Vehicle following distance verification methods, devices, vehicles and storage media

Abstract

This application relates to the field of vehicle technology, and particularly to a method, device, vehicle, and storage medium for verifying vehicle following distance. The method includes: acquiring current vehicle driving status information and perception information; calculating the minimum safe following distance of the current vehicle based on the driving status information, and determining the target following distance of the current vehicle based on the current driving scenario and driving status information matched by the perception information, and determining whether the minimum safe following distance is less than the target following distance; and if the minimum safe following distance is less than the target following distance, determining that the target following distance verification has passed; otherwise, determining that the target following distance verification has failed, and generating corresponding improvement suggestions after verification failure. This solves the problem of related technologies not requiring a minimum safe distance and the unreasonable longitudinal control, increases the rationality of longitudinal control, and ensures vehicle safety in the event of main controller failure.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, device, vehicle, and storage medium for verifying following distance of a vehicle. Background Technology

[0002] Longitudinal control in autonomous driving is a very important part of autonomous driving technology, and it is also quite technically challenging. It needs to consider both safety and comfort. Safety mainly involves controlling the safe distance, while comfort involves controlling longitudinal acceleration.

[0003] The relevant technologies mention the verification of the rationality of longitudinal acceleration. Based on the current minimum safe distance, the upper limit of safe deceleration, and the lower limit of safe deceleration, the rationality of longitudinal deceleration is judged. Another method is to analyze the environment in which the vehicle is located based on the vehicle's own sensor data, thereby determining the driving scenario and determining the following distance based on the driving scenario.

[0004] However, the relevant technology does not specify a minimum safe distance, implying that the same minimum safe distance should apply to different types of vehicles traveling at the same speed. This is clearly unreasonable. Our confidence in autonomous driving following varies depending on the type of vehicle. We can accept a relatively close safe distance for cars, but applying the same safe distance to large trucks would create distrust among drivers, thus reducing the usability and user experience of autonomous driving.

[0005] Introducing driving scenarios as a new longitudinal acceleration verification module can ensure a certain level of driving comfort while taking driving safety into account, thereby improving the autonomous driving experience. Summary of the Invention

[0006] This application provides a method, device, vehicle, and storage medium for verifying following distance of a vehicle, which solves the problems of related technologies not requiring a minimum safe distance and unreasonable longitudinal control, increases the rationality of longitudinal control, and ensures vehicle safety in the event of failure of the main controller.

[0007] The first aspect of this application provides a method for verifying the following distance of a vehicle, comprising the following steps: acquiring current vehicle driving status information and perception information; calculating the minimum safe following distance of the current vehicle based on the driving status information, and determining the target following distance of the current vehicle based on the current driving scenario matched by the perception information and the driving status information, and determining whether the minimum safe following distance is less than the target following distance; and if the minimum safe following distance is less than the target following distance, determining that the target following distance verification passes, otherwise determining that the target following distance verification fails, and generating corresponding improvement suggestions after verification failure.

[0008] Optionally, in some embodiments, the driving status information includes the current speed, current acceleration, and following distance between the current vehicle and the target vehicle. Calculating the minimum safe following distance of the current vehicle based on the driving status information includes: calculating the minimum safe following distance based on the current speed, the current acceleration, and the following distance using a preset safe following distance formula.

[0009] Optionally, in some embodiments, determining the target following distance of the current vehicle based on the current driving scenario matched by the perception information and the driving state information includes: determining an initial following distance based on the current vehicle speed and the following distance; and obtaining the target following distance by multiplying the initial following distance by the scenario coefficient corresponding to the current driving scenario.

[0010] Optionally, in some embodiments, the current driving scenario matched by the perception information includes: obtaining from the perception information the number and type of vehicles in a first direction of the current vehicle, and the number and type of vehicles in a second direction of the current vehicle; and matching the current driving scenario based on the number and type of vehicles in the first direction and the number and type of vehicles in the second direction.

