation work in the early stage, and need to use high-precision maps for modeling. The server calculates the warning grid occupied by each vehicle through the algorithm model based on the speed and position reported by each vehicle. If at a certain moment, different vehicles occupy the same warning grid, the server determines that there is a risk of collision between the vehicles, and then controls the vehicle to stop driving. This makes the process of controlling the driving of vehicles with a risk of collision complicated.

[0042] In view of the above problems, the present invention provides a vehicle control method. The method includes: according to the maximum braking time of the current vehicle and the target driving time of the target vehicle, the maximum braking time is the time it takes for the driver of the current vehicle to reach the collision point from the current position of the current vehicle with a preset maximum braking acceleration. In this way, since the calculation process of the maximum braking time and the target driving time in the vehicle control method provided by the present invention is simple and the amount of calculation is small, there is no need to use an algorithm model to determine whether there is a risk of collision between the current vehicle and the target vehicle. When the maximum braking time is less than the target driving time, it can be easily determined that the two vehicles have collided, thereby controlling the current vehicle to brake with the maximum braking acceleration, which can greatly simplify the application process of controlling vehicle braking.

[0043] Based on the above inventive concept, the vehicle control method provided by the embodiment of the present invention can be applied to the vehicle control system 10 . Figure 1 FIG. 1 shows a schematic diagram of the structure of the vehicle control system 10. Figure 1 As shown, the vehicle control system 10 can simplify the work of determining whether there is a collision risk between intersecting vehicles. The vehicle control system 10 includes an electronic device 11, a vehicle 1 and a vehicle 2. The electronic device 11 can be connected to the vehicle 1 and the vehicle 2 in a wireless manner.

[0044] The electronic device 11 may be a server or other device that implements the determination method of the present invention, which is not limited in this application. For example, the electronic device 11 may be a mobile terminal or a personal computer (PC), a tablet computer, a laptop computer, etc. used by a user.

[0045] The electronic device 11 may include a communication module and a storage module. The communication module is used to communicate with the vehicle 1 and the vehicle 2. The storage module is used to store map data.

[0046] Vehicle 1 and vehicle 2 may include a storage module, a steering angle sensor, and a speed sensor. The storage module is used to store map data.

[0047] The system architecture and business scenarios described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. A person of ordinary skill in the art can appreciate that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present invention are equally applicable to similar technical problems.

[0048] The vehicle control method provided by the embodiment of the present invention is described below. Among them, the actions, terms, etc. involved in the various embodiments of the present invention can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiment of the present invention is only an example, and other names can also be used in the specific implementation without limitation.

[0049] A vehicle control method provided by an embodiment of the present invention can simplify the work of determining whether there is a collision risk between intersecting vehicles. Figure 2 As shown, the method includes the following S201-S204.

[0050] S201. The electronic device determines whether there is a target vehicle in front of the current vehicle.

[0051] Among them, there is a collision point between the target vehicle and the current vehicle.

[0052] As a possible implementation method, the electronic device obtains the position of the current vehicle and the position of the intersecting vehicle, and locates the current vehicle and the intersecting vehicle based on the position of the current vehicle, the position of the intersecting vehicle and the map data in the storage module. Further, the electronic device determines that the current vehicle and the intersecting vehicle are located at the same intersection, and requests the speed and steering angle reported by the current vehicle and the intersecting vehicle respectively. Subsequently, the electronic device determines whether the current vehicle and the intersecting vehicle intersect at a point based on the position, speed and steering angle reported by the current vehicle and the intersecting vehicle respectively. If the current vehicle and the intersecting vehicle intersect at a point, the electronic device determines that the intersecting vehicle is the target vehicle in front of the current vehicle.

[0053] In some embodiments, the current vehicle obtains its own position in real time / periodically, and locates its own position through the map in the storage module. When the current vehicle determines that it is located at an intersection, the current vehicle reports the current position, speed and current steering angle. The merging vehicle obtains its own position in real time / periodically, and locates its own position through the map in the storage module. When the merging vehicle determines that it is located at an intersection, the merging vehicle reports the current position, speed and current steering angle. Correspondingly, the electronic device obtains the current position, speed and current steering angle reported by the current vehicle and the merging vehicle respectively, and locates the current vehicle and the merging vehicle according to the current position of the current vehicle, the current position of the merging vehicle and the map data in the storage module. Further, the electronic device determines that the current vehicle and the merging vehicle are located at the same intersection, and based on the current position, speed and steering angle reported by the current vehicle and the merging vehicle respectively, determines whether the current vehicle and the merging vehicle intersect at a point. If the current vehicle and the merging vehicle intersect at a point, the electronic device determines that the merging vehicle is the target vehicle in front of the current vehicle.

