A method for correcting the position of a following vehicle and related equipment

Abstract

The embodiment of the present application provides a method for correcting the position of a following vehicle, including: obtaining image information of a preceding vehicle; determining the vehicle type information of the preceding vehicle based on the image information of the preceding vehicle; determining the modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle; selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information; and correcting the following position of the current vehicle according to the three-dimensional flow field simulation modification model. In this way, by obtaining the modification information of the preceding vehicle and the vehicle type information of the preceding vehicle, determining the three-dimensional flow field simulation modification model of the preceding vehicle based on the modification information and the vehicle type information of the preceding vehicle, and correcting the following position of the current vehicle based on the three-dimensional flow field simulation modification model of the preceding vehicle, the following position of the current vehicle is controlled to be within the negative pressure area of ​​the tail vortex of the preceding vehicle, thereby improving fuel economy.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method for correcting the position of a following vehicle and related equipment. Background Art

[0002] When vehicles are traveling in platoon, a tail vortex negative pressure area can be formed behind the leading vehicle. The total pressure in the above tail vortex negative pressure area is relatively small. As the following distance shortens, the influence of the tail vortex negative pressure area of ​​the leading vehicle on the following vehicle becomes greater, and the drag reduction effect becomes better. Therefore, the following vehicle can be controlled to travel in the above tail vortex negative pressure area of ​​the leading vehicle to reduce the pressure difference resistance, thereby achieving economical driving with low energy consumption, low pollution and high fuel efficiency.

[0003] However, in order to improve fuel economy, the current vehicle formation driving method usually controls the vehicle to drive in the same lane and at a close following distance as the vehicle in front. On the one hand, it ignores the requirements of current regulations on following distance. On the other hand, when the vehicle is driving on the road, the angle of the air flow around the vehicle body is usually close to 0 rather than 0. The non-zero deflection wind environment around the vehicle body also has a certain impact on the flow field of the vehicles traveling in the formation. The current method for determining the vehicle formation driving does not consider the impact of the angle of the air flow on the negative pressure area of ​​the vehicle's tail vortex. Summary of the invention

[0004] The present invention provides a method for correcting the position of a following vehicle and related equipment to solve the problem that, during the current vehicle formation process, the position of the following vehicle cannot be adjusted based on the relevant requirements of current regulations and the influence of the angle of the air flow around the vehicle body on the negative pressure area of ​​the vehicle tail vortex, which affects driving safety and leads to reduced fuel economy.

[0005] In a first aspect, the present invention provides a method for correcting a following vehicle position, comprising:

[0006] Obtain image information of the vehicle ahead;

[0007] Determining vehicle type information of the preceding vehicle based on the image information of the preceding vehicle;

[0008] determining modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle;

[0009] Selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information;

[0010] The following position of the current vehicle is corrected according to the three-dimensional flow field simulation modification model.

[0011] Optionally, the method further includes:

[0012] Obtaining appearance data information of modified objects of different vehicle types under different modification information;

[0013] Determining a corresponding three-dimensional flow field simulation modification model based on the modified object appearance data information;

[0014] A corresponding relationship between the modified object appearance data information and the three-dimensional flow field simulation modification model is established.

[0015] Optionally, the determining the modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle includes:

[0016] Based on the vehicle type information of the preceding vehicle, determining the vehicle appearance data information of the preceding vehicle in a factory state;

[0017] Based on the image information of the preceding vehicle and the vehicle appearance data information of the preceding vehicle in a factory state, modification information of the preceding vehicle is determined.

[0018] Optionally, the selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information includes:

[0019] When the modification information of the preceding vehicle matches the appearance data information of the modification object of the vehicle type to which the preceding vehicle belongs, a three-dimensional flow field simulation modification model corresponding to the appearance data information of the modification object of the preceding vehicle is obtained.

