Vehicle control method, device and medium for colliding with obstacles

Abstract

The present application provides a vehicle control method, device and medium for colliding with obstacles. When it is detected that there is an obstacle in the target driving path of the current vehicle, according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, the collision time between the current vehicle and the obstacle is determined. If the collision time is less than a preset first time, it is further determined whether the active safety function of the current vehicle is inhibited. Furthermore, when the active safety function is inhibited, the accelerator pedal of the current vehicle is locked to avoid an acceleration response when the accelerator pedal is triggered, realizing locking the vehicle's throttle acceleration function when there is a collision risk between the vehicle and the obstacle and the active safety function is inhibited, avoiding the situation of the vehicle colliding caused by the user accidentally stepping on the accelerator when the active safety function is inhibited, thereby improving the driving safety of the vehicle and ensuring the safety of the passengers and drivers.

Description

Technical Field

[0001] The present application relates to the technical field of automobiles, and particularly to a vehicle control method, device and medium for colliding with an obstacle. Background Art

[0002] In the prior art, obstacle avoidance of an obstacle often adopts active safety functions such as AEB (Autonomous Emergency Braking), but such functions have certain limitations. For example, there are certain restrictions on the type of the target object that activates the function, or the triggering of relevant active safety functions will be inhibited when parameters such as the speed and throttle of the host vehicle meet certain conditions.

[0003] After the triggering of the active safety function is inhibited, a collision between the vehicle and the obstacle will occur. Moreover, since the active safety function is inhibited, at this time, driver intervention is required. However, some users are prone to psychological tension when encountering unexpected situations during driving, or the user suddenly suffers from a physical illness, which will affect the judgment and easily cause the situation of mistaking the accelerator for the brake, resulting in vehicle out of control and threatening the life and property safety of the passengers and surrounding people. Summary of the Invention

[0004] In view of the above defects or deficiencies in the prior art, the present application aims to provide a vehicle control method, device and medium for colliding with an obstacle, so as to solve the situation of vehicle collision caused by the user mistakenly stepping on the accelerator when the active safety function in the prior art is inhibited.

[0005] An embodiment of the present application provides a vehicle control method for colliding with an obstacle, including:

[0006] If an obstacle is detected in the target driving path of the current vehicle, the collision time between the current vehicle and the obstacle is determined according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle;

[0007] When the collision time is less than a preset first time, it is judged whether the active safety function of the current vehicle is inhibited;

[0008] If so, the accelerator pedal of the current vehicle is locked to avoid an acceleration response when the accelerator pedal is triggered.

[0009] Optionally, the judging whether the active safety function of the current vehicle is inhibited includes:

[0010] Obtain a status signal sent by a controller corresponding to the active safety function, and judge whether the active safety function of the current vehicle is inhibited based on the status signal.

[0011] Optionally, determining whether the active safety function of the current vehicle is inhibited further includes:

[0012] Obtain the current opening of the accelerator pedal of the current vehicle and the pedal rate of the accelerator pedal;

[0013] If the current opening is greater than a preset opening, or the first speed is not within a preset speed range, or the pedal rate is greater than a preset rate, it is determined that the active safety function of the current vehicle is inhibited.

[0014] Optionally, after locking the accelerator pedal of the current vehicle to avoid an acceleration response when the accelerator pedal is triggered, it further includes:

[0015] If it is detected that the accelerator pedal is triggered a second time within a preset response time, the locking of the accelerator pedal is cancelled, and an acceleration control signal is generated according to the current opening of the accelerator pedal.

[0016] Optionally, after determining the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it further includes:

[0017] When the collision time is greater than a preset first time and less than a preset second time, and the active safety function of the current vehicle is inhibited, if it is detected that the trigger of the accelerator pedal is cancelled, a braking control signal is generated.

[0018] Optionally, after determining the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it further includes:

[0019] When the collision time is greater than a preset first time and less than a preset second time, and the active safety function of the current vehicle is inhibited, if it is detected that the steering wheel brake key of the current vehicle or the power key of the central control screen is triggered, a braking control signal is generated.

