Method, device, and medium for maintaining a safe following distance

Abstract

The application provides a driving control method, device and medium for maintaining a safe vehicle distance. In the process of driving of a current vehicle, the relative distances between the current vehicle and target vehicles are obtained, and safe distances corresponding to the target vehicles are determined. Then, for each target vehicle, it is determined whether the relative distance of the target vehicle is less than the corresponding safe distance. If yes, the target vehicle is determined as a to-be-processed vehicle. When the number of to-be-processed vehicles is one, the relative distance is adjusted to the safe distance. When the number of to-be-processed vehicles is two, the relative distance of the to-be-processed vehicle with the greatest collision risk is increased to realize distance control between the current vehicle and the target vehicles in each direction, solve the problem that the safe vehicle distance of a rear vehicle cannot be guaranteed in the prior art, and the relative distance of the vehicle with the greater collision risk can also be adjusted when the relative distances between the current vehicle and the front and rear vehicles are both less than the corresponding safe distances, further improving the driving safety of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile technology, in particular to a driving control method for maintaining a safe vehicle distance, a device and a medium. BACKGROUND

[0002] In the process of high-speed driving, due to the lack of concentration of the driver of the ego vehicle or other vehicles, or aggressive driving, it is easy to cause the vehicle distance between the ego vehicle and the front vehicle or the vehicle distance between the ego vehicle and the rear vehicle to be too close. Once a sudden event occurs, the driver may not have enough time to brake, resulting in a chain of rear-end collisions of vehicles and property losses, and even endangering the lives of the passengers of the ego vehicle and other vehicles.

[0003] In the prior art, an intelligent driving assistance adaptive cruise function is generally used, but this function can only maintain the vehicle distance from the front vehicle or automatically follow the front vehicle, and cannot guarantee the safe vehicle distance from the rear vehicle, which has low safety. SUMMARY

[0004] In view of the above-mentioned defects or shortcomings in the prior art, the present application aims to provide a driving control method for maintaining a safe vehicle distance, a device and a medium, which solves the problem that the safe vehicle distance from the rear vehicle cannot be guaranteed in the prior art, and improves the driving safety of the vehicle.

[0005] The embodiment of the present application provides a driving control method for maintaining a safe vehicle distance, comprising:

[0006] In the driving process of the current vehicle, the relative distances between the current vehicle and each target vehicle are obtained, and the safe distances corresponding to each target vehicle are determined;

[0007] For each target vehicle, it is judged whether the relative distance of the target vehicle is less than the safe distance corresponding to the target vehicle, and the target vehicle with a relative distance less than the safe distance is determined as a to-be-processed vehicle;

[0008] If the number of to-be-processed vehicles is one, the relative distance of the to-be-processed vehicle is adjusted to the corresponding safe distance, and if the number of to-be-processed vehicles is two, the relative distance of the to-be-processed vehicle with the greatest collision risk is increased.

[0009] Optionally, the determination of the safe distance corresponding to each target vehicle comprises:

[0010] For each target vehicle, a current rear vehicle is determined in the current vehicle and the target vehicle, and the current speed of the current rear vehicle is obtained;

[0011] Based on the current speed of the current rear vehicle and a first preset mapping table, the safe distance corresponding to the target vehicle is determined.

[0012] The first preset mapping table is used to describe the corresponding relationship between each vehicle speed and each safety distance.

[0013] Optionally, the safety distance corresponding to each target vehicle is determined by:

[0014] For each target vehicle, a current rear vehicle is determined from the current vehicle and the target vehicle, and a current vehicle speed of the current rear vehicle is obtained;

[0015] The safety distance corresponding to the target vehicle is determined based on the current vehicle speed of the current rear vehicle, a current vehicle type of the current rear vehicle, and a second preset mapping table.

[0016] The second preset mapping table is used to describe the corresponding relationship between each vehicle speed, each vehicle type, and each safety distance.