[0020] Optionally, the correcting the following position of the current vehicle according to the three-dimensional flow field simulation modification model includes:

[0021] Based on the three-dimensional flow field simulation factory model of the preceding vehicle, obtaining the coordinate simulation value of the position where the tail vortex negative pressure of the preceding vehicle is relatively strong;

[0022] Based on the three-dimensional flow field simulation modification model of the preceding vehicle, the modification information and the coordinate simulation value of the position where the trailing vortex negative pressure of the preceding vehicle is relatively strong, the coordinate correction value of the position where the trailing vortex negative pressure of the preceding vehicle is relatively strong is determined.

[0023] Optionally, the method further includes:

[0024] Obtaining lane information of the preceding vehicle;

[0025] Obtaining vehicle following position correction information of the current vehicle according to the three-dimensional flow field simulation modification model;

[0026] Determining the following position of the current vehicle based on the lane information of the preceding vehicle and the following position correction information of the current vehicle;

[0027] Based on the following vehicle position of the current vehicle, the following vehicle state of the current vehicle is controlled.

[0028] Optionally, the step of obtaining the coordinate simulation value of the position where the tail vortex negative pressure of the preceding vehicle is relatively strong based on the three-dimensional flow field simulation factory model of the preceding vehicle includes:

[0029] Obtaining the crosswind speed at the current position of the vehicle;

[0030] Obtaining direction simulation parameters of the current vehicle;

[0031] Obtaining a speed simulation parameter of the preceding vehicle;

[0032] Based on the crosswind speed at the current vehicle's position, the direction simulation parameters of the current vehicle, the speed simulation parameters of the preceding vehicle and the three-dimensional flow field simulation factory model of the preceding vehicle, the coordinate simulation value of the position where the tail vortex negative pressure of the preceding vehicle is stronger is obtained.

[0033] In a second aspect, the present invention further provides a device for correcting the position of a following vehicle, comprising:

[0034] An acquisition module is used to acquire image information of the preceding vehicle;

[0035] A first determination module, configured to determine the vehicle type information of the preceding vehicle based on the image information of the preceding vehicle;

[0036] A second determination module is used to determine the modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle;

[0037] A third determination module is used to select a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information;

[0038] The correction module is used to correct the following position of the current vehicle according to the three-dimensional flow field simulation modification model.

[0039] In a third aspect, the present invention further provides an electronic device, comprising a memory and a processor, wherein the processor is configured to implement the steps of the method for correcting the position of a following vehicle as described in any one of the first aspects above when executing a computer program stored in the memory.

[0040] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method for correcting the position of a following vehicle as described in any one of the first aspects are implemented.

[0041] It can be seen from the above technical scheme that an embodiment of the present application provides a method for correcting the following vehicle position, including: obtaining image information of a leading vehicle; determining the vehicle type information of the leading vehicle based on the image information of the leading vehicle; determining the modification information of the leading vehicle based on the image information of the leading vehicle and the vehicle type information of the leading vehicle; selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the leading vehicle and the vehicle type information; and correcting the following vehicle position of the current vehicle according to the three-dimensional flow field simulation modification model. The following position in the current vehicle formation usually only considers fuel economy, and the principle is that the smaller the following distance, the better, and the following vehicle is controlled to keep driving in the same lane as the leading vehicle, without considering the current regulations that the following distance must not be less than 50 meters. This may increase the collision probability of vehicles in the formation during driving and increase the driving risk. The current vehicle formation method also does not consider the influence of the air flow around the vehicle body on the vehicle's tail vortex negative pressure area, which may cause the vehicle's tail vortex negative pressure area to change when there is air flow around the vehicle body. Controlling the following vehicle to keep driving in the same lane with the leading vehicle cannot make the vehicle's tail vortex negative pressure area reach the best drag reduction effect on the following vehicle, reducing fuel economy and causing energy waste. The embodiment of the present application obtains the modification information and the model information of the leading vehicle, determines the three-dimensional flow field simulation modification model of the leading vehicle based on the above-mentioned modification information and model information of the leading vehicle, and corrects the following position of the current vehicle based on the above-mentioned three-dimensional flow field simulation modification model of the leading vehicle, and controls the following position of the current vehicle to be within the tail vortex negative pressure area of ​​the leading vehicle, thereby improving fuel economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] Figure 1 A schematic flow chart of a method for correcting the position of a following vehicle provided in an embodiment of the present application;

[0044] Figure 2 A schematic structural diagram of a device for correcting the position of a following vehicle provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of an electronic device provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The embodiments will be described in detail below, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following embodiments do not represent all implementation methods consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims. In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways, and the device embodiments described below are merely exemplary.