[0020] Optionally, after determining the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it further includes:

[0021] Generate a prompt message when the collision time is less than a preset first time and the active safety function of the current vehicle is inhibited, where the prompt message includes at least one of a braking prompt message, a throttle lock prompt message, and a function activation prompt message;

[0022] Display the prompt message through the multimedia system of the current vehicle, and / or project the prompt message onto the front windshield of the current vehicle through the head-up display of the current vehicle.

[0023] Optionally, when generating the prompt message, it further includes:

[0024] Generate a lighting control instruction to control the display of the external lighting device of the current vehicle through the lighting control instruction.

[0025] An embodiment of the present application further provides an electronic device, where the electronic device includes:

[0026] A processor and a memory;

[0027] The processor is used to execute the steps of the vehicle control method for colliding with an obstacle provided in any embodiment of the present application by calling the program or instruction stored in the memory.

[0028] An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a program or instruction, and the program or instruction causes a computer to execute the steps of the vehicle control method for colliding with an obstacle provided in any embodiment of the present application.

[0029] In summary, the present application proposes a vehicle control method for colliding with an obstacle. When an obstacle is detected in the target driving path of the current vehicle, according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, determine the collision time between the current vehicle and the obstacle. If the collision time is less than a preset first time, further determine whether the active safety function of the current vehicle is inhibited. Then, when the active safety function is inhibited, lock the throttle pedal of the current vehicle to avoid an acceleration response when the throttle pedal is triggered, realizing the locking of the vehicle's throttle acceleration function when there is a collision risk between the vehicle and the obstacle and the active safety function is inhibited, avoiding the situation where the vehicle collides due to the user accidentally stepping on the throttle when the active safety function is inhibited, thereby improving the driving safety of the vehicle and ensuring the safety of the passengers and drivers. Description of the Drawings

[0030] To more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 is a flowchart of a vehicle control method for colliding with an obstacle provided by an embodiment of the present application;

[0032] Figure 2 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific Embodiments

[0033] The following will further elaborate on the present application in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention and not to limit the invention. Additionally, it should be noted that for the sake of convenience of description, only the parts related to the invention are shown in the drawings.

[0034] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The following will detail the present application with reference to the drawings and embodiments.

[0035] As mentioned in the background art, in view of the problems in the prior art, the present application proposes a vehicle control method for colliding with an obstacle. This vehicle control method for colliding with an obstacle can be executed by a vehicle control device for colliding with an obstacle, and this vehicle control device for colliding with an obstacle can be integrated into electronic devices such as an Electronic Control Unit (ECU), a Vehicle Control Unit (VCU), or a domain controller. Figure 1 is a flowchart of a vehicle control method for colliding with an obstacle provided by an embodiment of the present application. Refer to Figure 1 , this vehicle control method for colliding with an obstacle specifically includes:

[0036] S110. If an obstacle is detected in the target driving path of the current vehicle, then determine the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle.

[0037] Among them, the target driving path can be the navigation driving route of the current vehicle. For example, the target driving path can be obtained based on the high-precision map of the current vehicle. Or, the target driving path can also be a section of the forward path in the driving direction of the current vehicle. For example, the forward path can be obtained based on the perception module of the current vehicle. The target driving path includes, but is not limited to, forward path, backward path, left-turn path, and right-turn path.

[0038] Specifically, the environmental perception information of the current vehicle can be obtained through the perception module of the current vehicle, and then it can be determined whether there are obstacles in the target driving path based on the environmental perception information. Among them, the perception module can include a front-view camera, a side-view camera, a rear-view camera, a lidar sensor, a millimeter-wave radar sensor, and an ultrasonic radar sensor. The environmental perception information can include information such as the relative distance between the detected object and the current vehicle, and the speed of the object.

[0039] Exemplarily, after obtaining the environmental perception information detected by the perception module, it can be determined whether the object detected in the environmental perception information is located on the target driving path of the current vehicle. If so, it can be determined that the object is an obstacle. The obstacles include, but are not limited to, pedestrians, vehicles, non-motor vehicles, trees, roadblocks, and road piers.

[0040] Specifically, when the domain controller of the current vehicle detects that there is an obstacle in the target driving path, it can calculate the time required for a collision between the current vehicle and the obstacle, that is, the collision time, based on the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the two.

[0041] For example, collision time = relative distance / (first speed - second speed). It should be noted that if the moving direction of the obstacle is the same as the driving direction of the current vehicle, the second speed can be a positive value. If the moving direction of the obstacle is opposite to the driving direction of the current vehicle, the second speed can be a negative value.

