A vehicle control method, apparatus, device, and medium

Abstract

Embodiments of the present application disclose a vehicle control method, device, equipment and medium. The vehicle comprises a towing vehicle and a trailer, and the method comprises: if it is determined that a current vehicle and a front obstacle are in a state of imminent collision according to a relative distance and a relative speed of the current vehicle and the front obstacle, determining a steering direction of the towing vehicle according to a detection result of a side obstacle on a left side and / or a right side of the current vehicle; controlling the towing vehicle to steer according to the steering direction of the towing vehicle, and controlling the towing vehicle and / or the trailer of the current vehicle to brake, so that the towing vehicle of the current vehicle does not collide with the front obstacle. The technical solution controls the towing vehicle to steer when the current vehicle and the front obstacle are in the state of imminent collision, avoids the current vehicle from colliding with the front obstacle head-on, and thus avoids the current vehicle from being greatly deformed.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety technology, and in particular to a vehicle control method, device, equipment and medium. Background Technology

[0002] With socio-economic development, the market demand for freight transportation capacity is constantly increasing, leading to an explosive growth in the number of tractor-trailers. Tractor-trailers are characterized by high speed, large load capacity, and diverse cargo loading methods. In the event of a rear-end collision, the cab will be crushed by the obstacle in front, and the cargo loaded on the trailer will continue to move forward due to inertia, further crushing the tractor-trailer's cab. This seriously threatens the driver's safety. Therefore, how to avoid crushing the cab and protect the driver's safety is a problem that urgently needs to be solved. Summary of the Invention

[0003] This invention provides a vehicle control method, device, equipment, and medium that can reduce the probability of the driver's cab being squeezed or collided, thus protecting the occupants inside the cab.

[0004] According to one aspect of the present invention, a vehicle control method is provided, the vehicle comprising a tractor and a trailer, the method comprising:

[0005] If it is determined that the current vehicle and the obstacle ahead are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle ahead, then the turning direction of the tractor is determined based on the detection results of the side obstacles on the left and / or right sides of the current vehicle.

[0006] Based on the direction of the tractor's turn, control the tractor to turn, and control the tractor and / or trailer of the current vehicle to brake, so that the tractor of the current vehicle does not collide with the obstacle in front.

[0007] According to another aspect of the present invention, a vehicle control device is provided, the vehicle comprising a tractor and a trailer, the device comprising:

[0008] The steering direction determination module is used to determine the steering direction of the tractor vehicle based on the detection results of side obstacles on the left and / or right sides of the current vehicle if it is determined that the current vehicle and the obstacle in front are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle in front.

[0009] The braking control module is used to control the tractor to steer according to the tractor's steering direction, and to control the tractor and / or trailer of the current vehicle to brake, so as to prevent the tractor of the current vehicle from colliding with the obstacle in front.

[0010] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0011] At least one processor; and

[0012] A memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method according to any embodiment of the present invention.

[0015] The technical solution of this application embodiment includes: if it is determined that the current vehicle and the obstacle ahead are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle ahead, then the turning direction of the tractor is determined based on the detection results of the side obstacles on the left and / or right sides of the current vehicle; based on the turning direction of the tractor, the tractor is controlled to turn, and the tractor and / or trailer of the current vehicle are controlled to brake, so that the tractor of the current vehicle does not collide with the obstacle ahead. This technical solution, by controlling the tractor to turn and controlling the tractor and / or trailer of the current vehicle to brake, ensures that when the current vehicle collides with the obstacle ahead, the tractor can be positioned on one side of the current vehicle (left or right), or avoid the obstacle, thereby reducing the collision force between the tractor and the obstacle ahead or preventing a collision, and also reducing the probability that the cargo on board will continue to move forward due to inertia and crush the cab, thus protecting the occupants in the cab.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a vehicle control method according to Embodiment 1 of this application;

[0019] Figure 2 This is a schematic diagram of a tractor and trailer according to a vehicle control method provided in Embodiment 1 of this application;

[0020] Figure 3 This is a flowchart of a vehicle control method according to Embodiment 2 of this application;

[0021] Figure 4 This is a schematic diagram of a vehicle control device according to Embodiment 3 of this application;

[0022] Figure 5 This is a schematic diagram of the structure of an electronic device that implements a vehicle control method according to an embodiment of this application. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] Example 1

[0026] Figure 1 This application provides a flowchart of a vehicle control method according to Embodiment 1. This embodiment is applicable to emergency vehicle control situations. The method can be executed by a vehicle control device, which can be implemented in hardware and / or software and can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the method includes:

[0027] S110, if it is determined that the current vehicle and the obstacle ahead are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle ahead, then the turning direction of the tractor is determined based on the detection results of the side obstacles on the left and / or right sides of the current vehicle.