[0048] This application provides a method for correcting the position of a following vehicle, such as Figure 1 As shown, including:

[0049] Step S110: Acquire image information of the preceding vehicle.

[0050] Exemplarily, the forward-looking vision system of the current vehicle may include, for example, a vehicle-mounted radar system and a vehicle-mounted image acquisition system, to sense a sensing component of the preceding vehicle, wherein the sensing component may be installed directly in front of and / or in front of the side of the preceding vehicle, to obtain image information of the preceding vehicle.

[0051] Step S120: Determine the vehicle type information of the preceding vehicle based on the image information of the preceding vehicle.

[0052] Exemplarily, based on the image information of the preceding vehicle, the vehicle model information of the preceding vehicle can be obtained, the vehicle model information of the preceding vehicle can be searched in a database, and based on the vehicle model information, the vehicle type information of the preceding vehicle can be determined, wherein the vehicle type information is vehicle grade information, such as A-class sedan, B-class sedan, C-class sedan, D-class sedan, E-class sedan, S-class sedan, pickup trucks and SUV vehicles.

[0053] Step S130: determining modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle.

[0054] Exemplarily, based on the vehicle type information and the image information of the preceding vehicle, the modification information of the preceding vehicle may be determined by comparing the preceding vehicle standard shape information and the preceding vehicle current shape information determined based on the image information of the preceding vehicle.

[0055] Step S140: selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information.

[0056] Exemplarily, based on the modification information of the preceding vehicle, when the preceding vehicle has been modified, the three-dimensional flow field simulation modification model corresponding to the modification information of the preceding vehicle can be determined based on the vehicle type information.

[0057] Step S150: correcting the following position of the current vehicle according to the three-dimensional flow field simulation modification model.

[0058] Exemplarily, parameters may be input into the three-dimensional flow field simulation modification model to correct the following vehicle position of the current vehicle.

[0059] According to some embodiments, the method further comprises:

[0060] Obtaining appearance data information of modified objects of different vehicle types under different modification information;

[0061] Determine a corresponding three-dimensional flow field simulation modification model based on the above-mentioned modification object appearance data information;

[0062] A corresponding relationship between the above-mentioned modified object appearance data information and the three-dimensional flow field simulation modification model is established.

[0063] Exemplarily, the conventional modification method of a vehicle can be determined by the vehicle type, for example: a sedan or SUV vehicle can be equipped with a roof storage box on the top of the vehicle, a pickup truck can be equipped with a cover or storage box above the cargo box, pickup trucks, SUV vehicles and sedans can be equipped with a trailer or RV at the rear of the vehicle, and a commercial vehicle can be equipped with a fake fairing on the top of the cockpit. The appearance data information of the conventional modified objects can be obtained through the different conventional modification methods of the above-mentioned different vehicle types, and the corresponding three-dimensional flow field simulation modification model can be preset according to the appearance data information of the above-mentioned conventional modified objects.

[0064] According to the appearance data information of the modified objects under different modification information of different vehicle types, the corresponding three-dimensional flow field simulation modification model is preset. When the preceding vehicle has been modified, the corresponding three-dimensional flow field simulation modification model can be directly called up to improve the correction speed and efficiency and simplify the operation.

[0065] According to some embodiments, the determining of the modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle includes:

[0066] Based on the vehicle type information of the preceding vehicle, determining the vehicle appearance data information of the preceding vehicle in a factory state;

[0067] Based on the image information of the preceding vehicle and the vehicle appearance data information of the preceding vehicle in a factory state, modification information of the preceding vehicle is determined.