[0017] Optionally, each target vehicle includes a front target vehicle and a rear target vehicle, and adjusting the relative distance of the to-be-processed vehicle to the corresponding safety distance includes:

[0018] In the case that the to-be-processed vehicle is a rear target vehicle, a power system control instruction corresponding to the current vehicle is generated to control the current vehicle to accelerate by the power system control instruction, so as to adjust the relative distance of the rear target vehicle to the corresponding safety distance; and

[0019] In the case that the to-be-processed vehicle is a front target vehicle, a braking system control instruction corresponding to the current vehicle is generated to control the current vehicle to decelerate by the braking system control instruction, so as to adjust the relative distance of the front target vehicle to the corresponding safety distance.

[0020] Optionally, the relative distance of the to-be-processed vehicle with the greatest collision risk among the to-be-processed vehicles is increased by:

[0021] An intermediate position between the to-be-processed vehicles is determined as a target adjustment position.

[0022] A power system control instruction or a braking system control instruction is generated to adjust the current vehicle to the target adjustment position, so as to increase the relative distance of the to-be-processed vehicle with the greatest collision risk.

[0023] Optionally, the relative distance of the to-be-processed vehicle with the greatest collision risk among the to-be-processed vehicles is increased by:

[0024] A safety distance ratio is determined based on the safety distance corresponding to each of the vehicles to be processed. The target adjustment distance of each vehicle to be processed is determined based on the safety distance ratio and the relative distance between the vehicles to be processed.

[0025] Based on the target adjustment distance of each of the vehicles to be processed, the target adjustment position of the current vehicle is determined, and a power system control command or a braking system control command is generated to adjust the current vehicle to the target adjustment position, so that the relative distance of the vehicle to be processed with the greatest collision risk increases to the target adjustment distance.

[0026] Optionally, after identifying target vehicles whose relative distance is less than a safe distance as vehicles to be processed, the method further includes:

[0027] When there is only one vehicle to be processed, if a braking request or throttle request of the current vehicle is detected, it is predicted whether the relative distance of the vehicle to be processed has decreased based on the braking request or throttle request. If so, the response to the braking request or throttle request is suppressed until the braking request or throttle request is detected again within a preset time.

[0028] When there are two vehicles to be processed, if a braking request or throttle request of the current vehicle is detected, the relative distance of the vehicle with the greatest collision risk to be processed is predicted based on the braking request or throttle request. If so, the response to the braking request or throttle request is suppressed until the braking request or throttle request is detected again within a preset time.

[0029] Optionally, after identifying target vehicles whose relative distance is less than a safe distance as vehicles to be processed, the method further includes:

[0030] Based on the position and orientation of the vehicle to be processed relative to the current vehicle, a display device control command is generated to control the display of a lighting display device in the current vehicle at that position and orientation; and / or,

[0031] If there are two vehicles to be processed, a multimedia device control command is generated to control the multimedia device in the current vehicle to display lane change prompt information.

[0032] This application embodiment also provides an electronic device, the electronic device comprising:

[0033] Processor and memory;

[0034] The processor executes the steps of the driving control method for maintaining a safe following distance provided in any embodiment of this application by calling the program or instructions stored in the memory.

[0035] This application also provides a computer-readable storage medium storing a program or instructions that cause a computer to perform the steps of the driving control method for maintaining a safe following distance provided in any embodiment of this application.

[0036] In summary, this application proposes a driving control method for maintaining a safe following distance. During the current vehicle's movement, the relative distances between the current vehicle and each target vehicle are acquired, and a corresponding safe distance is determined for each target vehicle. Then, for each target vehicle, it is determined whether the relative distance to that target vehicle is less than the corresponding safe distance. If so, it is identified as a vehicle to be handled. When there is only one vehicle to be handled, its relative distance is adjusted to a safe distance. When there are two vehicles to be handled, the relative distance of the vehicle with the highest collision risk is increased. This achieves distance control between the vehicle and target vehicles in all directions during the vehicle's movement, solving the problem in existing technologies where a safe following distance cannot be guaranteed, thus improving vehicle driving safety. Furthermore, when the relative distances between the current vehicle and both the preceding and following vehicles are less than the corresponding safe distances, the relative distance between the vehicle with the highest collision risk and the current vehicle can be adjusted, further improving vehicle driving safety. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart of a driving control method for maintaining a safe following distance provided in an embodiment of this application;

