Control method, device, commercial vehicle and storage medium for alleviating vehicle collision

Abstract

The present invention relates to the field of vehicle control technology, and discloses a control method, device, commercial vehicle and storage medium for mitigating vehicle collision. The method comprises: obtaining driving data of a target vehicle and behavior data of a driver; judging whether the target vehicle will collide according to the driving data and behavior data; when judging that the target vehicle will collide, generating a target brake pressure and target warning information according to a brake request signal; mitigating the collision of the target vehicle according to the target brake pressure and target warning information; in the above manner, judging whether the target vehicle will collide according to the driving data of the target vehicle and the behavior data of the driver, and if so, mitigating the possible collision of the target vehicle according to the target brake pressure and target warning information before the target vehicle collides, thereby effectively reducing the loss caused by the vehicle collision and improving the safety of the driver.

Description

Technical Field

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

[0002] With the continuous development of social economy, vehicles are closely related to people's daily life and work. For example, commercial vehicles can be used as a means of transportation for work, and some freight drivers use commercial vehicles to transport goods. However, commercial vehicles have the characteristics of heavy load, weak braking ability, and long braking distance, which may cause traffic accidents with serious consequences due to collisions during driving, causing loss of life and property to the society. Therefore, how to mitigate vehicle collisions is particularly important. At present, the relevant technology for mitigating collisions is to use automatic emergency braking systems. However, the automatic emergency braking system cannot be widely used in commercial vehicles due to factors such as complex technology, high requirements on the braking system, too close interaction with the whole vehicle, and high cost, making it impossible to effectively mitigate vehicle collisions, resulting in low driver safety and large collision losses.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method, device, commercial vehicle and storage medium for mitigating vehicle collisions, aiming to solve the technical problem that the prior art cannot effectively mitigate vehicle collisions, resulting in low driver safety and large collision losses.

[0005] To achieve the above object, the present invention provides a control method for alleviating vehicle collision, the control method for alleviating vehicle collision comprising the following steps:

[0006] Obtain the target vehicle's driving data and the driver's behavior data;

[0007] Determining whether the target vehicle will collide based on the driving data and the behavior data;

[0008] When it is determined that the target vehicle is likely to collide, generating a target brake air pressure and target warning information according to a brake request signal;

[0009] The collision of the target vehicle is mitigated according to the target brake air pressure and the target warning information.

[0010] Optionally, judging whether the target vehicle will collide based on the driving data and the behavior data includes:

[0011] The current image of the target vehicle's location is obtained by using a camera device arranged at the center of the front of the target vehicle;

[0012] Determine the lane line where the target vehicle is located according to the current image;

[0013] Acquire the distance between the target vehicle and the obstacle ahead according to the lane line;

[0014] Obtaining a current speed change rate of the target vehicle according to the driving data;

[0015] Obtaining an accelerator pedal opening change rate and a brake pedal opening change rate according to the behavior data;

[0016] It is determined whether the target vehicle will collide according to the distance, the current speed change rate, the accelerator pedal opening change rate and the brake pedal opening change rate.

[0017] Optionally, judging whether the target vehicle will collide with the target vehicle according to the distance, the current speed change rate, the accelerator pedal opening change rate and the brake pedal opening change rate includes:

[0018] Get the type of obstacle ahead;

[0019] When the type of the obstacle ahead is a vehicle type, determining the speed change rate of the obstacle ahead according to the distance and the current speed change rate;

[0020] Calculating a speed change rate difference according to the speed change rate of the obstacle ahead and the current speed change rate;

[0021] Determining the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal when the target vehicle collides with the front obstacle according to the speed change rate difference;

[0022] It is determined whether the target vehicle will collide based on the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal, the accelerator pedal opening change rate and the brake pedal opening change rate.

[0023] Optionally, when it is determined that the target vehicle will collide, generating a target brake air pressure and target warning information according to a brake request signal includes:

[0024] When it is determined that the target vehicle is likely to collide, generating a braking request signal according to the distance between the target vehicle and a front obstacle;

[0025] sending the brake request signal to a display device controller, so that the display device controller generates target warning information according to the brake request signal;

[0026] The brake request signal is sent to a vehicle controller, so that the vehicle controller and the solenoid valve generate and feed back a target brake air pressure according to the brake request signal.