[0068] Exemplarily, based on the vehicle type information of the preceding vehicle, the model information of the preceding vehicle can be obtained. Based on the model information of the preceding vehicle, the vehicle appearance data information of the preceding vehicle in the factory state can be obtained by querying the database. Based on the image information of the preceding vehicle, the current vehicle appearance data information of the preceding vehicle can be obtained. The modification information of the preceding vehicle can be determined by comparing the vehicle appearance data information of the preceding vehicle in the factory state with the current vehicle appearance data information.

[0069] By comparing the vehicle appearance data information of the preceding vehicle in the factory state with the current vehicle appearance data information, the modification information of the preceding vehicle can be quickly determined, thereby facilitating improvement of correction speed and correction efficiency.

[0070] According to some embodiments, the selecting of the corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information includes:

[0071] When the modification information of the preceding vehicle matches the appearance data information of the modification object of the vehicle type to which the preceding vehicle belongs, a three-dimensional flow field simulation modification model corresponding to the appearance data information of the modification object of the preceding vehicle is obtained.

[0072] Exemplarily, the modification information may be matched with the modified object appearance information corresponding to the three-dimensional flow field simulation modification model corresponding to the vehicle to which the preceding vehicle belongs, and when the information matches, the corresponding three-dimensional flow field simulation modification model is obtained.

[0073] By matching the modification information of the preceding vehicle with the preset modified object appearance data information, it is possible to quickly determine whether the modified object is a conventional modified object. If the modified object is a conventional modified object, the preset three-dimensional flow field simulation modification model can be directly called to improve the correction speed and efficiency and simplify the operation.

[0074] According to some embodiments, the above-mentioned correction of the following position of the current vehicle according to the above-mentioned three-dimensional flow field simulation modification model includes:

[0075] Based on the three-dimensional flow field simulation factory model of the preceding vehicle, a coordinate simulation value of a position where the tail vortex negative pressure of the preceding vehicle is relatively strong is obtained;

[0076] Based on the three-dimensional flow field simulation modification model of the preceding vehicle, the modification information and the coordinate simulation value of the position where the tail vortex negative pressure of the preceding vehicle is relatively strong, the coordinate correction value of the position where the tail vortex negative pressure of the preceding vehicle is relatively strong is determined.

[0077] Exemplarily, based on the vehicle type information of the preceding vehicle, the three-dimensional flow field simulation factory model of the preceding vehicle can be obtained, and based on the three-dimensional flow field simulation factory model of the preceding vehicle, the coordinate simulation value of the position where the wake vortex negative pressure of the preceding vehicle is stronger can be obtained. The coordinate simulation value of the position where the wake vortex negative pressure of the preceding vehicle is stronger can be input into the three-dimensional flow field simulation modified model of the preceding vehicle to obtain the coordinate correction value of the position where the wake vortex negative pressure of the preceding vehicle is stronger.

[0078] For example, when the vehicle types are A-class cars, B-class cars, C-class cars, D-class cars, E-class cars, S-class cars and SUV vehicles, and a roof storage box is installed, based on the different size information of the roof storage box, the corresponding three-dimensional flow field simulation modification model is determined as:

[0079] (a*x0+x1,b*y0+y1,c*z0+z1)(1)

[0080] Among them, in formula (1), a, b, and c are correction coefficients, x0, y0, and z0 are the coordinate simulation values ​​of the position where the tail vortex negative pressure of the front vehicle is strong, and x1, y1, and z1 are correction constant terms. The values ​​of the above correction coefficients and correction constant terms are related to the size information of the above roof storage box.