[0054] For example, Figure 3 As shown, the current position of the current vehicle is obtained as A(x1, y1) through the positioning system, the current steering angle is θ1 through the steering angle sensor, and the current speed is V1 through the speed sensor. The current position of the intersecting vehicle is obtained as B(x2, y2) through the positioning system, the current steering angle is θ2 through the steering angle sensor, and the current speed is V2 through the speed sensor. Furthermore, the current vehicle reports A(x1, y1), θ1 and V1 to the electronic device through the communication module. The intersecting vehicle reports B(x2, y2), θ2 and V2 to the electronic device through the communication module. Subsequently, the electronic device determines that the current vehicle and the intersecting vehicle will intersect at M(x m ,y m ). Finally, the electronic device determines that the merging vehicle is the target vehicle of the current vehicle.

[0055] S202: When there is a target vehicle in front of the current vehicle, the electronic device determines a maximum braking time of the current vehicle and a target driving time for the target vehicle to pass the collision point from the current position of the target vehicle.

[0056] The maximum braking time is the time it takes for the driver of the current vehicle to reach the collision point after starting braking at a preset maximum braking acceleration from the current position of the current vehicle.

[0057] As a possible implementation method, after obtaining that there is a target vehicle in front of the current vehicle, the electronic device obtains the preset braking processing time, the preset braking response time, the preset dynamic braking time and the stable braking time of the current vehicle, and determines the sum of the preset braking processing time, the preset braking response time, the preset dynamic braking time and the stable braking time as the maximum braking time. In addition, the electronic device determines the target driving time for the target vehicle to pass the collision point from the current position of the target vehicle based on the current position of the target vehicle, the position of the collision point, the body length and the speed.

[0058] For the specific implementation of this step, please refer to the subsequent description of the embodiment of the present invention, which will not be repeated here.

[0059] S203: The electronic device determines whether the maximum braking time is less than the target driving time.

[0060] As a possible implementation method, the electronic device obtains the maximum braking time and the target driving time, and determines whether the maximum braking time is less than the target driving time.

[0061] S204: In response to the maximum braking time being less than or equal to the target driving time, the electronic device controls the current vehicle to brake at the maximum braking acceleration.

[0062] As a possible implementation method, when the maximum braking time is less than or equal to the target driving time, the electronic device sends a control message to the current vehicle through the communication module to brake at the maximum braking acceleration. Correspondingly, the current vehicle receives the control message sent by the electronic device and brakes at the maximum braking acceleration.

[0063] The present invention provides a vehicle control method. The method includes: according to the maximum braking time of the current vehicle and the target driving time of the target vehicle, the maximum braking time is the time it takes for the driver of the current vehicle to reach the collision point after starting braking at a preset maximum braking acceleration from the current position of the current vehicle. In this way, since the calculation process of the maximum braking time and the target driving time in the vehicle control method provided by the present invention is simple and the amount of calculation is small, there is no need to use an algorithm model to determine whether there is a risk of collision between the current vehicle and the target vehicle. When the maximum braking time is less than the target driving time, it can be easily determined that the two vehicles have collided, thereby controlling the current vehicle to brake at the maximum braking acceleration, which can greatly simplify the application process of controlling vehicle braking.

[0064] In one design, in order to maintain the smoothness of the current vehicle driving, a vehicle control method provided by an embodiment of the present invention also includes the following S205.

[0065] S205: If the maximum braking time is greater than the target driving time, the electronic device controls the current vehicle to travel at the current vehicle speed.

[0066] As a possible implementation method, when the maximum braking time is greater than the target driving time, the electronic device sends a control message to the current vehicle through the communication module to drive at the speed of the current vehicle. Correspondingly, the current vehicle receives the control message sent by the electronic device and brakes at the speed of the current vehicle.