[0027] Optionally, sending the brake request signal to a vehicle controller so that the vehicle controller and the solenoid valve generate and feed back a target brake air pressure according to the brake request signal includes:

[0028] The braking request signal is sent to a vehicle controller so that the vehicle controller generates a braking deceleration according to the braking request signal, and outputs a target control voltage to a solenoid valve arranged on the front of the target vehicle according to the braking deceleration, so that the solenoid valve generates and feeds back a target braking air pressure according to the above.

[0029] Optionally, the mitigating the collision of the target vehicle according to the target brake air pressure and the target warning information includes:

[0030] Obtaining warning light information and warning sound information according to the target warning information;

[0031] Displaying the warning light information and providing a prompt for the warning sound information through a target display device;

[0032] Obtain the driver's current behavior data within a preset time;

[0033] When the current behavior data of the driver is preset vehicle takeover behavior data, mitigating the collision of the target vehicle by using the current behavior data of the driver;

[0034] When the current behavior data of the driver is not the preset vehicle takeover behavior data, generating a vehicle partial braking deceleration strategy according to the target braking air pressure;

[0035] braking the target vehicle according to the vehicle partial braking deceleration strategy, and obtaining target behavior data of the driver;

[0036] When the target behavior data of the driver is preset vehicle takeover behavior data, the collision of the target vehicle is mitigated by the target behavior data of the driver.

[0037] Optionally, after braking the target vehicle according to the target partial braking behavior strategy and acquiring the target behavior data of the driver, the method further includes:

[0038] When the target behavior data of the driver is not the preset vehicle takeover behavior data, generating a vehicle overall braking and deceleration strategy according to the target braking air pressure;

[0039] The target vehicle is braked according to the vehicle overall braking and deceleration strategy to mitigate a collision of the target vehicle.

[0040] In addition, to achieve the above-mentioned purpose, the present invention further proposes a control device for alleviating vehicle collision, the control device for alleviating vehicle collision comprising:

[0041] An acquisition module, used to acquire the driving data of the target vehicle and the behavior data of the driver;

[0042] A judgment module, used for judging whether the target vehicle will collide according to the driving data and the behavior data;

[0043] A generating module, for generating a target brake air pressure and target warning information according to a brake request signal when it is determined that the target vehicle will collide;

[0044] A mitigation module is used to mitigate the collision of the target vehicle according to the target brake air pressure and the target warning information.

[0045] In addition, to achieve the above-mentioned purpose, the present invention also proposes a commercial vehicle, which includes: a memory, a processor, and a control program for mitigating vehicle collisions stored in the memory and executable on the processor, wherein the control program for mitigating vehicle collisions is configured to implement the control method for mitigating vehicle collisions as described above.

[0046] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a control program for mitigating vehicle collisions is stored. When the control program for mitigating vehicle collisions is executed by a processor, the control method for mitigating vehicle collisions as described above is implemented.

[0047] The control method for mitigating vehicle collision proposed by the present invention obtains the driving data of the target vehicle and the behavior data of the driver; determines whether the target vehicle will collide based on the driving data and the behavior data; when it is determined that the target vehicle will collide, generates a target brake pressure and a target warning information based on a brake request signal; and mitigates the collision of the target vehicle based on the target brake pressure and the target warning information; in the above manner, determines whether the target vehicle will collide based on the driving data of the target vehicle and the behavior data of the driver, and if so, before the target vehicle collides, the possible collision of the target vehicle is mitigated based on the target brake pressure and the target warning information, thereby effectively reducing the losses caused by vehicle collisions and improving the safety of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the structure of a commercial vehicle in the hardware operating environment involved in the embodiment of the present invention;

[0049] Figure 2 A schematic flow chart of a first embodiment of a control method for alleviating vehicle collision according to the present invention;

[0050] Figure 3 A schematic diagram of alleviating vehicle collision at each stage of an embodiment of a control method for alleviating vehicle collision according to the present invention;

[0051] Figure 4 A schematic flow chart of a second embodiment of a control method for alleviating vehicle collision according to the present invention;

[0052] Figure 5 This is a schematic diagram of the functional modules of the first embodiment of the control device for alleviating vehicle collision according to the present invention.