[0011] Optionally, in some embodiments, the above-described vehicle following distance verification method further includes: obtaining the state of the longitudinal deceleration actuator of the current vehicle; calculating the upper limit and lower limit of the safe deceleration of the current vehicle in the current driving scenario; verifying the longitudinal deceleration of the current vehicle according to the state of the longitudinal deceleration actuator, the upper limit and the lower limit of the safe deceleration, and after the longitudinal deceleration verification is passed, verifying the output signal of the longitudinal deceleration based on a preset signal verification strategy so that the output signal of the longitudinal deceleration is a valid signal.

[0012] A second aspect of this application provides a vehicle following distance verification device, comprising: an acquisition module for acquiring current vehicle driving status information and perception information; a judgment module for calculating the minimum safe following distance of the current vehicle based on the driving status information, and determining the target following distance of the current vehicle based on the current driving scenario matched by the perception information and the driving status information, and judging whether the minimum safe following distance is less than the target following distance; and a determination module for determining that the target following distance verification passes if the minimum safe following distance is less than the target following distance, otherwise determining that the target following distance verification fails, and generating corresponding improvement suggestions after verification failure.

[0013] Optionally, in some embodiments, the determination module is further configured to: calculate the minimum safe following distance based on the current speed, the current acceleration, and the following distance according to a preset safe following distance formula.

[0014] Optionally, in some embodiments, the determination module is further configured to: determine the initial following distance based on the current vehicle speed and the following distance; and obtain the target following distance based on the product of the initial following distance and the scenario coefficient corresponding to the current driving scenario.

[0015] Optionally, in some embodiments, the determination module is further configured to: obtain the number and type of vehicles in the first direction of the current vehicle and the number and type of vehicles in the second direction of the current vehicle from the perception information; and match the current driving scenario according to the number and type of vehicles in the first direction and the number and type of vehicles in the second direction.

[0016] Optionally, in some embodiments, the vehicle following distance verification device described above is further configured to: acquire the state of the current vehicle's longitudinal deceleration actuator; calculate the upper limit and lower limit of the safe deceleration of the current vehicle in the current driving scenario; verify the longitudinal deceleration of the current vehicle according to the state of the longitudinal deceleration actuator, the upper limit and the lower limit of the safe deceleration, and after the longitudinal deceleration verification is passed, verify the output signal of the longitudinal deceleration based on a preset signal verification strategy so that the output signal of the longitudinal deceleration is a valid signal.

[0017] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the following distance verification method for a vehicle as described in the above embodiments.

[0018] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the following distance verification method for vehicles as described in the above embodiments.

[0019] Therefore, by acquiring the current vehicle's driving status information and perception information, and calculating the minimum safe following distance based on the driving status information, and determining the target following distance based on the current driving scenario and driving status information matched by the perception information, the system judges whether the minimum safe following distance is less than the target following distance. If the minimum safe following distance is less than the target following distance, the target following distance verification is deemed successful; otherwise, the target following distance verification is deemed unsuccessful. After the verification fails, corresponding improvement suggestions are generated. This solves the problem that related technologies do not require minimum safe distances and the longitudinal control is unreasonable, increasing the rationality of longitudinal control. The verification module can ensure vehicle safety in the event of main controller failure.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0022] Figure 1 This is a flowchart of a vehicle following distance verification method provided according to an embodiment of this application;

[0023] Figure 2 This is a flowchart of a vehicle following distance verification method according to a specific embodiment of this application;

[0024] Figure 3 This is a block diagram of a vehicle following distance verification device provided according to an embodiment of this application;

[0025] Figure 4 This is a structural schematic diagram of a vehicle according to an embodiment of this application.

[0026] Explanation of reference numerals in the attached diagram: 10 - Vehicle following distance verification device, 100 - Acquisition module, 200 - Judgment module, and 300 - Decision module. Detailed Implementation

[0027] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0028] The following description, with reference to the accompanying drawings, describes a vehicle following distance verification method, apparatus, vehicle, and storage medium according to embodiments of this application. Addressing the issues mentioned in the background art regarding the lack of minimum safe distance requirements and unreasonable longitudinal control, this application provides a vehicle following distance verification method. In this method, current vehicle driving status information and perception information are acquired, and the minimum safe following distance is calculated based on the driving status information. The target following distance is determined by matching the current driving scenario and driving status information with the perception information. It is then determined whether the minimum safe following distance is less than the target following distance. If the minimum safe following distance is less than the target following distance, the target following distance verification is considered successful; otherwise, the target following distance verification is considered unsuccessful. Corresponding improvement suggestions are generated after the verification failure. This method solves the problems of related technologies lacking minimum safe distance requirements and unreasonable longitudinal control, increases the rationality of longitudinal control, and ensures vehicle safety in the event of a main controller failure.