[0081] For example, when the vehicle type is a pickup truck and a cargo box cover is installed, based on the different size information of the cargo box cover, the corresponding three-dimensional flow field simulation modification model is determined as:

[0082] (d*x0+x3,e*y0+y4,f*z0+z5)(2)

[0083] Among them, d, e, and f in formula (2) are correction coefficients, x0, y0, and z0 are the coordinate simulation values ​​of the position where the tail vortex negative pressure of the front vehicle is stronger, and x3, y4, and z5 are correction constant terms. The values ​​of the above correction coefficients and correction constant terms are related to the size information of the above cargo box cover.

[0084] For example, when the vehicle types are pickup trucks, SUV vehicles, and sedans, and towing trailers or RVs, based on the different size information of the trailers or RVs, the corresponding three-dimensional flow field simulation modification model is determined as:

[0085] (g*x0+x6,h*y0+y7,i*z0+z8)(3)

[0086] Among them, in formula (3), g, h, i are correction coefficients, x0, y0, z0 are the coordinate simulation values ​​of the position where the tail vortex negative pressure of the front vehicle is stronger, x6, y7, z8 are correction constant terms, and the values ​​of the above correction coefficients and correction constant terms are related to the size information of the above trailer or RV.

[0087] For example, when the vehicle type is a light truck or a heavy truck, and a deflector is installed on the top of the cockpit, based on the different size information of the deflector, the corresponding three-dimensional flow field simulation modification model is determined as: (j*x0+x9, k*y0+y 10 ,l*z0+z 11 )(4)

[0088] In formula (4), j, k, and l are correction coefficients, x0, y0, and z0 are the coordinate simulation values ​​of the position where the tail vortex negative pressure of the preceding vehicle is stronger, and x9, y 10 、z 11 To correct the constant term, the values ​​of the correction coefficient and the correction constant term are related to the size information of the above-mentioned air deflector.

[0089] By correcting the coordinate simulation value of the position with stronger tail vortex negative pressure of the preceding vehicle based on the modification information of the preceding vehicle, the position with stronger tail vortex negative pressure of the preceding vehicle in the current state can be determined more accurately, making it easier for the current vehicle to control the driving state of the vehicle according to the above position, thereby reducing the resistance of the current vehicle during driving, improving fuel economy, and saving energy.

[0090] According to some embodiments, the method further comprises:

[0091] Obtain lane information of the preceding vehicle;

[0092] Obtaining the following vehicle position correction information of the current vehicle according to the three-dimensional flow field simulation modification model;

[0093] Determining the following position of the current vehicle based on the lane information of the preceding vehicle and the following position correction information of the current vehicle;

[0094] Based on the following vehicle position of the current vehicle, the following vehicle state of the current vehicle is controlled.

[0095] Exemplarily, the lane information of the preceding vehicle can be acquired through the on-board radar system and / or image acquisition device of the current vehicle in combination with the on-board GPS positioning system, and the following position of the above-mentioned current vehicle can be sent to the vehicle management system, and a control signal can be sent to the vehicle controller through the vehicle management system to control the vehicle at the following position of the above-mentioned current vehicle.

[0096] Combined with the lane information of the leading vehicle, more accurate information on the negative pressure area of ​​the tail vortex of the leading vehicle can be obtained. At the same time, when the leading vehicle and the current vehicle are in different lanes, the distance between the current vehicle and the leading vehicle can be controlled to be as close as possible. When the leading vehicle and the current vehicle are in the same lane, the following position of the current vehicle can be controlled in combination with relevant regulations to ensure safety and legality during driving and improve fuel economy.

[0097] According to some embodiments, the three-dimensional flow field simulation factory model of the preceding vehicle is used to obtain the coordinate simulation value of the position where the tail vortex negative pressure of the preceding vehicle is relatively strong, including:

[0098] Obtaining the crosswind speed at the current position of the vehicle;

[0099] Obtain the direction simulation parameters of the current vehicle;

[0100] Obtaining the vehicle speed simulation parameters of the preceding vehicle;

[0101] Based on the crosswind speed at the current vehicle's position, the direction simulation parameters of the current vehicle, the speed simulation parameters of the preceding vehicle and the three-dimensional flow field simulation factory model of the preceding vehicle, the coordinate simulation value of the position where the tail vortex negative pressure of the preceding vehicle is stronger is obtained.