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0055] Reference Figure 1 , Figure 1 A schematic diagram of the commercial vehicle structure of the hardware operating environment involved in the embodiment of the present invention.

[0056] like Figure 1 As shown, the commercial vehicle may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the commercial vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0058] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a control program for mitigating vehicle collisions.

[0059] exist Figure 1 In the commercial vehicle shown, the network interface 1004 is mainly used for data communication with the network integration platform workstation; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the commercial vehicle of the present invention can be set in the commercial vehicle, and the commercial vehicle calls the control program for mitigating vehicle collisions stored in the memory 1005 through the processor 1001, and executes the control method for mitigating vehicle collisions provided in the embodiment of the present invention.

[0060] Based on the above hardware structure, an embodiment of a control method for alleviating vehicle collision is proposed in the present invention.

[0061] Reference Figure 2 , Figure 2 This is a flow chart of a first embodiment of a control method for alleviating vehicle collision according to the present invention.

[0062] In a first embodiment, the control method for mitigating vehicle collision comprises the following steps:

[0063] Step S10, obtaining the driving data of the target vehicle and the behavior data of the driver.

[0064] It should be noted that the executor of this embodiment is a commercial vehicle, and may also be other equipment that can achieve the same or similar functions, such as a collision warning system, etc. This embodiment does not limit this. In this embodiment, the collision warning system is used as an example for explanation.

[0065] It should be understood that driving data refers to relevant data of the target vehicle during the driving process, including speed, speed change rate, etc. Behavior data refers to data corresponding to various behavioral actions of the driver during driving the vehicle, such as stepping on the accelerator pedal, brake pedal, lights, and shifting gears. The target vehicle can be a commercial vehicle with heavy load, weak braking ability and long braking distance. The collision warning system of this embodiment is adapted to vehicles with ordinary anti-lock braking systems, and does not require the configuration of a body stability system. The whole vehicle has low configuration and wider applicability.

[0066] Step S20: determining whether the target vehicle will collide based on the driving data and the behavior data.

[0067] It is understandable that after obtaining the driving data of the target vehicle and the behavior data of the driver, it is determined whether the target vehicle will collide under the current situation.

[0068] Further, step S20 includes: obtaining a current image of the target vehicle's position through a camera device arranged at the center of the front of the target vehicle; determining the lane line where the target vehicle is located based on the current image; obtaining the distance between the target vehicle and the obstacle ahead based on the lane line; obtaining the current speed change rate of the target vehicle based on the driving data; obtaining the accelerator pedal opening change rate and the brake pedal opening change rate based on the behavior data; and judging whether the target vehicle will collide based on the distance, the current speed change rate, the accelerator pedal opening change rate and the brake pedal opening change rate.

[0069] It should be understood that the current image refers to the image in front of the target vehicle, which can be collected by a camera installed in the center of the front of the target vehicle. The camera has a good field of view and will not block the driver's field of view. The arrangement in the center of the front of the vehicle does not require offset of the installation parameters during calibration, which simplifies the calibration process. When there are multiple lanes on the road where the target vehicle is located, the lane line of the target vehicle is determined according to the current image, and then the distance to the obstacle in front of the target vehicle in the same lane is determined according to the lane line. At this time, the accelerator pedal opening change rate and the brake pedal opening change rate are obtained according to the driver's behavior data, and then the target vehicle is judged whether a collision will occur based on the distance, current speed change rate, accelerator pedal opening change rate and brake pedal opening change rate.

[0070] Further, judging whether the target vehicle will collide based on the distance, the current speed change rate, the accelerator pedal opening change rate and the brake pedal opening change rate includes: obtaining the type of the obstacle ahead; when the type of the obstacle ahead is a vehicle type, determining the speed change rate of the obstacle ahead based on the distance and the current speed change rate; calculating the speed change rate difference based on the speed change rate of the obstacle ahead and the current speed change rate; determining the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal when the target vehicle collides with the obstacle ahead based on the speed change rate difference; judging whether the target vehicle will collide based on the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal, the accelerator pedal opening change rate and the brake pedal opening change rate.

