Safety field-based vehicle control method and device, vehicle and storage medium

Abstract

The application discloses a vehicle control method and device based on a safety field, a vehicle and a storage medium, wherein the vehicle control method comprises the following steps: acquiring historical position information of the vehicle as first data; determining a safety field target distance according to the first data, wherein the safety field target distance is used for representing an actual distance between a target obstacle and the vehicle; acquiring a braking parameter of the vehicle, a relative speed of the vehicle relative to the target obstacle and a preset driver braking reaction time as second data; determining a safety field radius according to the second data; determining the safety field according to the safety field radius; judging the safety of the vehicle according to the safety field target distance and the safety field to obtain a judgment result; and controlling the vehicle according to the judgment result. The application solves the technical problem of low safety of an intelligent driving automobile in the prior art.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and more specifically, to a vehicle control method, device, vehicle, and storage medium based on a safety field. Background Technology

[0002] The realization of intelligent driving relies on three key technological elements: perception, planning, and control. In essence, this roughly breaks down the human driving process: first, observing surrounding vehicles and traffic lights; then, based on the destination direction, using the accelerator, brakes, and steering wheel to accelerate / decelerate, turn / change lanes, and brake again. For intelligent driving to achieve autonomous driving, a vehicle needs to "see" the road clearly, much like a human walks. Perception allows the intelligent driving vehicle to understand and grasp the traffic environment. With the support of a perception system, the intelligent driving vehicle can detect the position, speed, and potential behavior of obstacles in the traffic environment. To improve vehicle safety and protect people's lives and property, intelligent driving safety fields have received increasing attention from vehicle manufacturers and research institutions. An intelligent driving safety field can be constructed based on collected information about the vehicle's own status and the target vehicle, predicting risks in advance and ensuring safety. However, current technologies do not consider the calculation of the vehicle's trajectory information, resulting in inaccurate safety field construction and low safety.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a vehicle control method, device, vehicle, and storage medium based on a safe field, to at least address the technical problem of low safety in intelligent driving vehicles in related technologies.

[0005] According to one embodiment of the present invention, a vehicle control method based on a safe field is provided, comprising: acquiring historical position information of the vehicle as first data; determining a target distance of the safe field based on the first data, wherein the target distance of the safe field is used to represent the actual distance between the target obstacle and the vehicle; acquiring braking parameters of the vehicle, the relative speed of the vehicle relative to the target obstacle, and a preset driver braking reaction time as second data; determining a radius of the safe field based on the second data; determining a safe field based on the radius of the safe field; judging the safety of the vehicle based on the target distance of the safe field and the safe field to obtain a judgment result; and controlling the vehicle based on the judgment result.

[0006] Optionally, the vehicle control method based on a safe field further includes: historical position information including lateral position data and longitudinal position data; determining the target distance of the safe field based on the first data includes: determining a trajectory fitting equation for the vehicle's driving trajectory based on the lateral position data and longitudinal position data; determining the radius of the vehicle's driving trajectory based on the trajectory fitting equation; comparing the radius of the vehicle's driving trajectory with a preset radius threshold to obtain a comparison result; in response to the comparison result indicating that the radius of the vehicle's driving trajectory is less than or equal to the preset radius threshold, determining the target distance of the safe field using a first preset formula, wherein the parameters of the first preset formula include the first data, the distance between the front and rear axles of the vehicle, the steering wheel angle, and the steering transmission coefficient.

[0007] Optionally, the vehicle control method based on a safe field further includes: in response to a comparison result indicating that the radius of the vehicle's trajectory is greater than a preset radius threshold, determining the target distance of the safe field using a second preset formula, wherein the parameters of the second preset formula include the first data.

[0008] Optionally, the vehicle control method based on a safe field further includes: determining the radius of the vehicle's trajectory based on the trajectory fitting equation; determining the curvature equation of the vehicle's trajectory based on the trajectory fitting equation; determining the radius corresponding to each position point in the vehicle's trajectory based on the curvature equation to obtain multiple radius data; and determining the radius of the vehicle's trajectory based on the maximum and minimum values ​​among the multiple radius data.

[0009] Optionally, the vehicle control method based on the safety field further includes: the safety field radius includes the safety field collision radius and the safety field warning radius; determining the safety field radius based on the second data includes: determining the safety field collision radius using a third preset formula based on the second data; and determining the safety field warning radius using a fourth preset formula based on the second data and the warning reservation time, wherein the warning reservation time is determined based on the vehicle's current speed.

[0010] Optionally, the vehicle control method based on a safe field further includes: constructing a safe field target distance queue, which includes multiple safe field target distances corresponding to multiple consecutive historical moments; constructing a safe field collision radius cache queue, which includes multiple safe field collision radii corresponding to multiple consecutive historical moments; determining a collision threshold based on the safe field collision radius cache queue, wherein the ratio of safe field collision radii greater than the collision threshold to safe field collision radii less than the collision threshold in the safe field collision radius cache queue is a first preset ratio; constructing a safe field warning radius cache queue, which includes multiple safe field warning radii corresponding to multiple consecutive historical moments; determining a warning threshold based on the safe field warning radius cache queue, wherein the ratio of safe field warning radii greater than the warning threshold to safe field warning radii less than the collision threshold in the safe field warning radius cache queue is a second preset ratio; comparing each safe field target distance in the safe field target distance queue with the collision threshold and the warning threshold respectively to obtain a comparison result; and outputting a judgment result based on the comparison result.