[0102] Exemplarily, the above-mentioned side wind speed can be obtained through the wind sensor of the current vehicle, the direction simulation parameters of the current vehicle can be obtained through the vehicle management system or wheel sensor of the current vehicle, and the speed simulation parameters of the preceding vehicle can be obtained through the on-board radar system and on-board image acquisition system of the current vehicle.

[0103] Through the three-dimensional flow field simulation model of the leading vehicle, the coordinate simulation value of the position where the tail vortex negative pressure of the leading vehicle is stronger can be obtained, which is convenient for controlling the following position of the current vehicle and making the vehicle travel in the tail vortex negative pressure area of ​​the leading vehicle, thereby improving the vehicle's drag reduction effect, reducing the energy consumption of the current vehicle, improving fuel utilization efficiency and economy, and saving energy.

[0104] See also Figure 2 , Figure 2 It is a schematic structural diagram of a device for correcting the position of a following vehicle provided in an embodiment of the present application.

[0105] The embodiment of the present application provides a device 200 for correcting the position of a following vehicle, the device comprising:

[0106] An acquisition module 201 is used to acquire image information of a preceding vehicle;

[0107] A first determination module 202, configured to determine the vehicle type information of the preceding vehicle based on the image information of the preceding vehicle;

[0108] A second determination module 203, configured to determine modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle;

[0109] A third determination module 204 is used to select a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information;

[0110] The correction module 205 is used to correct the following position of the current vehicle according to the three-dimensional flow field simulation modification model.

[0111] A device 200 for correcting the position of a following vehicle can achieve Figure 1 To avoid repetition, the various processes implemented in the method embodiment are not described here.

[0112] like Figure 3 As shown, Figure 3 A schematic structural diagram of an electronic device provided in an embodiment of the present application.

[0113] The embodiment of the present application provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, the following steps are implemented:

[0114] Obtain image information of the vehicle ahead;

[0115] Determining the vehicle type information of the preceding vehicle based on the image information of the preceding vehicle;

[0116] Determining modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle;

[0117] Selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information;

[0118] The following position of the current vehicle is corrected according to the above three-dimensional flow field simulation modification model.

[0119] In the specific implementation process, when the processor 320 executes the computer program 311, it can achieve Figure 1 Any implementation manner in the corresponding embodiments.

[0120] Since the electronic device introduced in this embodiment is a device used to implement a device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation method of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application is within the scope of protection of this application.

[0121] like Figure 4 As shown, Figure 4 A schematic structural diagram of a computer-readable storage medium provided in an embodiment of the present application.

[0122] This embodiment provides a computer-readable storage medium 400, on which a computer program 411 is stored. When the computer program 411 is executed by a processor, the following steps are implemented:

[0123] Obtain image information of the vehicle ahead;

[0124] Determining the vehicle type information of the preceding vehicle based on the image information of the preceding vehicle;

[0125] Determining modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle;

[0126] Selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information;

[0127] The following position of the current vehicle is corrected according to the above three-dimensional flow field simulation modification model.

[0128] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0129] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0130] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0131] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0133] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 The process in the control method of the hybrid vehicle in the corresponding embodiment.

[0134] The above-mentioned computer program product includes one or more computer instructions. When the above-mentioned computer program instructions are loaded and executed on a computer, the above-mentioned process or function according to the embodiment of the present application is generated in whole or in part. The above-mentioned computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above-mentioned computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The above-mentioned computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrated. The above-mentioned available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (solid state disk, SSD)), etc.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0136] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0137] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0139] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0140] In summary, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for correcting the position of a following vehicle, characterized in that: include: Obtain image information of the vehicle ahead; Determining vehicle type information of the preceding vehicle based on the image information of the preceding vehicle, wherein the vehicle type information is vehicle grade information; Determining modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle includes: determining vehicle appearance data information of the preceding vehicle in a factory state based on the vehicle type information of the preceding vehicle; determining modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle appearance data information of the preceding vehicle in a factory state; Selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information; The following position of the current vehicle is corrected according to the three-dimensional flow field simulation modification model, including: based on the three-dimensional flow field simulation factory model of the front vehicle, obtaining the coordinate simulation value of the position where the tail vortex negative pressure of the front vehicle is stronger; based on the three-dimensional flow field simulation modification model of the front vehicle, modification information and the coordinate simulation value of the position where the tail vortex negative pressure of the front vehicle is stronger, determining the coordinate correction value of the position where the tail vortex negative pressure of the front vehicle is stronger.