[0028] The vehicle in question includes a tractor and a trailer. The tractor can be a tractor unit with driving capability, and the trailer can be the cargo-carrying component. The trailer can be connected to the rear end of the tractor and also to the tractor's towing saddle. This embodiment does not limit the connection method between the tractor and the trailer. For example... Figure 2 This is a schematic diagram of a tractor and trailer. An obstacle ahead refers to an obstacle in the current direction of the vehicle's travel. Obstacles ahead may affect driving safety and include, but are not limited to, vehicles, pedestrians, and debris. Side obstacles refer to obstacles on the left and / or right of the current vehicle. Side obstacles may affect the steering of the tractor in subsequent steps.

[0029] Specifically, during the current vehicle's operation, the distance between the current vehicle and the obstacle ahead, as well as the speed of the obstacle (e.g., the speed of the vehicle in front), are obtained through the vehicle's AEB (Autonomous Emergency Braking) system. Combined with the current vehicle's speed, the relative distance and relative speed between the current vehicle and the obstacle ahead are calculated. If the relative distance and relative speed between the current vehicle and the obstacle ahead meet preset conditions, it can be determined that the current vehicle and the obstacle ahead are in an impending collision state. These preset conditions can be determined based on actual circumstances.

[0030] Furthermore, after determining that the current vehicle is in an impending collision state with the obstacle in front, lateral obstacle detection is performed on the left and / or right sides of the current vehicle. If the detection results show that there is no lateral obstacle on at least one of the left and right sides of the current vehicle, then the side without lateral obstacle can be the turning direction of the tractor.

[0031] In this embodiment, when detecting side obstacles on the left and / or right sides of the current vehicle, detection can be performed using an image acquisition device. For example, a monocular camera integrated into the left and right side mirrors of the vehicle can be used for side obstacle detection. In another feasible embodiment, radar, ultrasonic waves, or other methods can be used for side obstacle detection. If at least one side of the current vehicle is free of side obstacles, the side without side obstacles can be the turning direction of the tractor. If side obstacles exist on both sides of the current vehicle, it is not necessary to determine the turning direction of the tractor; that is, no turning operation is performed on the tractor in subsequent steps.

[0032] It should be noted that the driver can choose whether to enable the vehicle control method described in the embodiments of this application.

[0033] In this embodiment of the application, optionally, determining the turning direction of the tractor based on the detection results of lateral obstacles on the left and / or right sides of the current vehicle includes: if there are no obstacles on the left side of the current vehicle and there are obstacles on the right side of the current vehicle, then the turning direction of the tractor is determined to be the left side of the current vehicle; if there are no obstacles on the right side of the current vehicle and there are obstacles on the left side of the current vehicle, then the turning direction of the tractor is determined to be the right side of the current vehicle; if there are no obstacles on either the left or right sides of the current vehicle, then the turning direction of the tractor is determined to be a preset direction.

[0034] The preset direction can be determined according to the actual situation, and this application embodiment does not limit it.

[0035] Specifically, if the side obstacle detection results for the current vehicle show that there is no side obstacle on one side and a side obstacle exists on the other, then the towing vehicle can be turned towards the side where there is no side obstacle to avoid a collision. If the side obstacle detection results for both sides of the current vehicle show that there are no side obstacles on either side, then the towing vehicle can be turned towards the driver's seat to better protect the driver's safety.

[0036] S120, based on the turning direction of the tractor, control the tractor to turn, and control the tractor and / or trailer of the current vehicle to brake, so that the tractor of the current vehicle does not collide with the obstacle in front.

[0037] Specifically, after determining the steering direction of the tractor, the tractor can be controlled to steer after the current vehicle's speed drops to a preset value, in order to avoid the current vehicle from overturning if the tractor is turned when the current vehicle is traveling at a high speed.

[0038] In this embodiment, during and after the tractor turns, the tractor and / or trailer of the current vehicle can be adaptively controlled to brake, so that the tractor of the current vehicle folds with the trailer at the articulation point on the side of the current vehicle where there are no side obstacles, thereby avoiding collision between the tractor and the obstacle in front or reducing the collision force between the tractor and the obstacle in front, thus achieving the effect of protecting the driver.