[0011] Optionally, the vehicle control method based on the safe field further includes: in response to the comparison result showing that the distance between the target in the safe field and the target in the third preset proportion of the safe field in the queue is less than a collision threshold, outputting a vehicle deceleration signal, which is used to control the vehicle to decelerate; and in response to the comparison result showing that the distance between the target in the safe field and the target in the queue is less than a warning threshold, outputting a warning signal, which is used to indicate the distance between the vehicle and the target obstacle.

[0012] According to one embodiment of the present invention, a vehicle control device based on a safe field is also provided, applied to a vehicle, comprising: a first acquisition module for acquiring historical position information of the vehicle as first data; a first determination module for determining a target distance of the safe field based on the first data, wherein the target distance of the safe field represents the actual distance between the target obstacle and the vehicle; a second acquisition module for acquiring braking parameters of the vehicle, the relative speed of the vehicle relative to the target obstacle, and a preset driver braking reaction time as second data; a second determination module for determining a radius of the safe field based on the second data; a third determination module for determining a safe field based on the radius of the safe field; a judgment module for judging the safety of the vehicle based on the target distance of the safe field and the safe field to obtain a judgment result; and a control module for controlling the vehicle based on the judgment result.

[0013] According to one embodiment of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle control method based on a safety field as described above.

[0014] According to one embodiment of the present invention, a non-volatile storage medium is also provided, wherein a computer program is stored in the non-volatile storage medium, wherein the computer program is configured to execute the vehicle control method based on the safety field as described above when running.

[0015] In this embodiment of the invention, historical location information of the vehicle is acquired as first data; a target distance for the safe field is determined based on the first data, wherein the target distance for the safe field represents the actual distance between the target obstacle and the vehicle; the vehicle's braking parameters, the vehicle's relative speed to the target obstacle, and the preset driver braking reaction time are acquired as second data; the radius of the safe field is determined based on the second data; the safe field is determined based on the radius of the safe field; the safety of the vehicle is judged based on the target distance for the safe field and the safe field to obtain a judgment result; the vehicle is controlled based on the judgment result, thereby achieving the purpose of judging the driving safety of the vehicle based on the target distance and the safe field, thus realizing the technical effect of improving the safety of intelligent driving vehicles, and thus solving the technical problem of low safety of intelligent driving vehicles in related technologies. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a vehicle control method based on a safety field according to one embodiment of the present invention;

[0018] Figure 2 This is a flowchart of a method for constructing an intelligent driving safety field according to one embodiment of the present invention;

[0019] Figure 3 This is a structural block diagram of a vehicle control device based on a safety field according to one embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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.

[0021] It should be noted that the terms "first," "second," etc., 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 terms can be used interchangeably 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 a 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.

[0022] According to an embodiment of the present invention, an embodiment of a vehicle control method based on a safety field is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system containing at least one set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0023] This method embodiment can also be executed in an electronic device, similar control device, or vehicle-mounted terminal that includes a memory and a processor. Taking a vehicle-mounted terminal as an example, the vehicle-mounted terminal may include one or more processors and a memory for storing data. Optionally, the vehicle-mounted terminal may also include a communication device for communication functions and a display device. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the vehicle-mounted terminal. For example, the vehicle-mounted terminal may include more or fewer components than those described above, or have a different configuration than those described above.

[0024] A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), or an artificial intelligence (AI) processor. Different processing units may be independent components or integrated into one or more processors. In some instances, electronic devices may also include one or more processors.

[0025] The memory can be used to store computer programs, such as the computer program corresponding to the vehicle control method based on a safety field in this embodiment of the invention. The processor implements the aforementioned vehicle control method based on a safety field by running the computer program stored in the memory. The memory may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to electronic devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0026] The communication device is used to receive or send data via a network. Specific examples of the network mentioned above may include a wireless network provided by the mobile terminal's communication provider. In one example, the communication device includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the communication device may be a radio frequency (RF) module, used for wireless communication with the Internet. In some embodiments of this solution, the communication device is used to connect to mobile devices such as mobile phones and tablets, enabling the mobile device to send commands to the vehicle-mounted terminal.

[0027] The display device can be a touchscreen liquid crystal display (LCD) or a touch display (also referred to as a "touchscreen" or "touch screen"). This LCD allows the user to interact with the user interface of the in-vehicle terminal. In some embodiments, the in-vehicle terminal has a graphical user interface (GUI), allowing the user to interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. This human-machine interaction function may include a vehicle gear shifting function. Executable instructions for performing the aforementioned human-machine interaction function are configured / stored in one or more processor-executable computer program products or readable storage media.

[0028] Figure 1 This is a flowchart of a vehicle control method based on a safety field according to one embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0029] Step S102: Obtain the vehicle's historical location information as the first data.