[0039] Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0040] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] As mentioned in the background section, in view of the problems in the prior art, this application proposes a driving control method for maintaining a safe following distance. This driving control method for maintaining a safe following distance can be executed by a driving control device for maintaining a safe following distance, which can be integrated into electronic devices such as domain controllers. Figure 1 This is a flowchart of a driving control method for maintaining a safe following distance provided in an embodiment of this application. See also... Figure 1 The driving control method for maintaining a safe following distance specifically includes:

[0043] S110. During the current vehicle's driving process, obtain the relative distance between the current vehicle and each target vehicle, and determine the corresponding safe distance with each target vehicle.

[0044] In this embodiment, during the current vehicle's operation, the domain controller can acquire real-time environmental perception information of the vehicle's surroundings through the vehicle's perception system, and obtain the relative distances between the current vehicle and target vehicles in various directions from the environmental perception information. The vehicle perception system can be used to construct the perception environment and perform object detection; for example, the vehicle perception system may include sensors such as LiDAR, millimeter-wave radar, front / side / rear-view cameras, and corner millimeter-wave radar.

[0045] Specifically, each target vehicle can be another vehicle located in a different direction (and in opposite directions) from the current vehicle. For example, each target vehicle can include a target vehicle in front and a target vehicle behind, where the target vehicle in front is another vehicle located in front of the current vehicle and in the same lane as the current vehicle, and the target vehicle behind is another vehicle located behind the current vehicle and in the same lane as the current vehicle. Alternatively, each target vehicle can include a target vehicle on the left and a target vehicle on the right, where the target vehicle on the left is another vehicle located in the left lane of the current vehicle's lane, and the target vehicle on the right is another vehicle located in the right lane of the current vehicle's lane.

[0046] Furthermore, while obtaining the relative distance, it can also determine the corresponding safe distance to each target vehicle, that is, the safe distance between the current vehicle and the target vehicle. The safe distance can be the minimum distance between the target vehicle and the current vehicle at which there is no risk of collision.

[0047] For example, a preset distance can be determined as a safe distance; or, the speed of the target vehicle can be obtained from the surrounding environment perception information, and then the safe distance can be determined by the speed difference between the current vehicle and the target vehicle, as well as the preset safe collision time.

[0048] In one specific implementation, determining the safe distance corresponding to each target vehicle includes: for each target vehicle, determining the vehicle behind the current vehicle and the target vehicle, and obtaining the current speed of the vehicle behind the current vehicle; determining the safe distance corresponding to the target vehicle based on the current speed of the vehicle behind the current vehicle and a first preset mapping table; wherein, the first preset mapping table is used to describe the correspondence between each vehicle speed and each safe distance.

[0049] Specifically, for each target vehicle, the vehicle behind it can be determined first between the target vehicle and the current vehicle. For example, if the target vehicle is the target vehicle in front, the current vehicle can be determined as the vehicle behind it. If the target vehicle is the target vehicle behind it, the vehicle behind it can be determined as the vehicle behind it.

[0050] Furthermore, the current speed of the vehicle behind can be obtained, and then the safe distance corresponding to the current speed of the vehicle behind can be queried in the first preset mapping table. The first preset mapping table can include various vehicle speeds and their corresponding safe distances. The safe distances corresponding to each vehicle speed can be pre-defined; the higher the vehicle speed, the greater the corresponding safe distance.

[0051] Alternatively, the system can look up the safe distance corresponding to the current speed and speed difference between the current vehicle and the target vehicle in a first preset mapping table. This first preset mapping table can include the safe distances corresponding to various vehicle speeds and speed differences.

[0052] In the above implementation, the safe distance corresponding to the target vehicle is determined by the speed of the target vehicle and the vehicle behind it in the current vehicle, as well as a pre-calibrated first preset mapping table. This achieves accurate determination of the safe distance based on the speed of the following vehicle, ensuring the accuracy of the safe distance and further guaranteeing vehicle driving safety.