[0039] The technical solution of this application embodiment includes: if it is determined that the current vehicle and the obstacle ahead are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle ahead, then the turning direction of the tractor is determined based on the detection results of the side obstacles on the left and / or right sides of the current vehicle; based on the turning direction of the tractor, the tractor is controlled to turn, and the tractor and / or trailer of the current vehicle are controlled to brake, so that the tractor of the current vehicle does not collide with the obstacle ahead. This technical solution, by controlling the tractor to turn and controlling the tractor and / or trailer of the current vehicle to brake, ensures that when the current vehicle collides with the obstacle ahead, the tractor can be positioned on one side of the current vehicle, thus avoiding a collision or reducing the impact force, and reducing the probability that the cargo will continue to move forward due to inertia and crush the cab, thereby protecting the occupants in the cab.

[0040] In this embodiment of the application, optionally, after determining that the current vehicle and the obstacle in front are about to collide, the method further includes: controlling the tractor and trailer of the current vehicle to brake with maximum braking force.

[0041] In this solution, after determining that the current vehicle is about to collide with the obstacle in front, the current vehicle may collide with the obstacle in front, and it is necessary to perform side obstacle detection and other operations. At the same time, the tractor and trailer of the current vehicle can be braked with maximum braking force so that the vehicle can decelerate as quickly as possible.

[0042] Example 2

[0043] Figure 3 This is a flowchart of a vehicle control method provided in Embodiment 2 of this application. This embodiment optimizes the steering of the tractor and the braking process of the tractor and / or trailer based on the above embodiment.

[0044] like Figure 3 As shown, the method in this embodiment of the application specifically includes the following steps:

[0045] S210, if it is determined that the current vehicle and the obstacle in front are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle in front, then the turning direction of the tractor is determined based on the detection results of the side obstacles on the left and / or right sides of the current vehicle.

[0046] In this embodiment of the application, optionally, determining that the current vehicle and the obstacle ahead are in an impending collision state based on the relative distance and relative speed between the current vehicle and the obstacle ahead includes steps A1-A2:

[0047] Step A1: Obtain the relative speed and relative distance between the current vehicle and the obstacle in front.

[0048] Step A2: If the relative distance to the target is less than the safe distance corresponding to the relative vehicle speed, and the relative distance is determined to be continuously decreasing based on at least two relative distances between the current vehicle and the obstacle in front and the acquisition time of at least two relative distances, then the current vehicle is determined to be in an impending collision state.

[0049] The target relative distance is the relative distance corresponding to the latest acquisition time among at least two relative distance acquisition times. The relative speed between the current vehicle and the obstacle ahead is the relative speed in the same direction, which can be the current vehicle's travel direction. The safe distance corresponding to each relative speed can be determined according to the actual situation, and this application embodiment does not limit this.

[0050] Specifically, the relative speed and relative distance between the current vehicle and the obstacle ahead are continuously acquired, resulting in at least two relative distances between the current vehicle and the obstacle ahead. If each relative distance decreases with increasing acquisition time, and the target relative distance is less than the safe distance corresponding to the relative speed, then the current vehicle is determined to be in an impending collision state. Furthermore, the safe distances corresponding to each relative speed can be pre-stored, and can then be obtained by looking up a table.

[0051] S220, during the turning process of the tractor, the trailer is controlled to brake with maximum braking force, and the tractor is controlled to reduce the braking force until the turning angle of the tractor reaches the target turning angle; wherein, the time from the start of the turning to the turning angle reaching the target turning angle is the first time.

[0052] In this embodiment, the target turning angle reflects the required steering angle of the tractor. Different target turning angles corresponding to different vehicle loads can be preset so that the corresponding target turning angle can be quickly determined based on the vehicle load when executing the vehicle control method described in this embodiment. In specific implementation, if EPS (Electric Power Steering) takes over the steering wheel and controls the tractor to steer, a preset steering wheel angle can be predetermined. If the steering wheel angle reaches the preset angle and remains there for a certain period of time, then it is determined that the tractor's turning angle has reached the target turning angle.

[0053] Specifically, when the current vehicle speed is less than or equal to the preset value, the tractor is controlled to turn in the direction of steering. During the turning process of the tractor, the trailer is controlled to brake with maximum braking force and the braking force of the tractor is released adaptively until the turning angle of the tractor reaches the target turning angle.

[0054] In this scheme, by controlling the trailer to brake with maximum braking force and adaptively releasing the braking force of the tractor, the current vehicle is in a state of deceleration, and the tractor can perform steering operations.