[0030] Optionally, the executing entity in this embodiment is an intelligent driving system. Other electronic devices and processors can also serve as the executing entity, and no specific limitation is made here.

[0031] In the technical solution provided by step S102 of this disclosure, the intelligent driving system can obtain the historical location information of the current vehicle as the first data through its included vehicle positioning device.

[0032] Optionally, the vehicle positioning device in the intelligent driving system can collect the vehicle's current location information once within a preset time period, or record the vehicle's current location information once after the vehicle has traveled a preset distance. The preset time and preset distance can be set as empirical values, for example, the preset time can be set to 1 minute and the preset distance can be set to 100 meters.

[0033] Step S104: Determine the safe field target distance based on the first data, wherein the safe field target distance is used to represent the actual distance between the target obstacle and the vehicle.

[0034] In the technical solution provided by step S104 of this disclosure, the intelligent driving system can determine the actual distance between the target obstacle and the vehicle, i.e., the safe field target distance, based on the acquired historical vehicle location information.

[0035] Specifically, if there is a target obstacle in the future driving trajectory of the target vehicle, the actual distance between the target obstacle and the target vehicle may not be exactly the same as the displacement distance given by perception because the vehicle's driving path often has a certain curvature. Therefore, in order to achieve an accurate assessment of the safety of the target vehicle, it is necessary to combine the target vehicle's own driving trajectory for calculation, so as to achieve the purpose of accurately calculating the distance between the target obstacle and the target vehicle.

[0036] Step S106: Obtain the vehicle's braking parameters, the vehicle's relative speed to the target obstacle, and the preset driver's braking reaction time as second data.

[0037] In the technical solution provided by step S106 of this disclosure, the intelligent driving system can acquire the braking parameters of the target vehicle, the relative speed of the target vehicle relative to the target obstacle, and the preset driver braking reaction time as second data.

[0038] Optionally, the preset driver braking reaction time can be an empirical value, which can be obtained by sampling braking reaction experiments from several drivers to obtain relevant data.

[0039] Step S108: Determine the safety field radius based on the second data.

[0040] In the technical solution provided by step S108 of this disclosure, the intelligent driving system can determine the radius of the safety field based on the second data obtained above.

[0041] Step S110: Determine the safety field based on the safety field radius.

[0042] In the technical solution provided by step S110 of this disclosure, the intelligent driving system can determine the safety field based on the calculated safety field radius.

[0043] Specifically, the safety field consists of two layers: an inner layer is a safety collision field, and an outer layer is a safety warning field. This invention adds a safety warning field in addition to the ordinary safety field, thereby achieving the technical effect of improving the safety of intelligent driving vehicles.

[0044] Step S112: Based on the target distance in the safe field and the safety of the vehicle in the safe field, a judgment result is obtained.

[0045] In the technical solution provided by step S112 of this disclosure, the intelligent driving system can compare the obtained safe field target distance and safe field radius to determine whether the target obstacle exists within the safe field, and finally output the judgment result.

[0046] Specifically, when comparing the target distance and the radius of the safe field, if the target distance is greater than the radius of the safe field, the target distance is discarded; if the target distance is less than the radius of the safe field, it indicates that the target distance is within the safe field, and the intelligent driving system should immediately issue a warning to the driver of the target vehicle and take a series of warning measures.

[0047] Step S114: Control the vehicle based on the judgment result.

[0048] In the technical solution provided by step S114 of this disclosure, the intelligent driving system controls the target vehicle based on the judgment result obtained after the comparison.

[0049] Optionally, when the intelligent driving system obtains a judgment result that the target obstacle is in the safe field, the warning module of the intelligent driving system should issue a warning message to the driver of the target vehicle; if the system obtains a judgment result that the target obstacle is outside the safe field, it means that there is no safety hazard to the target vehicle at this time, so there is no need to issue a warning message to the driver.

[0050] Steps S102 to S114 above, as follows Figure 2 As shown, in this invention, the historical location information of the vehicle is used as the first data, and the target distance of the safe field is determined based on the first data. The target distance of the safe field is used to represent the actual distance between the target obstacle and the vehicle. The braking parameters of the vehicle, the relative speed of the vehicle relative to the target obstacle, and the preset driver braking reaction time are obtained as the second data. The radius of the safe field is determined based on the second data. The safe field is determined based on the radius of the safe field. The safety of the vehicle is judged based on the target distance of the safe field and the safe field to obtain the judgment result. The vehicle is controlled according to the judgment result. This achieves the purpose of judging the driving safety of the vehicle based on the target distance and the safe field, thereby realizing the technical effect of improving the safety of intelligent driving vehicles and solving the technical problem of low safety of intelligent driving vehicles in related technologies.

[0051] It is noteworthy that this disclosure provides a control method based on a safety field, which can calculate the actual distance between the vehicle and other vehicles by combining the vehicle's own driving trajectory, and calculate the radius of the safety collision field and the safety warning field through formulas, so as to predict the occurrence of risks in advance. Compared with the traditional safety field judgment method, this invention takes into account the trajectory information of the vehicle, so the calculation of the target distance is more accurate. Furthermore, it constructs two safety fields, a safety collision field and a safety warning field, which can provide early warning and braking in the early stage of an accident, thus ensuring driving safety.