[0071] It can be understood that the vehicle type can be a motor vehicle type and a non-motor vehicle type in the same direction, for example, an SUV, a car, a truck, a van, a bus, a bicycle, an electric bicycle, and a motorcycle. After obtaining the type of the obstacle ahead, it is determined whether the type of the obstacle ahead is a vehicle type. If so, it indicates that the obstacle ahead is dynamic. At this time, the speed change rate of the obstacle ahead and the current speed change rate are used to calculate the speed change rate difference, and the current speed change rate includes a lateral speed change rate and a longitudinal speed change rate. Then, according to the speed change rate difference, the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal when the target vehicle collides with the obstacle ahead are determined. Then, according to the comparison results of the theoretical opening change rate of the accelerator pedal and the accelerator pedal opening change rate, and the theoretical opening change rate of the brake pedal and the brake pedal opening change rate, it is determined whether the target vehicle will collide.

[0072] Step S30, when it is determined that the target vehicle will collide, generating a target brake air pressure and target warning information according to a brake request signal.

[0073] It should be understood that when the theoretical opening rate of the accelerator pedal is less than or equal to the accelerator pedal opening rate, and the theoretical opening rate of the brake pedal is greater than or equal to the brake pedal opening rate, it indicates that the target vehicle will collide with the obstacle ahead. In addition, the urgency of the collision can be determined based on the difference between the theoretical opening rate of the accelerator pedal and the accelerator pedal opening rate, and the difference between the theoretical opening rate of the power pedal and the brake pedal opening rate, so as to display warning lights of different colors.

[0074] It can be understood that the target brake pressure refers to the air pressure for braking the target vehicle, the target warning information refers to the information that warns the driver to take over the braking of the target vehicle, the brake request signal refers to the signal requesting the target vehicle to brake, the brake request signal is sent to the display device controller that controls the display to generate the target warning information, and the brake request signal is sent to the vehicle controller that outputs the control voltage to generate the target warning information.

[0075] Step S40: Alleviate the collision of the target vehicle according to the target brake air pressure and the target warning information.

[0076] It is understandable that after obtaining the target brake pressure and the target warning information, before the target vehicle collides, the collision is mitigated or avoided according to the target brake pressure and the target warning information.

[0077] Further, step S40 includes: obtaining warning light information and warning sound information according to the target warning information; displaying the warning light information through a target display device, and prompting the warning sound information; obtaining the driver's current behavior data within a preset time; when the driver's current behavior data is the preset vehicle takeover behavior data, alleviating the collision of the target vehicle through the driver's current behavior data; when the driver's current behavior data is not the preset vehicle takeover behavior data, generating a vehicle partial braking and deceleration strategy according to the target braking air pressure; braking the target vehicle according to the vehicle partial braking and deceleration strategy, and obtaining the driver's target behavior data; when the driver's target behavior data is the preset vehicle takeover behavior data, alleviating the collision of the target vehicle through the driver's target behavior data.

[0078] It should be understood that reference Figure 3 , Figure 3 The schematic diagram of vehicle collision mitigation at each stage is as follows. When it is determined that the target vehicle will collide, it is in the alarm stage. The warning light information is displayed through the target display device, and the warning sound information is prompted. For example, the collision urgency is low at this time, the yellow light flashes, and a slow-frequency beeping sound is emitted. Then, the driver's current behavior data within the preset time is obtained, and the driver's current behavior data is determined to be the preset vehicle takeover behavior data. If not, it indicates that the driver has not taken over the vehicle or has misjudged the traffic conditions. At this time, it is in the partial braking stage, the collision urgency is medium, the red light flashes, and a medium-frequency beeping sound is emitted. The preset vehicle takeover behavior data can be the behavior data of the throttle, brake, and steering takeover vehicle. At this time, in order to mitigate the collision of the target vehicle, the target vehicle is braked through the vehicle partial braking and deceleration strategy to further remind the driver to take over the target vehicle and decelerate. The braking force at this time is small, and the braking deceleration shall not be greater than 2m / s 2 At this stage, the driver also has enough time to take over the vehicle and take evasive action to keep the target vehicle safe and under the driver's control.