[0067] In one design, in order to improve the accuracy of judging whether there is a collision risk between intersecting vehicles, such as Figure 4 As shown, S202 provided in this embodiment of the present invention specifically includes the following S2021-S2022.

[0068] S2021. The electronic device determines the current stable braking time of the vehicle.

[0069] The stable braking time is the time required for the current vehicle to reach the collision point after braking to the maximum braking acceleration and braking at the maximum braking acceleration.

[0070] As a possible implementation method, the electronic device obtains a preset braking processing time, a preset braking response time, and a preset dynamic braking time, and determines the distance traveled by the current vehicle in the preset braking processing time, the preset braking response time, and the preset dynamic braking time based on the preset braking processing time, the preset braking response time, and the preset dynamic braking time. Further, the electronic device adds the distance traveled by the current vehicle in the preset braking processing time, the preset braking response time, and the preset dynamic braking time to obtain a first driving distance, and calculates the distance from the current position of the current vehicle to the position inspection of the collision point, which is recorded as a second distance. Subsequently, the electronic device subtracts the first driving distance from the second distance to obtain a third driving distance, and determines the stable braking time of the current vehicle based on the third driving distance and parameters such as the maximum acceleration of the current vehicle.

[0071] Specifically, the electronic device determines the first vehicle speed when the current vehicle brakes to the maximum braking acceleration based on the current vehicle speed, the preset dynamic braking time and the maximum braking acceleration. Further, the electronic device determines the stable braking time of the current vehicle based on the first vehicle speed, the third driving distance and the maximum acceleration of the current vehicle.

[0072] Among them, the braking processing time is the driver's reaction time, the braking response time is the response time of the current vehicle braking, and the dynamic braking time is the time required for the current vehicle to brake from a no-braking state to the maximum braking acceleration.

[0073] It should be noted that the maximum braking acceleration, the preset braking processing time, the preset braking response time and the preset dynamic braking time can be stored in advance in the storage module of the electronic device by the operation and maintenance personnel.

[0074] For the specific implementation of this step, please refer to the subsequent description of the embodiment of the present invention, which will not be repeated here.

[0075] S2022: The electronic device determines the sum of the preset braking processing time, the preset braking response time, the preset dynamic braking time and the stable braking time as the maximum braking time.

[0076] As a possible implementation method, the electronic device obtains a preset braking processing time, a preset braking response time, a preset dynamic braking time and a stable braking time, and adds the preset braking processing time, the preset braking response time, the preset dynamic braking time and the stable braking time to obtain a maximum braking time.

[0077] In one design, in order to determine the current vehicle's stable braking time, such as Figure 5 As shown, S2021 provided in this embodiment of the present invention specifically includes the following S301-S308.

[0078] S301. The electronic device obtains a preset braking processing time.

[0079] It should be noted that when the vehicle is an unmanned vehicle, the braking processing time is the time required for the current vehicle to send the vehicle speed, current position and current direction angle to the electronic device and the current vehicle to receive the control message from the vehicle to brake with the maximum braking acceleration. When the vehicle is a manned vehicle, the braking processing time is the time required for the driver to brake after the current vehicle sends the vehicle speed, current position and current direction angle to the electronic device and the current vehicle receives the control message from the vehicle to brake with the maximum braking acceleration.

[0080] S302: The electronic device obtains a distance traveled by the current vehicle within the preset braking processing time based on the preset braking processing time and the current speed of the current vehicle.

[0081] As a possible implementation method, the electronic device presets the braking processing time, the current speed of the current vehicle and a distance formula to obtain the distance traveled by the current vehicle in the preset braking processing time.

[0082] Specifically, the electronic device uses the preset braking processing time, the current speed of the current vehicle and the first distance formula to obtain the distance traveled by the current vehicle within the preset braking processing time.

[0083] The first distance formula can be expressed as the following formula 1:

[0084] S a =v1×t a Formula 1

[0085] Among them, S a is the distance traveled by the current vehicle within the preset braking processing time, v1 is the speed of the current vehicle, and t a It is the preset braking processing time.

[0086] S303: The electronic device obtains a preset braking response time.