[0052] The method described in this embodiment will now be described in further detail.

[0053] As an optional implementation, step S104, the historical location information includes lateral location data and longitudinal location data, wherein determining the target distance of the safe field based on the first data includes: determining the trajectory fitting equation of the vehicle's driving trajectory based on the lateral location data and longitudinal location data, determining the radius of the vehicle's driving trajectory based on the trajectory fitting equation, comparing the radius of the vehicle's driving trajectory with a preset radius threshold to obtain a comparison result; in response to the comparison result indicating that the radius of the vehicle's driving trajectory is less than or equal to the preset radius threshold, determining the target distance of the safe field using a first preset formula, wherein the parameters of the first preset formula include the first data, the distance between the front and rear axles of the vehicle, the steering wheel angle, and the steering transmission coefficient.

[0054] In this embodiment, the intelligent driving system determines the target distance of the safe field based on the first data, which includes the following steps: determining the trajectory fitting equation of the vehicle on the driving trajectory based on the lateral and longitudinal position data in the historical position information, obtaining the curvature of any point on the driving trajectory and thus determining the radius of the vehicle's driving trajectory, and then comparing the radius of the vehicle's driving trajectory with a preset radius threshold. When the radius of the vehicle's driving trajectory is less than or equal to the preset radius threshold, the target distance of the safe field is calculated according to the first preset formula, wherein the first preset formula includes the following parameters: the first data, the distance between the front and rear axles of the vehicle, the steering wheel angle, and the steering transmission coefficient.

[0055] Specifically, the trajectory fitting equation for the vehicle on its driving trajectory, determined based on the lateral and longitudinal position data in the historical location information, can be performed in simulation software. In this invention, Matlab programming software is used for simulation. It should be noted that any software with simulation capabilities can be used to implement this invention, and no specific limitation is made here.

[0056] The specific steps for determining the trajectory fitting equation are as follows:

[0057] Intelligent driving systems can record the vehicle's historical location information through onboard positioning devices, including longitudinal position data x = [x1, x2, ... x]. m ] and horizontal position data y = [Y1, Y2…Y m After inputting the above data into Matlab, the order of the trajectory fitting equation can be obtained using the following program:

[0058] j = 10;

[0059] for i = 1; j

[0060] y2 = polyfit(x, y, i);

[0061] Y = polyval(y2,x);

[0062] if sum(Yy) 2 <0.05

[0063] m = i;

[0064] break;

[0065] end

[0066] end

[0067] At this point, we have obtained the order m of the trajectory fitting equation when the sum of squared errors is less than 0.05. Then, we can enter the function in the Matlab window:

[0068] y1 = polyfit(x, y, m)

[0069] The coefficients of the fitting polynomial for the target vehicle's trajectory can be obtained from the above function, which are:

[0070] a0, a1, ..., a m

[0071] Where m is the order of the trajectory fitting equation, a i The corresponding x m-i The coefficients are then used to obtain the trajectory fitting equation for the target vehicle's driving trajectory:

[0072]

[0073] Furthermore, the curvature at any point x on the target vehicle's trajectory is... corresponding radius

[0074] It should be noted that, assuming there is a target obstacle in the future trajectory of the target vehicle, the lateral distance between the target obstacle and the vehicle is Y. w The vertical distance is X w Because the vehicle's travel path often has a certain curvature, the actual distance X between the target obstacle and the vehicle will vary. l The displacement distance X given by perception w Not entirely consistent. To achieve an accurate assessment of the target vehicle's safety, it is necessary to combine the target vehicle's own trajectory with the actual distance X between the target obstacle and the target vehicle. l Calculations show that this can improve the safety of intelligent driving vehicles.

[0075] Specifically, the formula for determining whether the radius of the target vehicle's trajectory is less than or equal to a preset radius threshold is as follows:

[0076]

[0077] x = 0 ~ X w

[0078] Among them, R ξ1 The first radius judgment threshold can be taken as an empirical value, such as 0.002. When the radius of the vehicle's trajectory is less than or equal to the preset radius threshold, the radius of the target vehicle's trajectory is considered to be approximately constant. Therefore, the actual distance X between the target obstacle and the vehicle can be calculated using the following formula. l :

[0079]

[0080] Where L represents the distance between the front and rear axles of the vehicle, θ represents the steering wheel angle of the vehicle, and δ represents the steering transmission coefficient of the vehicle.

[0081] As an optional implementation, in response to the comparison results showing that the radius of the vehicle's trajectory is greater than a preset radius threshold, the target distance of the safe field is determined using a second preset formula, wherein the parameters of the second preset formula include the first data.

[0082] In this embodiment, the radius of the vehicle's trajectory is compared with a preset radius threshold. When the radius of the vehicle's trajectory is greater than the preset radius threshold, the target distance of the safety field is calculated according to a second preset formula. The first preset formula includes the following parameters: first data.