[0079] Furthermore, after braking the target vehicle according to the target partial braking behavior strategy and acquiring the target behavior data of the driver, it also includes: when the target behavior data of the driver is not preset vehicle takeover behavior data, generating a vehicle full braking and deceleration strategy according to the target braking air pressure; braking the target vehicle according to the vehicle full braking and deceleration strategy to mitigate the collision of the target vehicle.

[0080] It is understandable that when it is determined that the target behavior data of the driver is not the preset vehicle takeover behavior data, the driver continues to refer to Figure 3At this time, it is in the emergency braking stage, the collision urgency is high, the red light flashes, and a high-frequency beeping sound is emitted, indicating that the driver has not taken over the target vehicle. At this time, in order to alleviate the collision of the target vehicle and ensure the safety of the driver, the target vehicle is braked according to the target deceleration value according to the vehicle's overall braking and deceleration strategy. The target deceleration value can be adjusted according to actual needs. In addition, if the collision warning system is turned off or fails, the yellow light will be always on.

[0081] This embodiment obtains the driving data of the target vehicle and the behavior data of the driver; determines whether the target vehicle will collide based on the driving data and the behavior data; when it is determined that the target vehicle will collide, generates a target brake pressure and a target warning information based on a brake request signal; and mitigates the collision of the target vehicle based on the target brake pressure and the target warning information; in the above manner, determines whether the target vehicle will collide based on the driving data of the target vehicle and the behavior data of the driver, and if so, mitigates the possible collision of the target vehicle based on the target brake pressure and the target warning information before the target vehicle collides, thereby effectively reducing the losses caused by vehicle collisions and improving the safety of the driver.

[0082] In one embodiment, if Figure 4 Based on the first embodiment, a second embodiment of the control method for alleviating vehicle collision of the present invention is proposed. Step S30 includes:

[0083] Step S301: when it is determined that the target vehicle is likely to collide, a braking request signal is generated according to the distance between the target vehicle and a front obstacle.

[0084] It should be understood that the braking request signal refers to a signal requesting braking of the target vehicle. When it is determined that the target vehicle will collide, a braking request signal is generated based on the distance between the target vehicle and the obstacle ahead.

[0085] Step S302: sending the braking request signal to a display device controller, so that the display device controller generates target warning information according to the braking request signal.

[0086] It is understandable that after the brake request signal is generated, the brake request signal is sent to the display device controller, and after receiving the brake request signal, the display device controller generates target warning information according to the brake request signal, and warns the driver through the target warning information.

[0087] Step S303: sending the brake request signal to the vehicle controller, so that the vehicle controller and the solenoid valve generate and feed back the target brake air pressure according to the brake request signal.

[0088] It should be understood that the target brake air pressure is generated by a solenoid valve. Since the braking forces of the front and rear axles are different, the solenoid valves in this embodiment include a front axle solenoid valve and a rear axle solenoid valve. The target brake air pressure generated by the solenoid valve is used to brake the front and rear axles of the target vehicle.

[0089] Further, step S303 includes: sending the braking request signal to the vehicle controller, so that the vehicle controller generates a braking deceleration according to the braking request signal, and outputs a target control voltage to a solenoid valve arranged on the front panel of the target vehicle according to the braking deceleration, so that the solenoid valve generates and feeds back the target braking air pressure according to the above.

[0090] It can be understood that after obtaining the braking request signal, the braking request signal is sent to the vehicle controller, and after receiving the braking request signal, the vehicle controller generates a braking deceleration according to the braking request signal, and then determines the target control voltage according to the braking deceleration, and outputs the target control voltage to the solenoid valves on the front of the target vehicle respectively, and after receiving the control signal, the solenoid valve generates a target braking air pressure according to the control signal and feeds back the target braking air pressure. The solenoid valve is controlled by the vehicle controller, and there is no need to add a solenoid valve controller, thereby saving costs.