[0087] S304: The electronic device obtains a distance traveled by the current vehicle within the preset braking response time based on the preset braking response time and the current speed of the current vehicle.

[0088] Specifically, the electronic device uses the preset braking response time, the current speed of the current vehicle and the first distance formula to obtain the distance traveled by the current vehicle within the preset braking response time.

[0089] The above first distance formula can be expressed as the following formula 2:

[0090] S b =v1×t b Formula 2

[0091] Among them, S b is the distance traveled by the current vehicle within the preset braking response time, v1 is the current vehicle speed, t b It is the preset braking processing time.

[0092] S305: The electronic device obtains a preset dynamic braking time and a maximum braking acceleration of the current vehicle.

[0093] As a possible implementation method, the current vehicle sends the maximum braking acceleration to the electronic device through the communication module. Correspondingly, the electronic device obtains the maximum braking acceleration of the current vehicle.

[0094] S306: The electronic device obtains a distance traveled by the current vehicle within the preset dynamic braking time based on the preset dynamic braking time and the maximum braking acceleration of the current vehicle.

[0095] Specifically, the electronic device obtains the acceleration of the current vehicle according to the preset dynamic braking time, the maximum braking acceleration of the current vehicle and the acceleration formula.

[0096] The above acceleration formula can be expressed as the following formula 3:

[0097]

[0098] Among them, a is the braking acceleration of the current vehicle, a max is the current maximum braking acceleration of the vehicle, t c is the preset dynamic braking time, and t1 is the time variable for the current vehicle to brake from the no-braking state to the maximum braking acceleration.

[0099] Furthermore, the electronic device obtains the driving speed of the current vehicle when it is braked to within the maximum braking acceleration according to the preset dynamic braking time, the maximum braking acceleration of the current vehicle and the speed formula.

[0100] The above speed formula can be expressed as the following formula 4:

[0101]

[0102] Wherein, V is the current vehicle speed within the maximum braking acceleration, a max is the current maximum braking acceleration of the vehicle, t c is the preset dynamic braking time, t1 is the time variable for the current vehicle to brake from the no-braking state to the maximum braking acceleration, and v1 is the current vehicle speed.

[0103] Subsequently, the electronic device obtains the distance traveled by the current vehicle within a preset dynamic braking time according to the current vehicle acceleration, the current vehicle speed when braked to the maximum braking acceleration, and the second distance formula.

[0104] The second distance formula can be expressed as the following formula 5:

[0105]

[0106] Among them, S c is the driving distance within the preset dynamic braking time, a max is the current maximum braking acceleration of the vehicle, t c is the preset dynamic braking time, and v1 is the current vehicle speed.

[0107] S307. The electronic device obtains the distance traveled by the current vehicle within the stable braking time.

[0108] Specifically, the electronic device obtains the driving speed of the current vehicle when the vehicle is braked to the maximum braking acceleration according to the preset dynamic braking time, the maximum braking acceleration of the current vehicle and the speed formula.

[0109] The above speed formula can be expressed as the following formula 6:

[0110]

[0111] Among them, v cis the current vehicle speed when braking to the maximum braking acceleration, a max is the current maximum braking acceleration of the vehicle, t c is the preset dynamic braking time, and v1 is the current vehicle speed.

[0112] Furthermore, the electronic device obtains the distance traveled by the vehicle within the stable braking time based on the current vehicle's driving speed when braking to the maximum braking acceleration, the current vehicle's maximum braking acceleration and a deceleration distance formula.

[0113] The above deceleration distance formula can be expressed as the following formula 7:

[0114]

[0115] Among them, S d is the distance traveled by the current vehicle during the stable braking time, a max is the current maximum braking acceleration of the vehicle, t c is the preset dynamic braking time, and v1 is the current vehicle speed.

[0116] S308. The electronic device obtains the current stable braking time of the vehicle.

[0117] As a possible implementation method, the electronic device obtains a first distance from the current vehicle to the collision point, and obtains the distance traveled by the current vehicle in the stable braking time based on the distance traveled by the current vehicle in the preset braking processing time, the distance traveled in the preset braking response time, and the distance traveled in the preset dynamic braking time.