[0042] S120. When the collision time is less than the preset first time, determine whether the active safety function of the current vehicle is inhibited.

[0043] Furthermore, the domain controller can compare the collision time with the preset first time. The preset first time can be a safety time threshold for determining the existence of a collision risk.

[0044] Specifically, if the collision time is less than a preset first time, it can be determined whether the active safety function of the current vehicle is inhibited. Among them, the active safety function can be the safety function of an intelligent driving system that actively intervenes in vehicle control, such as AEB, RAEB (Rear Autonomous Emergency Braking), FCTB (Front Crossing Traffic Brake), RCTB (Rear Cross Traffic Brake), etc.

[0045] In this embodiment, the inhibition of the active safety function can be that the active safety function is not triggered, that is, the active safety function does not actively intervene in vehicle control. Exemplarily, when the type of the detected obstacle does not conform to the type in which the active safety function participates, the active safety function can be inhibited, or when the vehicle speed of the current vehicle does not meet the vehicle speed range in which the active safety function participates, the active safety function can be inhibited.

[0046] In a specific implementation manner, determining whether the active safety function of the current vehicle is inhibited includes: obtaining a status signal sent by a controller corresponding to the active safety function, and determining whether the active safety function of the current vehicle is inhibited based on the status signal.

[0047] That is, the controller corresponding to the active safety function can transmit the status signal in real time. For example, the status signal is transmitted to the Controller Area Network in real time, where the status signal can be used to describe the inhibition status of the active safety function. The domain controller can obtain the status signal from the Controller Area Network and determine whether the active safety function is inhibited according to the identification bit in the status signal.

[0048] In the above implementation manner, by means of the status signal output by the controller corresponding to the active safety function, it is possible to determine whether the active safety function is inhibited. Furthermore, when it is inhibited and there is a collision risk with an obstacle, the accelerator pedal can be locked to avoid accidental acceleration, ensuring the driving safety of the vehicle.

[0049] In addition to determining whether the active safety function is inhibited according to the status signal, it can also be determined according to the vehicle speed of the current vehicle, the opening degree of the accelerator pedal, or the pedal rate.

[0050] In another specific implementation manner, determining whether the active safety function of the current vehicle is inhibited further includes: obtaining the current opening degree of the accelerator pedal of the current vehicle and the pedal rate of the accelerator pedal; if the current opening degree is greater than a preset opening degree, or the first speed is not within a preset speed range, or the pedal rate is greater than a preset rate, it is determined that the active safety function of the current vehicle is inhibited.

[0051] Among them, the preset opening can be the critical opening value at which the active safety function is inhibited, the preset speed range can be the vehicle speed range within which the active safety function can intervene in vehicle control, and the preset rate can be the critical value of the pedal opening change rate at which the active safety function is inhibited.

[0052] Specifically, if the first speed of the current vehicle is within the preset speed range, and the current opening does not exceed the preset opening, and the pedal rate does not exceed the preset rate, it can be determined that the active safety function is not inhibited, and the active safety function can perform operations such as braking and steering to avoid a collision between the current vehicle and an obstacle. If the first speed of the current vehicle is not within the preset speed range, or the current opening is greater than the preset opening, or the pedal rate is greater than the preset rate, it can be determined that the conditions for the active safety function to intervene are not met, and the active safety function is inhibited. At this time, the user needs to control the vehicle by themselves to avoid a collision with an obstacle.

[0053] In the above embodiment, by the current opening, pedal rate, and first speed of the throttle pedal of the current vehicle, the determination of whether the active safety function is inhibited is realized. Furthermore, when it is inhibited and there is a collision risk with an obstacle, the throttle pedal is locked to avoid accidental acceleration, ensuring the driving safety of the vehicle.

[0054] S130: If so, lock the throttle pedal of the current vehicle to avoid an acceleration response when the throttle pedal is triggered.

[0055] Specifically, when the collision time is less than the preset first time and the active safety function of the current vehicle is inhibited, in order to prevent the user from accidentally triggering the throttle pedal as a brake pedal to avoid an obstacle, the domain controller can lock the throttle pedal of the current vehicle and not respond to the acceleration demand of the throttle pedal, that is, not respond to the driver's throttle pedal trigger action.