[0083] Specifically, when the radius of the vehicle's trajectory is greater than a preset radius threshold, the actual distance X between the target obstacle and the vehicle can be calculated using the following formula. l :

[0084] X l =X l1 +X l2 +…+X lf +X lf+1

[0085]

[0086]

[0087] …

[0088]

[0089]

[0090] Where, x ξ Indicates equidistant segments, x ξ The following formula must be satisfied:

[0091]

[0092] x = 0 ~ X w -x ξ

[0093] Where R ξ2 The threshold value for judging the second radius can be taken as an empirical value; in this invention, it can be 0.003.

[0094] As an optional implementation method, the curvature equation of the vehicle's driving trajectory is determined according to the trajectory fitting equation. Based on the curvature equation, the radius corresponding to each position point in the vehicle's driving trajectory is determined to obtain multiple radius data. The radius of the vehicle's driving trajectory is determined based on the maximum and minimum values ​​among the multiple radius data.

[0095] In this embodiment, the intelligent driving system determines the radius of the vehicle's driving trajectory based on the trajectory fitting equation by the following steps: determining the curvature equation of the target vehicle's driving trajectory based on the trajectory fitting equation obtained from simulation, obtaining the radius of each position point of the target vehicle during driving based on the curvature equation, and determining the radius value of the target vehicle's driving trajectory based on the maximum and minimum values ​​among multiple radius values.

[0096] Specifically, the formula for determining the radius of the target vehicle's trajectory based on the maximum and minimum values ​​among multiple radius values ​​is as follows:

[0097]

[0098] x = 0 ~ X w

[0099] As an optional implementation, step S108, the safe field radius includes the safe field collision radius and the safe field warning radius. Determining the safe field radius based on the second data includes: determining the safe field collision radius using a third preset formula based on the second data, and determining the safe field warning radius using a fourth preset formula based on the second data and the warning reservation time, wherein the warning reservation time is determined based on the vehicle's current speed.

[0100] In this embodiment, the safe field radius determined by the intelligent driving system includes the safe field collision radius and the safe field warning radius. The determination of the safe field radius based on the second data includes the following steps: the intelligent driving system can use a third preset formula and the second data to determine the safe field collision radius, and then use a fourth preset formula to determine the safe field warning radius based on the second data and the warning reservation time.

[0101] Optionally, the warning reservation time is determined based on the vehicle's current speed. For example, if the current target vehicle's speed is greater than 60 km / h, a longer warning reservation time should be set; conversely, if the current target vehicle's speed is less than 60 km / h, a shorter warning reservation time can be set.

[0102] Specifically, the safety field consists of two layers: an inner safety collision field and an outer safety warning field, wherein t is set. d1 t is the reaction time (in seconds) required for the driver to brake. d2 The time delay (in seconds) for the braking system of this vehicle to generate braking force is t. r v is the braking force rise time (in seconds) required from the initial generation of braking force to the achievement of maximum braking force. rel The relative speed between the target obstacle and the vehicle (the difference between the target obstacle's speed and the vehicle's speed, in m / s), a d This represents the maximum braking deceleration (in m / s²) that the vehicle's braking system can produce. The safe collision field radius X is calculated using the following formula. s01 Calculation:

[0103]

[0104] Then use the following formula to calculate the radius X of the safety warning field. s02 Calculation:

[0105]

[0106]

[0107] Among them, t w Indicates the warning reserve time (in seconds), v h This indicates the vehicle's speed (in m / s).

[0108] As an optional implementation, in step S112, a safe field target distance queue is constructed, which includes multiple safe field target distances corresponding to multiple consecutive historical moments; a safe field collision radius cache queue is constructed, which includes multiple safe field collision radii corresponding to multiple consecutive historical moments; a collision threshold is determined based on the safe field collision radius cache queue, wherein the ratio of safe field collision radii greater than the collision threshold to safe field collision radii less than the collision threshold in the safe field collision radius cache queue is a first preset ratio; a safe field warning radius cache queue is constructed, which includes multiple safe field warning radii corresponding to multiple consecutive historical moments; a warning threshold is determined based on the safe field warning radius cache queue, wherein the ratio of safe field warning radii greater than the warning threshold to safe field warning radii less than the collision threshold in the safe field warning radius cache queue is a second preset ratio; each safe field target distance in the safe field target distance queue is compared with the collision threshold and the warning threshold respectively to obtain a comparison result; and a judgment result is output based on the comparison result.

[0109] In this embodiment, the intelligent driving system can construct a safe field target distance queue, which includes multiple distances (safe field target distances) between the target vehicle and target obstacles at multiple consecutive historical moments. It can also construct a safe field collision radius cache queue, which includes multiple safe field collision radii of the target vehicle at multiple consecutive historical moments. The intelligent driving system can determine a collision threshold based on the safe field collision radius cache queue, where the ratio of safe field collision radii greater than the collision threshold to those less than the collision threshold in the cache queue is a first preset ratio. Simultaneously, the intelligent driving system also needs to construct a safe field warning radius cache queue, which includes multiple safe field warning radii of the target vehicle at multiple consecutive historical moments. The intelligent driving system can determine a warning threshold based on the safe field warning radius cache queue, where the ratio of safe field warning radii greater than the warning threshold to those less than the collision threshold in the safe field warning radius cache queue is a second preset ratio. The intelligent driving system obtains a comparison result by comparing each safe field target distance in the safe field target distance queue with the collision threshold and the warning threshold, and then outputs the final judgment result based on the comparison result.