[0118] The distance traveled by the current vehicle during the stable braking time can be specifically expressed as the following formula 8:

[0119]

[0120] Among them, l 当前 is the first distance, S a is the distance traveled by the current vehicle within the preset braking processing time, S b is the distance traveled by the current vehicle within the preset braking response time, S c is the distance traveled by the current vehicle within the preset dynamic braking time, a max is the current maximum braking acceleration of the vehicle, t c is the preset dynamic braking time, v1 is the current vehicle speed, and t2 is the time variable of the current vehicle in the stable braking time.

[0121] Furthermore, the electronic device obtains the stable braking time based on the distance traveled by the current vehicle during the stable braking time, the current vehicle speed when braking to the maximum braking acceleration, and the maximum braking acceleration.

[0122] The stable braking time can be specifically expressed as the following formula 9:

[0123]

[0124] Among them, t d is the stable braking time, a max is the current maximum braking acceleration of the vehicle, t c is the preset dynamic braking time, v1 is the current vehicle speed, l 当前 is the first distance, S a is the distance traveled by the current vehicle within the preset braking processing time, S b is the distance traveled by the current vehicle within the preset braking response time, S c It is the distance traveled by the current vehicle within the preset dynamic braking time.

[0125] In order to facilitate understanding of the preset braking processing time, the preset braking response time, the preset dynamic braking time and the stable braking time in the above embodiments, Figure 6 A schematic diagram showing the braking process of the vehicle control method provided in the present application is shown.

[0126] In one design, in order to determine the target travel time for the target vehicle to pass the collision point from the current position of the target vehicle, such as Figure 7 As shown, S202 provided in the embodiment of the present invention further specifically includes the following S2023-S2024.

[0127] S2023. The electronic device determines a second distance from the current position of the target vehicle to the collision point, the speed of the target vehicle, and the body length of the target vehicle.

[0128] S2024: The electronic device determines a target travel time for the target vehicle to pass through the collision point from the current position of the target vehicle based on the second distance, the speed of the target vehicle, and the body length of the target vehicle.

[0129] Specifically, the electronic device divides the second distance by the speed of the target vehicle to obtain the first time, and divides the vehicle length by the speed of the target vehicle to obtain the second time. Further, the electronic device adds the first time and the second time to obtain the target travel time for the target vehicle to pass the collision point from the current position of the target vehicle.

[0130] Currently, when the current vehicle determines that a target vehicle appears at an intersection, the current vehicle will perform emergency braking until the current vehicle is stopped by emergency braking. After determining that the target vehicle has passed the intersection, the current vehicle will start again. This not only fails to ensure the safe driving experience of the passengers, but also hinders the smooth operation of the current vehicle.

[0131] In one design, in order to avoid the current vehicle from colliding with the target vehicle while maintaining the smoothness of the current vehicle's driving, Figure 8 As shown, a vehicle control method provided by the present invention also includes the following S206-S207.

[0132] S206. After controlling the current vehicle to brake at the maximum braking acceleration for a preset time, the electronic device redetermines the maximum braking time to obtain an updated maximum braking time, and redetermines the target driving time to obtain an updated target driving time.

[0133] S207: In response to the updated maximum braking time being greater than the updated target driving time, the electronic device cancels braking of the current vehicle.

[0134] Specifically, the electronic device decelerates the speed of the current vehicle, and if the updated maximum braking time is greater than the updated target driving time, the braking of the current vehicle is cancelled.

[0135] Combining formula 9, we get formula 10:

[0136]

[0137] Among them, t a is the preset braking processing time, t b is the preset braking response time, t c is the preset dynamic braking time, t d is the stable braking time, l 当前 is the first distance, S a is the distance traveled by the current vehicle within the preset braking processing time, S b is the distance traveled by the current vehicle within the preset braking response time, S c is the distance traveled by the current vehicle within the preset dynamic braking time, a max is the current maximum braking acceleration of the vehicle, t c is the preset dynamic braking time, v1 is the speed of the current vehicle, V2 is the speed of the target vehicle, l 目标 is the second distance, l 长 is the body length of the target vehicle, For the first time, is the second time and Δt is the time margin.