[0029] Specifically, Figure 1 This is a flowchart illustrating a method for verifying following distance of a vehicle provided in an embodiment of this application.

[0030] like Figure 1 As shown, the following distance verification method for this vehicle includes the following steps:

[0031] In step S101, the current driving status information and perception information of the vehicle are obtained.

[0032] Specifically, in this embodiment of the application, after the adaptive cruise control function is activated, vehicle driving status information and vehicle sensor information are obtained. The vehicle sensor information may include information collected by LiDAR, camera, ultrasonic sensor, etc.

[0033] In step S102, the minimum safe following distance of the current vehicle is calculated based on the driving status information, and the target following distance of the current vehicle is determined by the current driving scenario and driving status information matched by the perception information, and it is determined whether the minimum safe following distance is less than the target following distance.

[0034] Optionally, in some embodiments, the driving status information includes the current speed, current acceleration, and following distance between the current vehicle and the target vehicle. Calculating the minimum safe following distance of the current vehicle based on the driving status information includes: calculating the minimum safe following distance based on the current speed, current acceleration, and following distance using a preset safe following distance formula.

[0035] Optionally, in some embodiments, the current driving scenario matched by the perception information includes: obtaining the number and type of vehicles in a first direction and the number and type of vehicles in a second direction from the perception information; and matching the current driving scenario based on the number and type of vehicles in the first direction and the number and type of vehicles in the second direction.

[0036] The vehicle types can include cars, trucks, vans, buses, or large transport vehicles.

[0037] Specifically, the first direction can be vehicles in front of the vehicle. For example, if there are no vehicles in front of the current vehicle, the number of vehicles in the first direction is 0; if there is a truck in front of the current vehicle, the number of vehicles in the first direction is 1, and the vehicle type in the first direction is a truck. The second direction can be vehicles to the side of the vehicle. For example, if there are no vehicles to the side of the current vehicle, the number of vehicles in the second direction is 0; if there are 2 vehicles to the left of the current vehicle, including a car and a truck, the number of vehicles in the second direction is 2, and the vehicle types are a truck and a car.

[0038] Optionally, in some embodiments, determining the target following distance of the current vehicle based on the current driving scenario and driving status information matched by the perception information includes: determining the initial following distance based on the current vehicle speed and following distance; and obtaining the target following distance by multiplying the initial following distance by the scenario coefficient corresponding to the current driving scenario.

[0039] Specifically, determining the following distance based on the current vehicle driving scenario includes: determining the initial following distance based on the current vehicle speed and the distance to the following target; and determining the target following distance based on the initial following distance and the vehicle driving scenario coefficient, wherein the target following distance is the product of the vehicle driving scenario coefficient and the basic following distance.

[0040] In step S103, if the minimum safe following distance is less than the target following distance, the target following distance verification is deemed to have passed; otherwise, the target following distance verification is deemed to have failed, and corresponding improvement suggestions are generated after the verification fails.

[0041] The minimum safe distance can be calculated based on the vehicle's current driving status information (driving speed, current acceleration, distance to the vehicle in front, etc.).

[0042] Specifically, if the current minimum safe following distance is greater than the target following distance determined in the current vehicle driving scenario, the following distance verification for the current vehicle driving scenario fails; if the current minimum safe following distance is less than the target following distance determined in the current vehicle driving scenario, the following distance verification for the current vehicle driving scenario passes.

[0043] Optionally, in some embodiments, the above-described vehicle following distance verification method further includes: obtaining the current state of the vehicle's longitudinal deceleration actuator; calculating the upper limit and lower limit of the safe deceleration of the current vehicle in the current driving scenario; verifying the longitudinal deceleration of the current vehicle based on the state of the longitudinal deceleration actuator, the upper limit and lower limit of the safe deceleration, and after the longitudinal deceleration verification is passed, verifying the output signal of the longitudinal deceleration based on a preset signal verification strategy so that the output signal of the longitudinal deceleration is a valid signal.