[0055] In this embodiment of the application, optionally, during the turning process of the tractor, controlling the trailer to brake with maximum braking force and controlling the tractor to reduce the braking force until the turning angle of the tractor reaches the target turning angle includes: during the turning process of the tractor, controlling the trailer to brake with maximum braking force and controlling the tractor to linearly reduce the braking force until the turning angle of the tractor reaches the target turning angle.

[0056] Specifically, during the turning process of the tractor unit, the trailer is controlled to brake with maximum braking force, and the braking force of the tractor unit is linearly reduced until the turning angle of the tractor unit reaches the target turning angle, before proceeding with the subsequent steps. It should be noted that if the braking force of the tractor unit is reduced to zero, and the turning angle of the tractor unit has not yet reached the target turning angle, the braking force of the tractor unit can remain at zero until the turning angle of the tractor unit reaches the target turning angle.

[0057] This solution linearly reduces the braking force of the tractor, and the rate of reduction of braking force can be controlled according to the actual situation, so that the tractor can stably complete the turning process.

[0058] S230, if the turning angle of the tractor reaches the target turning angle, control the tractor to brake with maximum braking force, and control the trailer to reduce braking force in the second time period.

[0059] Specifically, after the tractor unit reaches the target turning angle, part of the tractor unit may still be in front of the trailer of the current vehicle. The braking force of the tractor unit can be restored to the maximum braking force, and the braking force of the trailer can be reduced in the second time so that the tractor unit and the trailer can be folded together at the articulation point on the side of the current vehicle where there are no side obstacles.

[0060] In this embodiment of the application, optionally, if the turning angle of the tractor reaches the target turning angle, the tractor is controlled to brake with the maximum braking force, and the trailer is controlled to reduce the braking force in the second time period, including: if the turning angle of the tractor reaches the target turning angle, the tractor is controlled to brake with the maximum braking force, and the trailer is controlled to linearly reduce the braking force to a preset braking force threshold in the second time period.

[0061] The preset braking force threshold can be determined according to the actual situation. This application embodiment does not limit this. For example, the preset braking force threshold can be zero.

[0062] Specifically, if the tractor unit reaches the target turning angle, the braking force of the tractor unit is increased to the maximum braking force, and the trailer is controlled to linearly reduce its braking force to a preset braking force threshold within a second time period. This solution controls the rate of reduction of the trailer's braking force through the second time period and the preset braking force threshold, thus adapting to the actual needs of vehicles of different models and loads. Furthermore, the linear reduction of the trailer's braking force minimizes the displacement of the load in the direction of travel due to inertia, ensuring the stability of the vehicle and the load. It should be noted that the process of reducing braking force can also be non-linear; the embodiments of this application do not limit the method by which the trailer reduces its braking force.

[0063] S240, control the trailer to increase the braking force to the maximum braking force within a third time period.

[0064] In this embodiment of the application, optionally, the sum of the first time, the second time, and the third time is less than or equal to the collision time.

[0065] Wherein, the collision time is equal to the relative distance between the current vehicle and the obstacle in front divided by the relative speed between the current vehicle and the obstacle in front; the relative distance and relative speed are acquired at the time when the vehicle control method is started to control the current vehicle.

[0066] Specifically, the first time, the second time, and the third time can be adaptively adjusted so that the sum of the first time, the second time, and the third time is less than or equal to the collision time, thus completing the vehicle control method described in this application embodiment before the current vehicle collides with the obstacle in front.

[0067] The technical solution of this application embodiment includes: if it is determined that the current vehicle and the obstacle ahead are in an impending collision state based on the relative distance and relative speed between the current vehicle and the obstacle ahead, then the turning direction of the tractor is determined based on the detection results of the side obstacles on the left and / or right sides of the current vehicle; during the turning process of the tractor, the trailer is controlled to brake with maximum braking force, and the tractor is controlled to reduce the braking force until the turning angle of the tractor reaches the target turning angle; wherein, the time from the start of the turning of the tractor to the turning angle reaching the target turning angle is the first time; if the turning angle of the tractor reaches the target turning angle, the tractor is controlled to brake with maximum braking force, and the trailer is controlled to reduce the braking force in the second time; the trailer is controlled to increase the braking force to the maximum braking force in the third time. This technical solution controls the tractor to brake after it reaches the target turning angle and releases the braking force of the trailer, so that the tractor and trailer fold together at the articulation point on the side of the vehicle where there are no side obstacles. This avoids collisions between the tractor and obstacles in front or reduces the impact force of such collisions, thus protecting the occupants in the cab.