[0056] It should be noted that the domain controller can detect in real time whether there is an obstacle, whether the collision time of the obstacle is less than the preset first time, and whether the active safety function is inhibited. Specifically, the domain controller can cancel the locking of the throttle pedal when there is no obstacle, the collision time of the obstacle is greater than the preset first time, or the active safety function is not inhibited.

[0057] Considering the situation where the obstacle is small in volume and the vehicle does not need to brake, in order to prevent the locking of the throttle pedal in this case from causing the user to be unable to accelerate the vehicle and thus affecting the user experience, the locking of the throttle pedal can also be cancelled through the user's secondary confirmation.

[0058] In a specific embodiment, after locking the accelerator pedal of the current vehicle to avoid an acceleration response when the accelerator pedal is triggered, it also includes: if it is detected that the accelerator pedal is triggered a second time within a preset response time, the lock of the accelerator pedal is canceled, and an acceleration control signal is generated according to the current opening of the accelerator pedal.

[0059] The preset response time may be a pre-set time for re-confirming the accelerator pedal. Specifically, if the accelerator pedal is locked and is triggered a second time within the preset response time, i.e., the accelerator pedal is triggered, then lifted, and then triggered again within the preset response time, it may indicate that the user has confirmed the action of triggering the accelerator pedal. At this time, the accelerator pedal lock may be canceled, and an acceleration control signal may be generated based on the current opening of the accelerator pedal. The acceleration control signal may be sent to the current vehicle power system to respond to the current opening of the accelerator pedal.

[0060] By detecting whether the accelerator pedal is triggered a second time, the above method avoids the situation where the user confirms that there is no need to brake to avoid an obstacle but cannot accelerate the vehicle when the accelerator pedal is locked. This ensures the user's driving experience while ensuring the safety of the vehicle.

[0061] It should be noted that in addition to locking the accelerator pedal to prevent the user from accidentally triggering the accelerator pedal, this embodiment can also determine that the user intends to brake the vehicle based on the user's action of lifting the accelerator pedal, and can intervene in the braking system in advance to slow down the vehicle and gain deceleration time.

[0062] Optionally, after determining the collision time between the current vehicle and the obstacle based on the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it also includes: when the collision time is greater than the preset first time and less than the preset second time, and when the active safety function of the current vehicle is suppressed, if it is detected that the accelerator pedal is de-triggered, a braking control signal is generated.

[0063] The preset second time may be greater than the preset first time, and the preset second time may be a preset safety time threshold for determining that there is a collision risk and the collision risk is relatively small.

[0064] Specifically, when the collision time is between the preset first time and the preset second time, and the active safety function is suppressed, if it is detected that the accelerator pedal is de-triggered, that is, the accelerator pedal is lifted, it can be determined that the driver intends to trigger the brake pedal, and then a braking control signal is generated and sent to the braking system of the current vehicle to control the deceleration of the current vehicle.

[0065] In the above embodiments, when the accelerator pedal is not locked yet, if a collision risk is detected in advance (i.e., the preset first time < collision time < preset second time) and the active safety function is inhibited, the current vehicle can be controlled to decelerate when it is detected that the user lifts the accelerator pedal, so as to put the vehicle in a decelerated state in advance, further avoiding a collision with an obstacle and improving the driving safety of the vehicle.

[0066] In addition to the above-mentioned early control of vehicle deceleration, vehicle braking can also be performed when the user triggers a switch.

[0067] Optionally, after determining the collision time between the current vehicle and the obstacle based on the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it further includes: when the collision time is greater than the preset first time and less than the preset second time, and the active safety function of the current vehicle is inhibited, if it is detected that the steering wheel brake key or the power key of the central control screen of the current vehicle is triggered, a braking control signal is generated.

[0068] Specifically, when the collision time is between the preset first time and the preset second time, and the active safety function is inhibited, if it is detected that the steering wheel brake key or the power key of the central control screen is triggered, it can be determined that the driver has the intention to trigger the brake pedal, and then a braking control signal is generated and sent to the braking system of the current vehicle to control the current vehicle to decelerate.