[0110] Specifically, the intelligent driving system makes a safety judgment based on the target distance and radius of the safe field, including the following steps: setting the radius of the safe field as X. s01 X s02 Then, combining the above calculations, we obtain the actual distance X. l To conduct a security assessment:

[0111] 1) Read the data of the first target obstacle and calculate the actual distance X between the target obstacle and the target vehicle. l Generate a safe field target distance queue, which can store at most N targets. 01 There are 10 historical values, and any historical difference exceeding these values ​​will automatically overflow.

[0112] 2) Solve for the radius X of the safe collision field. s01 Safety warning field radius X s02 Generate a safe field collision radius cache queue, which can store a maximum of N. 02 There are 10 historical values; any difference exceeding these historical values ​​will automatically overflow. A safety field warning radius cache queue is generated, which can store a maximum of N values. 03 There are 10 historical values, and any historical difference exceeding these values ​​will automatically overflow.

[0113] 3) Calculate A s01 A s01 This is equal to the average value of all values ​​in the safe field collision radius buffer queue. If any member in the safe field collision radius buffer queue has a value exceeding 0.8 × A... s01 ~1.2×A s01 Members exceeding the range are then removed. The values ​​mentioned above can be chosen as empirical values. The value R corresponding to the 90th percentile of the remaining members in the safety field collision radius buffer queue is calculated. s01 (That is, 90% of the values ​​in the safe field collision radius buffer queue are less than R) s01 10% of the values ​​are greater than R. s01 ).

[0114] 4) Calculate A s02 A s02 This is equal to the average of all values ​​in the safety field warning radius cache queue. If any member in the safety field warning radius cache queue has a value exceeding 0.7 × A... s02 ~1.3×A s02 Members exceeding the range are then removed. The aforementioned values ​​can be chosen as empirical values. The value R corresponding to the 90th percentile of the remaining members in the safety field warning radius buffer queue is calculated. s02 (That is, 90% of the values ​​in the safety field warning radius cache queue are less than R) s02 10% of the values ​​are greater than R. s02 );

[0115] 5) When the actual distance between the target obstacle and the vehicle is more than 80% of the members X in the buffer queue l ≥R s01If the target obstacle is deemed to be outside the vehicle's safe collision field and poses no collision risk, proceed to step 6. Otherwise, if the target obstacle is deemed to be within the vehicle's safe collision field and poses a collision risk, apply braking measures to the vehicle. For the next target obstacle within the vehicle's perception range, proceed as follows: Figure 2 Step 1 is shown;

[0116] 6) When the actual distance between the target obstacle and the vehicle is more than 80% of the members X in the buffer queue l ≥R s02 If the vehicle determines that the target obstacle is outside its safety warning field, no warning will be issued to the driver; otherwise, if the vehicle determines that the target obstacle is within its safety warning field, a warning will be issued to the driver. For the next target obstacle within the vehicle's perception range, the following actions will be taken: Figure 2 Step 1 is shown.

[0117] Optionally, the first and second preset ratios mentioned above can be selected as empirical values. For example, when there are many obstacles on the current driving trajectory of the target vehicle, the first preset ratio can be set to a higher ratio to improve the driving safety of the target vehicle; conversely, when there are few obstacles on the current driving trajectory of the target vehicle, the first preset ratio can be set to a lower ratio.

[0118] As an optional implementation, in response to the comparison result showing that the distance between the target and the target in the safe field is less than the third preset proportion of the safe field target in the queue is less than the collision threshold, a vehicle deceleration signal is output, which is used to control the vehicle to decelerate; in response to the comparison result showing that the distance between the target and the target in the safe field is less than the third preset proportion of the safe field target in the queue is less than the warning threshold, a warning signal is output, which is used to indicate the distance between the vehicle and the target obstacle.

[0119] In this embodiment, when the distance between the target and the target in the safe field is less than the third preset proportion of the safe field target distance in the queue, it indicates that the current target obstacle is located within the safe collision field. At this time, the intelligent driving system should output a vehicle deceleration signal, which is used to control the vehicle to decelerate. When the distance between the target and the target in the safe field is less than the third preset proportion of the safe field target distance in the queue, it indicates that the current target obstacle is located within the safe warning field. At this time, a warning signal should be output, which is used to indicate the distance between the vehicle and the target obstacle.

[0120] Optionally, when the intelligent driving system receives a deceleration signal, it can control the drive module in the system to decelerate the target vehicle; when the intelligent driving system receives a warning signal, it can display the warning information on the vehicle's control panel to provide a warning to the driver.

[0121] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0122] This embodiment also provides a vehicle control device based on a safety field, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0123] Figure 3 This is a structural block diagram of a vehicle control device 300 based on a safety field according to one embodiment of the present disclosure, such as... Figure 3 As shown, the device includes: a first acquisition module 301, a first determination module 302, a second acquisition module 303, a second determination module 304, a third determination module 305, a judgment module 306, and a control module 307.