[0068] Example 3

[0069] Figure 4 This is a schematic diagram of a vehicle control device provided in Embodiment 3 of this application. This device can execute the vehicle control method provided in any embodiment of the present invention, and possesses the corresponding functional modules and beneficial effects for executing the method. For example... Figure 4 As shown, the device includes:

[0070] The steering direction determination module 310 is used to determine the steering direction of the tractor vehicle based on the detection results of side obstacles on the left and / or right sides of the current vehicle if it is determined that the current vehicle and the obstacle in front are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle in front.

[0071] The braking control module 320 is used to control the tractor to steer according to the tractor's steering direction, and to control the tractor and / or trailer of the current vehicle to brake so that the tractor of the current vehicle does not collide with the obstacle in front.

[0072] Optionally, the device further includes:

[0073] The current vehicle braking module is used to control the tractor and trailer of the current vehicle to brake with maximum braking force.

[0074] Optionally, the steering direction determination module 310 includes:

[0075] The left-side turning direction determination unit is used to determine that the turning direction of the tractor is the left side of the current vehicle if there is no obstacle on the left side of the current vehicle and there is an obstacle on the right side of the current vehicle.

[0076] The right-side turning direction determination unit is used to determine that the turning direction of the tractor is the right side of the current vehicle if there is no obstacle on the right side of the current vehicle and there is an obstacle on the left side of the current vehicle.

[0077] The preset direction determination unit is used to determine that the turning direction of the tractor is the preset direction if there are no obstacles on either side of the current vehicle.

[0078] Optional, the brake control module 320 includes:

[0079] The tractor steering unit is used to control the trailer to brake with maximum braking force during the tractor's steering process, and to control the tractor to reduce the braking force until the tractor's turning angle reaches the target turning angle; wherein, the time from the start of the tractor's steering to the turning angle reaching the target turning angle is the first time.

[0080] The braking control unit is used to control the tractor to brake with maximum braking force if the turning angle of the tractor reaches the target turning angle, and to control the trailer to reduce the braking force in the second time period.

[0081] The braking force enhancement unit is used to control the trailer to increase the braking force to the maximum braking force within a third time period.

[0082] Optionally, the sum of the first time, the second time, and the third time is less than or equal to the collision time;

[0083] Wherein, the collision time is equal to the relative distance between the current vehicle and the obstacle in front divided by the relative speed between the current vehicle and the obstacle in front; the relative distance and relative speed are acquired at the time when the vehicle control method is started to control the current vehicle.

[0084] Optional, the tractor steering unit includes:

[0085] The tractor steering subunit is used to control the trailer to brake with maximum braking force during the steering process of the tractor, and to control the tractor to linearly reduce the braking force until the turning angle of the tractor reaches the target turning angle.

[0086] Optional, the brake control unit includes:

[0087] The braking control subunit is used to control the tractor to brake with maximum braking force if the turning angle of the tractor reaches the target turning angle, and to control the trailer to linearly reduce the braking force to a preset braking force threshold within a second time period.

[0088] Optionally, the steering direction determination module 310 includes:

[0089] The data acquisition unit is used to acquire the relative speed and relative distance between the current vehicle and the obstacle in front;

[0090] The state determination unit is used to determine that the current vehicle is in an impending collision state if the relative distance to the target is less than the safe distance corresponding to the relative vehicle speed, and the relative distance is determined to be continuously decreasing based on at least two relative distances between the current vehicle and the obstacle in front and the acquisition time of at least two relative distances.

[0091] Among them, the target relative distance is the relative distance corresponding to the latest acquisition time among at least two relative distance acquisition times.

[0092] The vehicle control device provided in this application embodiment can execute a vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0093] Example 4

[0094] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0095] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0096] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0097] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle control methods.