[0069] In the above embodiments, when the accelerator pedal is not locked yet, if a collision risk is detected in advance (i.e., the preset first time < collision time < preset second time) and the active safety function is inhibited, the current vehicle can be controlled to decelerate when it is detected that the user presses the steering wheel brake key or the power key, so that the driver can decelerate by directly triggering the key in a panic, further avoiding a collision with an obstacle and improving the driving safety of the vehicle.

[0070] In a specific embodiment, after determining the collision time between the current vehicle and the obstacle based on the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it further includes: when the collision time is less than the preset first time and the active safety function of the current vehicle is inhibited, a prompt message is generated, where the prompt message includes at least one of a braking prompt message, an accelerator lock prompt message, and a function activation prompt message; the prompt message is displayed through the multimedia system of the current vehicle, and / or the prompt message is projected onto the front windshield of the current vehicle through the head-up display of the current vehicle.

[0071] Specifically, when the collision time is less than a preset first time and the active safety function of the current vehicle is inhibited, in addition to locking the accelerator pedal, decelerating in advance, or decelerating when a button is triggered, a prompt can also be given to the driver of the current vehicle. Among them, the prompt information can include at least one of braking prompt information, accelerator lock prompt information, and function activation prompt information. The braking prompt information is used to prompt the user to brake the vehicle in time, the accelerator lock prompt information is used to prompt the user that the accelerator pedal has been locked, and the function activation prompt information is used to prompt the user that functions such as locking the accelerator pedal, decelerating in advance according to the user's cancellation of triggering the accelerator pedal, and decelerating when a button is triggered have been activated.

[0072] For example, the domain controller can generate prompt information, where the prompt information can be information presented in at least one of the forms of text, voice, and image. The domain controller can send the prompt information to the multimedia system, or send it to the head-up display, or, send it to both the multimedia system and the head-up display simultaneously to give a warning prompt to the driver of the current vehicle.

[0073] Specifically, the head-up display can project the prompt information onto the front windshield of the current vehicle, the multimedia system can display the prompt information on the multimedia screen, or, announce the prompt information by voice.

[0074] In the above embodiment, when the collision time is less than the preset first time and the active safety function is inhibited, prompt information is generated and displayed through the multimedia device and / or the head-up display to achieve a braking reminder, an accelerator lock reminder, or a reminder that the function has been activated for the user, further ensuring driving safety.

[0075] Optionally, when generating the prompt information, it further includes: generating a lighting control instruction to control the display of the external lighting device of the current vehicle through the lighting control instruction.

[0076] That is, in addition to generating prompt information to remind the driver of the current vehicle, a lighting control instruction can also be generated and sent to the external lighting device so that the external lighting device displays it to prompt the obstacle to avoid in time. Among them, the external lighting device can be the front headlights or rear lights of the current vehicle.

[0077] In the above embodiment, it is also possible to remind the obstacle to avoid in time through the external lighting device when the collision time is less than the preset first time and the active safety function is inhibited, further ensuring driving safety.

[0078] The vehicle control method for collision with an obstacle provided by an embodiment of the present application, when an obstacle is detected in the target driving path of the current vehicle, determines the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle. If the collision time is less than a preset first time, it further determines whether the active safety function of the current vehicle is inhibited. Furthermore, in the case where the active safety function is inhibited, the accelerator pedal of the current vehicle is locked to avoid an acceleration response when the accelerator pedal is triggered, realizing the locking of the vehicle's throttle acceleration function when there is a collision risk between the vehicle and the obstacle and the active safety function is inhibited, avoiding the situation of vehicle collision caused by the user accidentally stepping on the accelerator when the active safety function is inhibited, thereby improving the driving safety of the vehicle and ensuring the safety of the passengers and drivers.

[0079] Figure 2 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 2 shown, the electronic device 500 includes one or more processors 501 and a memory 502.

[0080] The processor 501 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device 500 to perform desired functions.

[0081] The memory 502 can include one or more computer program products, and the computer program products can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory can include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory can include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions can be stored on the computer-readable storage media, and the processor 501 can run the program instructions to implement the vehicle control method for collision with an obstacle according to any embodiment of the present application described above and / or other desired functions. Various contents such as initial external parameters and thresholds can also be stored in the computer-readable storage media.