[0044] Specifically, to ensure the validity and accuracy of the output signal, this embodiment of the application can perform a reasonable verification after reasonably checking the longitudinal deceleration. This embodiment of the application can determine the actuator and execute the deceleration signal based on the deceleration information and the state of the longitudinal deceleration actuator. It should be noted that the preset signal verification strategy can be the verification strategy in related technologies, and to avoid redundancy, it will not be described in detail here.

[0045] Therefore, as Figure 2 As shown, the embodiments of this application can acquire vehicle perception information through sensors, combine it with vehicle driving status information, establish a driving scenario, determine the following distance, and comprehensively judge the driving conditions. Under the premise of driving safety, it can improve driving comfort, bring a certain automatic assisted driving experience, and increase the utilization rate of intelligent driving assistance systems.

[0046] The vehicle following distance verification method proposed in this application obtains the current vehicle's driving status information and perception information, calculates the minimum safe following distance of the current vehicle based on the driving status information, determines the target following distance of the current vehicle by matching the current driving scenario and driving status information with the perception information, and judges whether the minimum safe following distance is less than the target following distance. If the minimum safe following distance is less than the target following distance, the target following distance verification is deemed to have passed; otherwise, the target following distance verification is deemed to have failed. After the verification fails, corresponding improvement suggestions are generated. This solves the problem that related technologies do not require minimum safe distance and have unreasonable longitudinal control, increases the rationality of longitudinal control, and ensures vehicle safety in the event of main controller failure.

[0047] Next, referring to the accompanying drawings, a vehicle following distance verification device according to an embodiment of this application is described.

[0048] Figure 3 This is a block diagram of a vehicle following distance verification device according to an embodiment of this application.

[0049] like Figure 3 As shown, the following distance verification device 10 for the vehicle includes: an acquisition module 100, a judgment module 200, and a determination module 300.

[0050] The system includes an acquisition module 100 for acquiring the current vehicle's driving status information and perception information; a judgment module 200 for calculating the minimum safe following distance of the current vehicle based on the driving status information, determining the target following distance of the current vehicle based on the current driving scenario and driving status information matched by the perception information, and judging whether the minimum safe following distance is less than the target following distance; and a judgment module 300 for judging whether the target following distance verification passes if the minimum safe following distance is less than the target following distance, otherwise judging the target following distance verification fails, and generating corresponding improvement suggestions after the verification fails.

[0051] Optionally, in some embodiments, the determination module 200 is further configured to: calculate the minimum safe following distance based on the current speed, current acceleration and following distance according to a preset safe following distance formula.

[0052] Optionally, in some embodiments, the determination module 200 is further configured to: determine the initial following distance based on the current vehicle speed and following distance; and obtain the target following distance based on the product of the initial following distance and the scenario coefficient corresponding to the current driving scenario.

[0053] Optionally, in some embodiments, the determination module 200 is further configured to: obtain the number and type of vehicles in the first direction of the current vehicle and the number and type of vehicles in the second direction of the current vehicle from the perception information; and match the current driving scenario based on the number and type of vehicles in the first direction and the number and type of vehicles in the second direction.

[0054] Optionally, in some embodiments, the vehicle following distance verification device 10 described above is further configured to: obtain the current state of the vehicle's longitudinal deceleration actuator; calculate the upper limit and lower limit of the safe deceleration of the current vehicle in the current driving scenario; verify the longitudinal deceleration of the current vehicle based on the state of the longitudinal deceleration actuator, the upper limit and lower limit of the safe deceleration, and after the longitudinal deceleration verification is passed, verify the output signal of the longitudinal deceleration based on a preset signal verification strategy so that the output signal of the longitudinal deceleration is a valid signal.

[0055] It should be noted that the explanation of the above-described method for verifying the following distance of a vehicle also applies to the following distance verification device of the vehicle in this embodiment, and will not be repeated here.