[0124] The first acquisition module 301 is used to acquire the vehicle's historical location information as first data;

[0125] The first determining module 302 is used to determine the safe field target distance based on the first data, wherein the safe field target distance is used to represent the actual distance between the target obstacle and the vehicle;

[0126] The second acquisition module 303 is used to acquire the vehicle's braking parameters, the vehicle's relative speed to the target obstacle, and the preset driver's braking reaction time as second data.

[0127] The second determining module 304 is used to determine the safety field radius based on the second data;

[0128] The third determining module 305 is used to determine the safety field based on the safety field radius;

[0129] The judgment module 306 is used to judge the safety of the vehicle based on the target distance in the safety field and the safety field to obtain the judgment result;

[0130] The control module 307 is used to control the vehicle based on the judgment result.

[0131] Optionally, the first determining module 302 includes: a first determining unit, used to determine a trajectory fitting equation for the vehicle's driving trajectory based on lateral position data and longitudinal position data; a second determining unit, used to determine the radius of the vehicle's driving trajectory based on the trajectory fitting equation; a first comparison unit, used to compare the radius of the vehicle's driving trajectory with a preset radius threshold to obtain a comparison result; and a third determining unit, used to determine the target distance of the safe field using a first preset formula in response to the comparison result indicating that the radius of the vehicle's driving trajectory is less than or equal to the preset radius threshold, wherein the parameters of the first preset formula include first data, the distance between the front and rear axles of the vehicle, the steering wheel angle, and the steering transmission coefficient.

[0132] Optionally, the first determining module 302 further includes: a fourth determining unit, used to determine the target distance of the safe field using a second preset formula in response to the comparison result indicating that the radius of the vehicle's driving trajectory is greater than a preset radius threshold, wherein the parameters of the second preset formula include the first data.

[0133] Optionally, the second determining unit includes: a first determining subunit, used to determine the curvature equation of the vehicle's driving trajectory based on the trajectory fitting equation; a second determining subunit, used to determine the radius corresponding to each position point in the vehicle's driving trajectory based on the curvature equation to obtain multiple radius data; and a third determining subunit, used to determine the radius of the vehicle's driving trajectory based on the maximum and minimum values ​​in the data.

[0134] Optionally, the second determining module 304 includes: a fifth determining unit, used to determine the safe field collision radius according to the second data and a third preset formula; and a sixth determining unit, used to determine the safe field warning radius according to the second data and the warning reservation time and a fourth preset formula, wherein the warning reservation time is determined according to the current vehicle speed.

[0135] Optionally, the judgment module 306 includes: a first construction unit for constructing a safe field target distance queue, which includes multiple safe field target distances corresponding to multiple consecutive historical moments; a second construction unit for constructing a safe field collision radius cache queue, which includes multiple safe field collision radii corresponding to multiple consecutive historical moments; a seventh determination unit for determining a collision threshold based on the safe field collision radius cache queue, wherein the ratio of safe field collision radii greater than the collision threshold to safe field collision radii less than the collision threshold in the safe field collision radius cache queue is a first preset ratio; a third construction unit for constructing a safe field warning radius cache queue, which includes multiple safe field warning radii corresponding to multiple consecutive historical moments; an eighth determination unit for determining a warning threshold based on the safe field warning radius cache queue, wherein the ratio of safe field warning radii greater than the warning threshold to safe field warning radii less than the collision threshold in the safe field warning radius cache queue is a second preset ratio; a second comparison unit for comparing each safe field target distance in the safe field target distance queue with the collision threshold and the warning threshold respectively to obtain a comparison result; and an output unit for outputting a judgment result based on the comparison result.

[0136] Optionally, the output unit includes: a first output subunit, used to output a vehicle deceleration signal in response to a comparison result indicating that the distance between the target and the target in the safe field is less than a third preset proportion of the safe field target in the queue, the vehicle deceleration signal being used to control the vehicle to decelerate; and a second output subunit, used to output a warning signal in response to a comparison result indicating that the distance between the target and the target obstacle is less than a warning threshold, the warning signal being used to indicate the distance between the vehicle and the target obstacle.

[0137] Embodiments of the present invention also provide a vehicle, including a memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to perform a vehicle control method based on a safety field.

[0138] Optionally, in this embodiment, the vehicle may be configured to store a computer program for performing the following steps:

[0139] Step S102: Obtain the vehicle's historical location information as the first data;

[0140] Step S104: Determine the target distance in the safe field based on the first data, wherein the target distance in the safe field is used to represent the actual distance between the target obstacle and the vehicle;

[0141] Step S106: Obtain the vehicle's braking parameters, the vehicle's relative speed to the target obstacle, and the preset driver's braking reaction time as second data;

[0142] Step S108: Determine the radius of the safety field based on the second data;

[0143] Step S110: Determine the safety field based on the safety field radius;

[0144] Step S112: Based on the target distance in the safe field and the safety of the vehicle in the safe field, a judgment result is obtained;

[0145] Step S114: Control the vehicle based on the judgment result.