[0082] In one example, the electronic device 500 may further include: an input device 503 and an output device 504, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown). The input device 503 can include, for example, a keyboard, a mouse, etc. The output device 504 can output various information to the outside, including warning prompt information, braking force, etc. The output device 504 can include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0083] Of course, for simplicity, Figure 2 only some of the components related to this application in the electronic device 500 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 500 may further include any other appropriate components.

[0084] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run on a processor, cause the processor to execute the steps of the vehicle control method for colliding with an obstacle provided in any embodiment of the present application.

[0085] The computer program product may be written in any combination of one or more programming languages for executing the program code of the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0086] In addition, an embodiment of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are run on a processor, the processor is caused to execute the steps of the vehicle control method for colliding with an obstacle provided in any embodiment of the present application.

[0087] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0088] It should be noted that the terms used in this application are only for describing specific embodiments and do not limit the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" do not specifically refer to the singular and may also include the plural. The term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method or device including the said element.

[0089] It should also be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation to this application. Unless otherwise clearly specified and defined, terms such as "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0090] Specific examples are used in this article to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only for helping to understand the method and its core idea of this application. The above is only the preferred implementation manner of this application. It should be noted that due to the limited nature of written expression and objectively infinite specific structures, for those of ordinary skill in the art of this technology, without departing from the principle of this application, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, should all be regarded as the protection scope of this application.

Claims

1. A vehicle control method for colliding with an obstacle, characterized in that, Including: If an obstacle is detected in the target driving path of the current vehicle, determine the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle; When the collision time is less than a preset first time, determine whether the active safety function of the current vehicle is inhibited; If so, lock the accelerator pedal of the current vehicle to avoid an acceleration response when the accelerator pedal is triggered. After determining the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it further includes: When the collision time is greater than the preset first time and less than the preset second time, and the active safety function of the current vehicle is inhibited, if it is detected that the trigger of the accelerator pedal is cancelled, generate a braking control signal.

2. The method according to claim 1, wherein The determination of whether the active safety function of the current vehicle is inhibited includes: Obtain the status signal sent by the controller corresponding to the active safety function, and determine whether the active safety function of the current vehicle is inhibited based on the status signal.

3. The method according to claim 2, wherein The determination of whether the active safety function of the current vehicle is inhibited further includes: Obtain the current opening degree of the accelerator pedal of the current vehicle and the pedal rate of the accelerator pedal; If the current opening degree is greater than the preset opening degree, or the first speed is not within the preset speed range, or the pedal rate is greater than the preset rate, determine that the active safety function of the current vehicle is inhibited.

4. The method according to claim 1, characterized in that, After locking the accelerator pedal of the current vehicle to avoid an acceleration response when the accelerator pedal is triggered, it further includes: If it is detected that the accelerator pedal is triggered twice within the preset response time, cancel the locking of the accelerator pedal and generate an acceleration control signal according to the current opening degree of the accelerator pedal.

5. The method according to claim 1, wherein After determining the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it further includes: When the collision time is greater than the preset first time and less than the preset second time, and the active safety function of the current vehicle is inhibited, if it is detected that the steering wheel brake key or the power on / off key of the central control screen of the current vehicle is triggered, generate a braking control signal.

6. The method according to claim 1, characterized in that After determining the collision time between the current vehicle and the obstacle according to the first speed of the current vehicle, the second speed of the obstacle, and the relative distance between the current vehicle and the obstacle, it further includes: When the collision time is less than the preset first time, and the active safety function of the current vehicle is inhibited, generate a prompt message, where the prompt message includes at least one of a braking prompt message, an accelerator pedal locking prompt message, and a function activation prompt message; Display the prompt information through the multimedia system of the current vehicle, and / or project the prompt information onto the front windshield of the current vehicle through the head-up display of the current vehicle.

7. The method according to claim 6, characterized in that, While generating the prompt information, it further includes: Generate a lighting control instruction to control the display of the external lighting device of the current vehicle through the lighting control instruction.

8. An electronic device, characterized in that, The electronic device includes: A processor and a memory; The processor is used to execute the steps of the vehicle control method for colliding with an obstacle according to any one of claims 1 to 7 by calling the program or instruction stored in the memory.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instruction, and the program or instruction causes a computer to execute the steps of the vehicle control method for colliding with an obstacle according to any one of claims 1 to 7.

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