[0091] This embodiment generates a braking request signal according to the distance between the target vehicle and the obstacle ahead when determining that the target vehicle is likely to collide; sends the braking request signal to a display device controller so that the display device controller generates target warning information according to the braking request signal; sends the braking request signal to a vehicle controller so that the vehicle controller and the solenoid valve generate and feed back target braking pressure according to the braking request signal; in the above manner, when determining that the target vehicle is likely to collide, the braking request signal is sent to the display device controller and the vehicle controller respectively, and then the display device controller generates target warning information, and the vehicle controller generates target braking pressure, thereby effectively improving the acquisition of target warning information and target braking pressure, thereby avoiding or alleviating vehicle collision.

[0092] In addition, an embodiment of the present invention further proposes a storage medium, on which a control program for mitigating vehicle collisions is stored. When the control program for mitigating vehicle collisions is executed by a processor, the steps of the control method for mitigating vehicle collisions as described above are implemented.

[0093] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0094] In addition, refer to Figure 5The embodiment of the present invention further provides a control device for alleviating vehicle collision, the control device for alleviating vehicle collision comprising:

[0095] The acquisition module 10 is used to acquire the driving data of the target vehicle and the behavior data of the driver.

[0096] The judgment module 20 is used to judge whether the target vehicle will collide according to the driving data and the behavior data.

[0097] The generating module 30 is used to generate a target brake air pressure and target warning information according to a brake request signal when it is determined that the target vehicle will collide.

[0098] The mitigation module 40 is used to mitigate the collision of the target vehicle according to the target brake pressure and the target warning information.

[0099] This embodiment obtains the driving data of the target vehicle and the behavior data of the driver; determines whether the target vehicle will collide based on the driving data and the behavior data; when it is determined that the target vehicle will collide, generates a target brake pressure and a target warning information based on a brake request signal; and mitigates the collision of the target vehicle based on the target brake pressure and the target warning information; in the above manner, determines whether the target vehicle will collide based on the driving data of the target vehicle and the behavior data of the driver, and if so, mitigates the possible collision of the target vehicle based on the target brake pressure and the target warning information before the target vehicle collides, thereby effectively reducing the losses caused by vehicle collisions and improving the safety of the driver.

[0100] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0101] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the control method for mitigating vehicle collision provided in any embodiment of the present invention, and will not be repeated here.

[0102] Other embodiments of the control device for alleviating vehicle collisions of the present invention or implementation methods thereof may refer to the above-mentioned method embodiments, which will not be repeated here.

[0103] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0104] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0105] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, an integrated platform workstation, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0106] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control method for alleviating vehicle collision, characterized in that: The control method for mitigating vehicle collisions comprises the following steps: Obtain the target vehicle's driving data and the driver's behavior data; Determining whether the target vehicle will collide based on the driving data and the behavior data; When it is determined that the target vehicle is likely to collide, generating a target brake air pressure and target warning information according to a brake request signal; Alleviating a collision of the target vehicle according to the target brake air pressure and the target warning information; The determining, based on the driving data and the behavior data, whether the target vehicle will collide comprises: The current image of the target vehicle's location is obtained by using a camera device arranged at the center of the front of the target vehicle; Determine the lane line where the target vehicle is located according to the current image; Acquire the distance between the target vehicle and the obstacle ahead according to the lane line; Obtaining a current speed change rate of the target vehicle according to the driving data; Obtaining an accelerator pedal opening change rate and a brake pedal opening change rate according to the behavior data; Get the type of obstacle ahead; When the type of the obstacle ahead is a vehicle type, determining the speed change rate of the obstacle ahead according to the distance and the current speed change rate; Calculating a speed change rate difference according to the speed change rate of the obstacle ahead and the current speed change rate; Determining the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal when the target vehicle collides with the front obstacle according to the speed change rate difference; Whether the target vehicle will collide is determined based on the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal, the accelerator pedal opening change rate, and the brake pedal opening change rate.