[0056] The vehicle following distance verification device proposed in this application obtains the current vehicle's driving status information and perception information, calculates the minimum safe following distance of the current vehicle based on the driving status information, and determines the target following distance of the current vehicle based on the current driving scenario and driving status information matched by the perception information. It then determines whether the minimum safe following distance is less than the target following distance. If the minimum safe following distance is less than the target following distance, the target following distance verification is deemed to have passed; otherwise, the target following distance verification is deemed to have failed. After the verification fails, corresponding improvement suggestions are generated. This solves the problem that related technologies do not require a minimum safe distance and have unreasonable longitudinal control, increases the rationality of longitudinal control, and ensures vehicle safety in the event of a main controller failure.

[0057] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0058] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0059] When the processor 402 executes the program, it implements the vehicle following distance verification method provided in the above embodiments.

[0060] Furthermore, the vehicle also includes:

[0061] Communication interface 403 is used for communication between memory 401 and processor 402.

[0062] The memory 401 is used to store computer programs that can run on the processor 402.

[0063] The memory 401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0064] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0065] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0066] Processor 402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0067] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described vehicle following distance verification method.

[0068] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0070] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0071] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0072] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0073] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for verifying following distance of a vehicle, characterized in that, Includes the following steps: Obtain current vehicle driving status information and perception information; The minimum safe following distance of the current vehicle is calculated based on the driving status information, and the target following distance of the current vehicle is determined by the current driving scenario matched by the perception information and the driving status information, and it is determined whether the minimum safe following distance is less than the target following distance. as well as If the minimum safe following distance is less than the target following distance, the target following distance verification is deemed to have passed; otherwise, the target following distance verification is deemed to have failed, and corresponding improvement suggestions are generated after the verification fails. The driving status information includes the current speed, current acceleration, and following distance between the current vehicle and the target vehicle. Calculating the minimum safe following distance of the current vehicle based on the driving status information includes: Based on a preset safe following distance formula, the minimum safe following distance is calculated according to the current speed, the current acceleration, and the following distance.

2. The method according to claim 1, characterized in that, Determining the target following distance of the current vehicle based on the current driving scenario matched by the perceived information and the driving status information includes: The initial following distance is determined based on the current speed and the following distance. The target following distance is obtained by multiplying the initial following distance by the scene coefficient corresponding to the current driving scenario.

3. The method according to claim 2, characterized in that, The current driving scenario matched by the perceived information includes: The number and type of vehicles in the first direction of the current vehicle, and the number and type of vehicles in the second direction of the current vehicle are obtained from the perception information. The current driving scenario is matched based on the number and type of vehicles in the first direction and the number and type of vehicles in the second direction.

4. The method according to claim 1, characterized in that, Also includes: Obtain the current state of the vehicle longitudinal deceleration actuator; Calculate the upper limit and lower limit of safe deceleration for the current vehicle in the current driving scenario; The longitudinal deceleration of the current vehicle is verified based on the state of the longitudinal deceleration actuator, the upper limit of safe deceleration, and the lower limit of safe deceleration. After the longitudinal deceleration verification is passed, the output signal of the longitudinal deceleration is verified based on a preset signal verification strategy so that the output signal of the longitudinal deceleration is a valid signal.

5. A vehicle following distance verification device, characterized in that, include: The acquisition module is used to acquire the current driving status information and perception information of the vehicle; The judgment module is used to calculate the minimum safe following distance of the current vehicle based on the driving status information, and to determine the target following distance of the current vehicle based on the current driving scenario matched by the perception information and the driving status information, and to determine whether the minimum safe following distance is less than the target following distance. as well as The determination module is used to determine that the target following distance verification passes if the minimum safe following distance is less than the target following distance; otherwise, it determines that the target following distance verification fails and generates corresponding improvement suggestions after the verification fails. The driving status information includes the current speed, current acceleration, and following distance between the current vehicle and the target vehicle. The judgment module is further used for: Based on a preset safe following distance formula, the minimum safe following distance is calculated according to the current speed, the current acceleration, and the following distance.

6. The apparatus according to claim 5, characterized in that, The judgment module is also used for: The initial following distance is determined based on the current speed and the following distance. The target following distance is obtained by multiplying the initial following distance by the scene coefficient corresponding to the current driving scenario.

7. A vehicle, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the following distance verification method for a vehicle as described in any one of claims 1-4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the following distance verification method for vehicles as described in any one of claims 1-4.

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