[0146] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0147] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0148] In the embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0149] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0150] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0151] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0152] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle control method based on a safety field, applied to vehicles, characterized in that, include: The historical location information of the vehicle is obtained as the first data; The safe field target distance is determined based on the first data, wherein the safe field target distance is used to represent the actual distance between the target obstacle and the vehicle; The braking parameters of the vehicle, the relative speed of the vehicle relative to the target obstacle, and the preset driver braking reaction time are obtained as second data. Determine the safety field radius based on the second data; The safety field is determined based on the radius of the safety field. The judgment result is obtained by judging the safety of the vehicle based on the target distance of the safety field and the safety field. The vehicle is controlled based on the judgment result; The historical location information includes lateral location data and longitudinal location data. Determining the target distance for the safe field based on the first data includes: determining a trajectory fitting equation for the vehicle's driving trajectory based on the lateral location data and the longitudinal location data; determining a curvature equation for the vehicle's driving trajectory based on the trajectory fitting equation; determining the radius corresponding to each position point in the vehicle's driving trajectory based on the curvature equation to obtain multiple radius data; determining the radius of the vehicle's driving trajectory based on the maximum and minimum values ​​among the multiple radius data; comparing the radius of the vehicle's driving trajectory with a preset radius threshold to obtain a comparison result; in response to the comparison result indicating that the radius of the vehicle's driving trajectory is less than or equal to the preset radius threshold, determining the target distance for the safe field using a first preset formula, wherein the parameters of the first preset formula include the first data, the distance between the front and rear axles of the vehicle, the steering wheel angle, and the steering transmission coefficient; in response to the comparison result indicating that the radius of the vehicle's driving trajectory is greater than the preset radius threshold, determining the target distance for the safe field using a second preset formula, wherein the parameters of the second preset formula include the first data.

2. The vehicle control method based on a safety field according to claim 1, characterized in that, The safe field radius includes the safe field collision radius and the safe field warning radius; Determining the safety field radius based on the second data includes: Based on the second data, the collision radius of the safe field is determined using a third preset formula; Based on the second data and the warning reservation time, the safety field warning radius is determined using a fourth preset formula, wherein the warning reservation time is determined based on the vehicle's current speed.

3. The vehicle control method based on a safety field according to claim 2, characterized in that, The judgment result obtained by determining the safety of the vehicle based on the target distance of the safety field and the safety field includes: Construct a safe field target distance queue, wherein the safe field target distance queue includes multiple safe field target distances corresponding to multiple consecutive historical moments; Construct a safe field collision radius cache queue, wherein the safe field collision radius cache queue includes multiple safe field collision radii corresponding to the multiple consecutive historical moments; Based on the safe field collision radius cache queue, a collision threshold is determined, wherein the ratio of the safe field collision radii greater than the collision threshold to the safe field collision radii less than the collision threshold in the safe field collision radius cache queue is a first preset ratio; Construct a safety field early warning radius cache queue, wherein the safety field early warning radius cache queue includes multiple safety field early warning radii corresponding to the multiple consecutive historical moments; Based on the safety field warning radius cache queue, a warning threshold is determined, and the ratio of the safety field warning radii in the safety field warning radius cache queue that are greater than the warning threshold to the safety field warning radii that are less than the collision threshold is a second preset ratio; The comparison results are obtained by comparing each safe field target distance in the safe field target distance queue with the collision threshold and the warning threshold respectively; The judgment result is output based on the comparison results.

4. The vehicle control method based on a safety field according to claim 3, characterized in that, The step of outputting the judgment result based on the comparison result includes: In response to the comparison result indicating that the distance to the safe field target in the third preset proportion of the safe field target distance queue is less than the collision threshold, a vehicle deceleration signal is output, which is used to control the vehicle to decelerate. In response to the comparison result indicating that the distance to the safe field target in the third preset proportion of the safe field target distance queue is less than the warning threshold, a warning signal is output, which is used to indicate the distance between the vehicle and the target obstacle.

5. A vehicle control device based on a safety field, applied to a vehicle, characterized in that, include: The first acquisition module is used to acquire the historical location information of the vehicle as first data; The first determining module is used to determine the safe field target distance based on the first data, wherein the safe field target distance is used to represent the actual distance between the target obstacle and the vehicle; The second acquisition module is used to acquire the vehicle's braking parameters, the vehicle's relative speed to the target obstacle, and the preset driver's braking reaction time as second data; The second determining module is used to determine the safety field radius based on the second data; The third determining module is used to determine the safety field based on the radius of the safety field; The judgment module is used to judge the safety of the vehicle based on the target distance of the safety field and the safety field to obtain a judgment result; A control module is used to control the vehicle based on the judgment result; The first determining module is further configured to: ...

6. A vehicle comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the vehicle control method based on a safety field as described in any one of claims 1 to 4.

7. A non-volatile storage medium, characterized in that, The non-volatile storage medium stores a computer program, wherein the computer program is configured to execute the vehicle control method based on a safety field as described in any one of claims 1 to 4 when run on a computer or processor.

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