2. The control method for mitigating vehicle collision according to claim 1, characterized in that: When it is determined that the target vehicle will collide, generating a target brake air pressure and target warning information according to a brake request signal includes: When it is determined that the target vehicle is likely to collide, generating a braking request signal according to the distance between the target vehicle and a front obstacle; sending the brake request signal to a display device controller, so that the display device controller generates target warning information according to the brake request signal; The brake request signal is sent to a vehicle controller, so that the vehicle controller and the solenoid valve generate and feed back a target brake air pressure according to the brake request signal.

3. The control method for mitigating vehicle collision according to claim 2, characterized in that: The step of sending the brake request signal to a vehicle controller so that the vehicle controller and the solenoid valve generate and feed back a target brake air pressure according to the brake request signal comprises: The braking request signal is sent to a vehicle controller so that the vehicle controller generates a braking deceleration according to the braking request signal, and outputs a target control voltage to a solenoid valve arranged on the front of the target vehicle according to the braking deceleration, so that the solenoid valve generates and feeds back a target braking air pressure according to the above.

4. The control method for mitigating vehicle collision according to claim 1, characterized in that: The mitigating the collision of the target vehicle according to the target brake air pressure and the target warning information comprises: Obtaining warning light information and warning sound information according to the target warning information; Displaying the warning light information and providing a prompt for the warning sound information through a target display device; Obtain the driver's current behavior data within a preset time; When the current behavior data of the driver is preset vehicle takeover behavior data, mitigating the collision of the target vehicle by using the current behavior data of the driver; When the current behavior data of the driver is not the preset vehicle takeover behavior data, generating a vehicle partial braking deceleration strategy according to the target braking air pressure; braking the target vehicle according to the vehicle partial braking deceleration strategy, and obtaining target behavior data of the driver; When the target behavior data of the driver is preset vehicle takeover behavior data, the collision of the target vehicle is mitigated by the target behavior data of the driver.

5. The control method for mitigating vehicle collision according to claim 4, characterized in that: After braking the target vehicle according to the target partial braking behavior strategy and acquiring the target behavior data of the driver, the method further includes: When the target behavior data of the driver is not the preset vehicle takeover behavior data, generating a vehicle overall braking and deceleration strategy according to the target braking air pressure; The target vehicle is braked according to the vehicle overall braking and deceleration strategy to mitigate a collision of the target vehicle.

6. A control device for alleviating vehicle collision, characterized in that: The control device for alleviating vehicle collision comprises: An acquisition module, used to acquire the driving data of the target vehicle and the behavior data of the driver; A judgment module, used for judging whether the target vehicle will collide according to the driving data and the behavior data; A generating module, for generating a target brake air pressure and target warning information according to a brake request signal when it is determined that the target vehicle will collide; A mitigation module, configured to mitigate a collision of the target vehicle according to the target brake air pressure and the target warning information; The mitigation module is also used to obtain a current image of the target vehicle's location through a camera device arranged at the center of the front of the target vehicle; determine the lane line where the target vehicle is located based on the current image; obtain the distance between the target vehicle and the obstacle in front based on the lane line; obtain the current speed change rate of the target vehicle based on the driving data; obtain the accelerator pedal opening change rate and the brake pedal opening change rate based on the behavior data; obtain the type of the obstacle in front; when the type of the obstacle in front is a vehicle type, determine the speed change rate of the obstacle in front based on the distance and the current speed change rate; calculate the speed change rate difference based on the speed change rate of the obstacle in front and the current speed change rate; determine the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal when the target vehicle collides with the obstacle in front based on the speed change rate difference; and judge whether the target vehicle will collide based on the theoretical opening change rate of the accelerator pedal and the theoretical opening change rate of the brake pedal, the accelerator pedal opening change rate and the brake pedal opening change rate.

7. A commercial vehicle, characterized in that: The commercial vehicle includes: a memory, a processor, and a vehicle collision mitigation control program stored in the memory and executable on the processor, wherein the vehicle collision mitigation control program is configured to implement a vehicle collision mitigation control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a control program for mitigating vehicle collisions, and when the control program for mitigating vehicle collisions is executed by a processor, the control method for mitigating vehicle collisions as claimed in any one of claims 1 to 5 is implemented.

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