2. The method according to claim 1, characterized in that Also includes: Obtaining appearance data information of modified objects of different vehicle types under different modification information; Determining a corresponding three-dimensional flow field simulation modification model based on the modified object appearance data information; A corresponding relationship between the modified object appearance data information and the three-dimensional flow field simulation modification model is established.

3. The method according to claim 2, wherein the step of selecting a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information comprises: When the modification information of the preceding vehicle matches the appearance data information of the modification object of the vehicle type to which the preceding vehicle belongs, a three-dimensional flow field simulation modification model corresponding to the appearance data information of the modification object of the preceding vehicle is obtained.

4. The method according to claim 1, characterized in that Also includes: Obtaining lane information of the preceding vehicle; Obtaining vehicle following position correction information of the current vehicle according to the three-dimensional flow field simulation modification model; Determining the following position of the current vehicle based on the lane information of the preceding vehicle and the following position correction information of the current vehicle; Based on the following vehicle position of the current vehicle, the following vehicle state of the current vehicle is controlled.

5. The method according to claim 1, characterized in that The step of obtaining the coordinate simulation value of the position where the tail vortex negative pressure of the preceding vehicle is relatively strong based on the three-dimensional flow field simulation factory model of the preceding vehicle comprises: Obtaining the crosswind speed at the current position of the vehicle; Obtaining direction simulation parameters of the current vehicle; Obtaining a speed simulation parameter of the preceding vehicle; Based on the crosswind speed at the current vehicle's position, the direction simulation parameters of the current vehicle, the speed simulation parameters of the preceding vehicle and the three-dimensional flow field simulation factory model of the preceding vehicle, the coordinate simulation value of the position where the tail vortex negative pressure of the preceding vehicle is stronger is obtained.

6. A device for correcting the position of a following vehicle, characterized in that: include: An acquisition module is used to acquire image information of the preceding vehicle; A first determination module, configured to determine vehicle type information of the preceding vehicle based on the image information of the preceding vehicle, wherein the vehicle type information is vehicle grade information; The second determination module is used to determine the modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle type information of the preceding vehicle, including: determining the vehicle appearance data information of the preceding vehicle in a factory state based on the vehicle type information of the preceding vehicle; determining the modification information of the preceding vehicle based on the image information of the preceding vehicle and the vehicle appearance data information of the preceding vehicle in a factory state; A third determination module is used to select a corresponding three-dimensional flow field simulation modification model based on the modification information of the preceding vehicle and the vehicle type information; A correction module is used to correct the following position of the current vehicle according to the three-dimensional flow field simulation modification model, including: based on the three-dimensional flow field simulation factory model of the front vehicle, obtaining the coordinate simulation value of the position where the tail vortex negative pressure of the front vehicle is stronger; based on the three-dimensional flow field simulation modification model of the front vehicle, modification information and the coordinate simulation value of the position where the tail vortex negative pressure of the front vehicle is stronger, determining the coordinate correction value of the position where the tail vortex negative pressure of the front vehicle is stronger.

7. An electronic device, comprising a memory and a processor, characterized in that: The processor is used to implement the steps of the method for correcting the position of a following vehicle as described in any one of claims 1 to 5 when executing the computer program stored in the memory.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for correcting the position of a following vehicle as claimed in any one of claims 1 to 5 are implemented.

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