[0138] In another case, in order to avoid the current vehicle from colliding with the target vehicle while maintaining the smoothness of the current vehicle's driving. The embodiment of the present application can also provide another vehicle control method: when the current vehicle determines that there is a target vehicle at the intersection, the electronic device controls the current vehicle to travel at a preset deceleration, and calculates in real time or periodically whether there is a collision point with the target vehicle. Specifically, the electronic device controls the current vehicle to decelerate at a preset deceleration, obtains the position of the current vehicle and the position of the target vehicle after the preset deceleration time, and locates the current vehicle and the target vehicle according to the position of the current vehicle, the position of the target vehicle and the map data in the storage module. Further, the electronic device determines whether the current vehicle and the intersecting vehicle meet at a point based on the position, speed and steering angle reported by the current vehicle and the target vehicle respectively. If the current vehicle and the intersecting vehicle do not meet at a point, the electronic device determines that the current vehicle has avoided the target vehicle. Subsequently, the electronic device controls the current vehicle to travel at the decelerated speed.

[0139] It should be noted that the preset deceleration rate and the preset deceleration time are set in advance in the electronic device by the operation and maintenance personnel. The embodiment of the present application does not limit the numerical values ​​of the preset deceleration rate and the preset deceleration time.

[0140] Understandably, the current vehicle's t d To stabilize the braking time, it is related to the speed of the current vehicle. After the electronic device controls the current vehicle to brake at the maximum braking acceleration, the speed of the current vehicle will decrease. After the electronic device controls the current vehicle to brake at the maximum braking acceleration for a preset time, it redetermines the maximum braking time to obtain an updated maximum braking time, and redetermines the target driving time to obtain an updated target driving time. If the updated maximum braking time is greater than the updated target driving time, the electronic device cancels the braking of the current vehicle. In this way, the electronic device again controls the maximum braking time to be greater than the target driving time, and the current vehicle travels at the decelerated speed without emergency braking to a stop state. In this way, both the safe driving experience of the passengers and the smooth operation of the current vehicle are guaranteed.

[0141] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the method. In order to achieve the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present invention.

[0142] The embodiment of the present invention can divide the functional modules of the above-mentioned device according to the above-mentioned method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. Optionally, the division of modules in the embodiment of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0143] Fig. 9 FIG. 1 is a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention. Fig. 9 As shown, the vehicle control device 40 may be located in the above electronic device. The vehicle control device 40 includes: a determination unit 401 and a control unit 402.

[0144] The determination unit 401 is used to determine whether there is a target vehicle in front of the current vehicle; there is a collision point between the target vehicle and the current vehicle.

[0145] The determination unit 401 is also used to determine the maximum braking time of the current vehicle and the target driving time for the target vehicle to pass the collision point from the current position of the target vehicle when there is a target vehicle in front of the current vehicle; the maximum braking time is the time it takes for the driver of the current vehicle to reach the collision point after starting braking from the current position of the current vehicle with a preset maximum braking acceleration.

[0146] The control unit 402 is used to control the current vehicle to brake at a maximum braking acceleration in response to the maximum braking time being less than or equal to the target driving time.

[0147] Optionally, the determination unit 401 is specifically used to: determine the stable braking time of the current vehicle; wherein the stable braking time is the time required for the current vehicle to reach the collision point after braking to the maximum braking acceleration and braking at the maximum braking acceleration. The sum of the preset braking processing time, the preset braking response time, the preset dynamic braking time and the stable braking time is determined as the maximum braking time; the braking processing time is the driver's reaction time, the braking response time is the response time of the current vehicle's braking, and the dynamic braking time is the time required for the current vehicle to brake from a non-braking state to the maximum braking acceleration.

[0148] Optionally, the determination unit 401 is specifically used to: obtain the current vehicle speed and the first distance from the current position of the current vehicle to the collision point; determine the stable braking time according to the current vehicle speed, the first distance, the maximum braking acceleration and the dynamic braking time.

[0149] Optionally, the determination unit 401 is specifically configured to: obtain the speed of the target vehicle, the second distance from the current position of the target vehicle to the collision point, and the body length of the target vehicle, and determine the target travel time according to the speed of the target vehicle, the second distance, and the body length of the target vehicle.

[0150] Optionally, the vehicle control device 40 further includes a cancellation unit 403 .