[0053] In another specific implementation, determining the safe distance corresponding to each target vehicle includes: for each target vehicle, determining the vehicle behind the current vehicle among the current vehicle and the target vehicle, and obtaining the current speed of the vehicle behind the current vehicle; determining the safe distance corresponding to the target vehicle based on the current speed of the vehicle behind the current vehicle, the current vehicle type of the vehicle behind the current vehicle, and a second preset mapping table; wherein, the second preset mapping table is used to describe the correspondence between each vehicle speed, each vehicle type, and each safe distance.

[0054] Specifically, the system can obtain the current speed and vehicle type of the vehicle behind it, and then query the second preset mapping table for the safe distance corresponding to that vehicle's current speed and vehicle type. For example, the current vehicle type could be a commercial vehicle, a light truck, a heavy truck, or a regular sedan.

[0055] In this embodiment, different vehicle types have different body weights, and different body weights have different inertia, resulting in different safety distances. Therefore, the second preset mapping table can include the safety distances corresponding to each vehicle speed and vehicle type. The safety distances corresponding to each vehicle speed and vehicle type can be pre-defined; the higher the vehicle speed, the greater the corresponding safety distance, and the greater the body weight represented by the vehicle type, the greater the corresponding safety distance.

[0056] Alternatively, the system can look up the safe distance corresponding to the current speed, vehicle type, and speed difference between the current vehicle and the target vehicle in a second preset mapping table. This second preset mapping table can include the safe distance corresponding to each speed, speed difference, and vehicle type.

[0057] In the above implementation, the safe distance corresponding to the target vehicle is determined by the speed and vehicle type of the target vehicle and the vehicle behind it in the current vehicle, as well as the pre-calibrated second preset mapping table. This achieves accurate determination of the safe distance based on the speed and vehicle type of the following vehicle, ensuring the accuracy of the safe distance and further guaranteeing vehicle driving safety.

[0058] S120. For each target vehicle, determine whether the relative distance between the target vehicles is less than the corresponding safe distance, and identify the target vehicles whose relative distance is less than the safe distance as vehicles to be processed.

[0059] Specifically, for each target vehicle, the domain controller can determine whether the relative distance between the target vehicle and the current vehicle is less than the corresponding safe distance for the target vehicle. If so, the target vehicle is designated as the vehicle to be processed.

[0060] For example, if each target vehicle includes a front target vehicle and a rear target vehicle, the vehicle to be processed may include at least one of the front target vehicle and the rear target vehicle; if each target vehicle includes a left target vehicle and a right target vehicle, the vehicle to be processed may include at least one of the left target vehicle and the right target vehicle.

[0061] S130. If there is only one vehicle to be processed, adjust the relative distance between the vehicles to be processed to the corresponding safe distance. If there are two vehicles to be processed, increase the relative distance between the vehicles with the highest collision risk among them.

[0062] Specifically, if only one target vehicle is less than the corresponding safe distance, it means that there is a collision risk between the target vehicle and the current vehicle, while there is no collision risk between the other target vehicle and the current vehicle. In this case, the domain controller can adjust the speed of the current vehicle so that the relative distance between the target vehicle and the target vehicle is adjusted to the corresponding safe distance.

[0063] In one specific implementation, each target vehicle includes a forward target vehicle and a rear target vehicle. Adjusting the relative distance between the vehicles to be processed to a corresponding safe distance includes: when the vehicle to be processed is a rear target vehicle, generating a power system control command corresponding to the current vehicle to control the current vehicle to accelerate and adjust the relative distance between the rear target vehicle to a corresponding safe distance; and when the vehicle to be processed is a forward target vehicle, generating a braking system control command corresponding to the current vehicle to control the current vehicle to decelerate and adjust the relative distance between the forward target vehicle to a corresponding safe distance.

[0064] Specifically, when there is only one vehicle to be processed and the vehicle to be processed is a target vehicle behind, the domain controller of the current vehicle can generate a power system control command and send the command to the power system of the current vehicle so that the power system controls the current vehicle to accelerate based on the command, thereby adjusting the relative distance to the target vehicle behind to the corresponding safe distance.