[0098] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0099] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0101] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0102] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0103] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0104] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0105] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0106] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, The vehicle includes a tractor and a trailer, and the method includes: If it is determined that the current vehicle and the obstacle ahead are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle ahead, then the turning direction of the tractor is determined based on the detection results of the side obstacles on the left and / or right sides of the current vehicle. Based on the direction of the tractor's turn, control the tractor to turn, and control the tractor and / or trailer of the current vehicle to brake, so that the tractor of the current vehicle does not collide with the obstacle in front. After determining that the current vehicle and the obstacle ahead are in an impending collision state, the method further includes: Control the tractor and trailer of the current vehicle to brake with maximum braking force; Specifically, controlling the tractor to steer according to its steering direction, and controlling the braking of the tractor and / or trailer of the current vehicle, includes: During the turning process of the tractor, the trailer is controlled to brake with maximum braking force, and the tractor is controlled to reduce the braking force until the turning angle of the tractor reaches the target turning angle; wherein, the time from the start of the turning to the time when the turning angle reaches the target turning angle is the first time; If the turning angle of the tractor reaches the target turning angle, control the tractor to brake with maximum braking force, and control the trailer to reduce braking force in the second time period. Control the trailer to increase its braking force to the maximum braking force within a third time period; Specifically, during the turning process of the tractor, controlling the trailer to brake with maximum braking force and controlling the tractor to reduce braking force until the tractor's turning angle reaches the target turning angle includes: During the turning process of the tractor, the trailer is controlled to brake with maximum braking force, and the tractor is controlled to linearly reduce the braking force until the turning angle of the tractor reaches the target turning angle; If the tractor unit reaches the target turning angle, control the tractor unit to brake with maximum braking force, and control the trailer to reduce braking force in the second time period, including: If the turning angle of the tractor reaches the target turning angle, the tractor is controlled to brake with maximum braking force, and the trailer is controlled to linearly reduce the braking force to the preset braking force threshold within a second time period.

2. The method according to claim 1, characterized in that, Based on the detection results of lateral obstacles on the left and / or right sides of the current vehicle, the steering direction of the tractor is determined, including: If there is no obstacle on the left side of the current vehicle and there is an obstacle on the right side of the current vehicle, then the turning direction of the tractor is determined to be the left side of the current vehicle. If there is no obstacle on the right side of the current vehicle and there is an obstacle on the left side of the current vehicle, then the turning direction of the tractor is determined to be the right side of the current vehicle. If there are no obstacles on either side of the current vehicle, then the turning direction of the tractor is determined to be the preset direction.

3. The method according to claim 1, characterized in that, The sum of the first time, the second time, and the third time is less than or equal to the collision time; Wherein, the collision time is equal to the relative distance between the current vehicle and the obstacle in front divided by the relative speed between the current vehicle and the obstacle in front; the relative distance and relative speed are acquired at the time when the vehicle control method is started to control the current vehicle.

4. The method according to claim 1, characterized in that, Determining that the current vehicle and the obstacle ahead are in an impending collision state based on the relative distance and relative speed between the vehicle and the obstacle ahead includes: Get the relative speed and relative distance between the current vehicle and the obstacle in front; If the relative distance to the target is less than the safe distance corresponding to the relative vehicle speed, and the relative distance is determined to be continuously decreasing based on at least two relative distances between the current vehicle and the obstacle in front and the time of acquisition of at least two relative distances, then the current vehicle is determined to be in an impending collision state. Among them, the target relative distance is the relative distance corresponding to the latest acquisition time among at least two relative distance acquisition times.

5. A vehicle control device, characterized in that, The vehicle includes a tractor and a trailer, and the device includes: The steering direction determination module is used to determine the steering direction of the tractor vehicle based on the detection results of side obstacles on the left and / or right sides of the current vehicle if it is determined that the current vehicle and the obstacle in front are about to collide based on the relative distance and relative speed between the current vehicle and the obstacle in front. The braking control module is used to control the tractor to steer according to the tractor's steering direction, and to control the tractor and / or trailer of the current vehicle to brake so that the tractor of the current vehicle does not collide with the obstacle in front. The device further includes: The current vehicle braking module is used to control the tractor and trailer of the current vehicle to brake with maximum braking force; The braking control module includes: The tractor steering unit is used to control the trailer to brake with maximum braking force during the tractor's steering process, and to control the tractor to reduce the braking force until the tractor's turning angle reaches the target turning angle; wherein, the time from the start of the tractor's steering to the turning angle reaching the target turning angle is the first time. The braking control unit is used to control the tractor to brake with maximum braking force if the turning angle of the tractor reaches the target turning angle, and to control the trailer to reduce the braking force in the second time period. A braking force enhancement unit is used to control the trailer to increase its braking force to the maximum braking force within a third time period; The tractor steering unit includes: The tractor steering subunit is used to control the trailer to brake with maximum braking force during the steering process of the tractor, and to control the tractor to linearly reduce the braking force until the turning angle of the tractor reaches the target turning angle. Brake control unit, including: The braking control subunit is used to control the tractor to brake with maximum braking force if the turning angle of the tractor reaches the target turning angle, and to control the trailer to linearly reduce the braking force to a preset braking force threshold within a second time period.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle control method according to any one of claims 1-4.

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