[0151] The determination unit 401 is also used to redetermine the maximum braking time after controlling the current vehicle to brake at the maximum braking acceleration for a preset time to obtain an updated maximum braking time, and to redetermine the target driving time to obtain an updated target driving time.

[0152] The cancelling unit 403 is configured to cancel braking of the current vehicle in response to the updated maximum braking time being greater than the updated target travel time.

[0153] In the case of implementing the functions of the above-mentioned integrated modules in the form of hardware, the embodiment of the present invention provides a possible structural diagram of the electronic device involved in the above-mentioned embodiment. Fig.10 As shown, the electronic device 50 includes a processor 501, a memory 502 and a bus 503. The processor 501 and the memory 502 may be connected via the bus 503.

[0154] The processor 501 is the control center of the communication device, which can be a processor or a general term for multiple processing elements. For example, the processor 501 can be a general-purpose central processing unit (CPU) or other general-purpose processors. Among them, the general-purpose processor can be a microprocessor or any conventional processor.

[0155] As an embodiment, the processor 501 may include one or more CPUs, such as Fig.10 CPU 0 and CPU 1 are shown in .

[0156] The memory 502 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0157] As a possible implementation, the memory 502 may exist independently of the processor 501, and the memory 502 may be connected to the processor 501 via a bus 503, and is used to store instructions or program codes. When the processor 501 calls and executes the instructions or program codes stored in the memory 502, the sensor determination method provided in the embodiment of the present invention can be implemented.

[0158] In another possible implementation, the memory 502 may also be integrated with the processor 501 .

[0159] The bus 503 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0160] It should be pointed out that Fig.10 The structure shown does not constitute a limitation on the electronic device 50. In addition to the components shown in FIG10, the electronic device 50 may include more or fewer components than shown in the figure, or combine some components, or arrange the components differently.

[0161] As an example, combining Fig. 9The functions implemented by the determination unit 401 and the cancellation unit 403 in the vehicle control device 40 are similar to those Fig.10 The function of processor 501 in is the same.

[0162] Optionally, the electronic device 50 provided by the embodiment of the present invention may further include a communication interface 504 .

[0163] The communication interface 504 is used to connect with other devices through a communication network. The communication network may be Ethernet, wireless access network, wireless local area network (WLAN), etc. The communication interface 504 may include a receiving unit for receiving data and a sending unit for sending data.

[0164] In one design, in the electronic device provided by an embodiment of the present invention, the communication interface may also be integrated into the processor.

[0165] In another hardware structure of an electronic device provided by an embodiment of the present invention, the electronic device may include a processor and a communication interface. The processor is coupled to the communication interface.

[0166] The functions of the processor may refer to the description of the above processor. In addition, the processor also has a storage function, which may refer to the function of the above memory.

[0167] The communication interface is used to provide data to the processor. The communication interface can be an internal interface of the communication device or an external interface of the communication device.

[0168] It should be pointed out that the above-mentioned another hardware structure does not constitute a limitation on the electronic device. In addition to the above-mentioned another hardware component, the electronic device may include more or fewer components, or a combination of certain components, or different component arrangements.

[0169] Through the description of the above implementation methods, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units is used as an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0170] An embodiment of the present invention further provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes each step in the vehicle control method process shown in the above method embodiment.

[0171] An embodiment of the present invention further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the vehicle control method in the above method embodiment.

[0172] Among them, the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, and a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any other form of computer-readable storage medium in a suitable combination of the above, or numerical values ​​in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuit (ASIC). In embodiments of the present invention, computer-readable storage media may be any tangible media that contains or stores a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0173] Since the electronic device, computer-readable storage medium, and computer program product in the embodiments of the present invention can be applied to the above method, the technical effects that can be obtained can also refer to the above method embodiments, and the embodiments of the present invention will not be described in detail here.

[0174] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Determine whether there is a target vehicle in front of the current vehicle; There is a collision point between the target vehicle and the current vehicle; In the case where the target vehicle is in front of the current vehicle, determining a maximum braking time of the current vehicle and a target travel time for the target vehicle to pass the collision point from the current position of the target vehicle; The maximum braking time is the time it takes for the driver of the current vehicle to reach the collision point after starting braking at a preset maximum braking acceleration from the current position of the current vehicle; In response to the maximum braking time being less than or equal to the target travel time, controlling the current vehicle to brake at the maximum braking acceleration; After controlling the current vehicle to brake at the maximum braking acceleration for a preset time, re-determining the maximum braking time to obtain the updated maximum braking time, and re-determining the target driving time to obtain the updated target driving time; In response to the updated maximum braking time being greater than the updated target travel time, braking of the current vehicle is canceled.

2. The method according to claim 1, characterized in that The determining the maximum braking time of the current vehicle comprises: Determine the stable braking time of the current vehicle; wherein the stable braking time is the time required for the current vehicle to reach the collision point after braking to the maximum braking acceleration and braking at the maximum braking acceleration; The sum of a preset braking processing time, a preset braking response time, a preset dynamic braking time and the stable braking time is determined as the maximum braking time; the braking processing time is the driver's reaction time, the braking response time is the response time of the current vehicle braking, and the dynamic braking time is the time required for the current vehicle to brake from a no-braking state to the maximum braking acceleration.

3. The method according to claim 2, characterized in that The determining of the stable braking time of the current vehicle comprises: Acquire the speed of the current vehicle and a first distance from the current position of the current vehicle to the collision point; The stable braking time is determined according to the current vehicle speed, the first distance, the maximum braking acceleration, and the dynamic braking time.

4. The method according to claim 1, characterized in that: Determining the target travel time includes: Acquire the speed of the target vehicle, the second distance from the current position of the target vehicle to the collision point, and the body length of the target vehicle; The target driving time is determined according to the speed of the target vehicle, the second distance, and the body length of the target vehicle.

5. A vehicle control device, characterized in that: include: Determine unit, control unit and cancel unit; The determination unit is used to determine whether there is a target vehicle in front of the current vehicle; There is a collision point between the target vehicle and the current vehicle; The determination unit is further configured to determine, when the target vehicle is present in front of the current vehicle, a maximum braking time of the current vehicle and a target travel time for the target vehicle to pass through the collision point from the current position of the target vehicle; The maximum braking time is the time it takes for the driver of the current vehicle to reach the collision point after starting braking at a preset maximum braking acceleration from the current position of the current vehicle; The control unit is configured to control the current vehicle to brake at the maximum braking acceleration in response to the maximum braking time being less than or equal to the target driving time; The determination unit is further configured to, after controlling the current vehicle to brake at the maximum braking acceleration for a preset time, redetermine the maximum braking time to obtain the updated maximum braking time, and redetermine the target driving time to obtain the updated target driving time; The cancelling unit is used to cancel the braking of the current vehicle in response to the updated maximum braking time being greater than the updated target travel time.

6. The device according to claim 5, characterized in that The determining unit is specifically configured to: Determine the stable braking time of the current vehicle; wherein the stable braking time is the time required for the current vehicle to reach the collision point after braking to the maximum braking acceleration and braking at the maximum braking acceleration; The sum of a preset braking processing time, a preset braking response time, a preset dynamic braking time and the stable braking time is determined as the maximum braking time; the braking processing time is the driver's reaction time, the braking response time is the response time of the current vehicle braking, and the dynamic braking time is the time required for the current vehicle to brake from a no-braking state to the maximum braking acceleration.

7. The device according to claim 6, characterized in that The determining unit is specifically configured to: Acquire the speed of the current vehicle and a first distance from the current position of the current vehicle to the collision point; The stable braking time is determined according to the current vehicle speed, the first distance, the maximum braking acceleration, and the dynamic braking time.

8. The device according to claim 7, characterized in that The determining unit is specifically configured to: Acquire the speed of the target vehicle, the second distance from the current position of the target vehicle to the collision point, and the body length of the target vehicle; The target driving time is determined according to the speed of the target vehicle, the second distance, and the body length of the target vehicle.

9. An electronic device, characterized in that: include: A processor, a memory and a communication interface; wherein the communication interface is used for the communication device to communicate with other devices or networks; The memory is used to store one or more programs, which include computer-executable instructions. When the electronic device is running, the processor executes the computer-executable instructions stored in the memory to enable the electronic device to perform the vehicle control method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the vehicle control method according to any one of claims 1 to 4 is implemented.

Images