[0065] When there is only one vehicle to be processed and the vehicle to be processed is the target vehicle ahead, the domain controller of the current vehicle can generate a braking system control command and send the command to the braking system of the current vehicle so that the braking system controls the current vehicle to decelerate based on the command, thereby adjusting the relative distance to the target vehicle ahead to the corresponding safe distance.

[0066] In the above embodiments, by generating power system control commands or braking system control commands, the position of the current vehicle is adjusted, thereby adjusting the relative distance with the target vehicle and improving the vehicle's driving safety.

[0067] It should be noted that if each target vehicle includes a left-side target vehicle and a right-side target vehicle, a lateral control command can be generated and sent to the lateral control system of the current vehicle when the vehicle to be processed is either the left-side target vehicle or the right-side target vehicle. This allows the lateral control system to control the steering wheel angle of the current vehicle through the command, thereby adjusting the relative distance between the left-side target vehicle and the right-side target vehicle to the corresponding safe distance.

[0068] In this embodiment, if two target vehicles in opposite directions to the current vehicle are both vehicles to be processed, it means that there is a risk of collision between the current vehicle and both target vehicles. At this time, the domain controller can adjust the speed of the current vehicle to increase the relative distance of the vehicle to be processed with the greatest risk of collision, so as to reduce the risk of collision with the vehicle to be processed.

[0069] Optionally, the relative distance to the vehicle with the highest collision risk among all vehicles to be processed can be increased, including: determining the midpoint between all vehicles to be processed as the target adjustment position; generating power system control commands or braking system control commands to adjust the current vehicle to the target adjustment position, thereby increasing the relative distance to the vehicle with the highest collision risk.

[0070] That is, the midpoint between two vehicles to be processed can be determined as the target adjustment position, so that the vehicle with the smaller relative position is the vehicle with the greatest collision risk. Then, by adjusting the current vehicle to the target adjustment position, the relative distance of the vehicle with the greatest collision risk is increased.

[0071] Specifically, the current vehicle can be adjusted to a target adjustment position by generating powertrain control commands or braking system control commands. The target adjustment position is the current vehicle's position relative to the two vehicles to be processed. For example, if the target adjustment position is behind the current vehicle's current position, a braking system control command is generated; if the target adjustment position is in front of the current vehicle's current position, a powertrain control command is generated.

[0072] By implementing the above methods, when there is a risk of collision with both the vehicle in front and behind, the relative distance between the vehicle and the vehicle with the higher risk of collision can be increased to reduce the risk of collision and further improve vehicle driving safety.

[0073] When there are two vehicles to be processed, in addition to adjusting the current vehicle to the middle position, the position that the current vehicle needs to be adjusted can also be determined based on the ratio between the relative distances between the two vehicles to be processed.

[0074] For example, optionally, the relative distance of the vehicle with the highest collision risk among the vehicles to be processed can be increased, including: determining a safety distance ratio based on the safety distance corresponding to each vehicle to be processed; determining the target adjustment distance of each vehicle to be processed based on the safety distance ratio and the relative distance of each vehicle to be processed; determining the target adjustment position of the current vehicle based on the target adjustment distance of each vehicle to be processed; generating a power system control command or a braking system control command to adjust the current vehicle to the target adjustment position, so that the relative distance of the vehicle with the highest collision risk increases to the target adjustment distance.

[0075] Specifically, the ratio between the safe distances corresponding to each vehicle to be processed can be used as the safe distance ratio. For example, 200m / 250m = 4 / 5. Furthermore, based on the safe distance ratio, the relative distances can be adjusted so that the ratio of the adjusted relative distances conforms to the safe distance ratio, and the adjusted relative distances can be used as the target adjustment distance.

[0076] For example, assuming the safe distance ratio between the target vehicle in front and the target vehicle behind is 4 / 5 (200m / 250m), the relative distance between the target vehicle in front and the current vehicle is 210m, and the relative distance between the target vehicle behind and the current vehicle is 150m, then the target adjustment distance for the target vehicle in front can be determined to be (210+150)×4 / 9=160m, and the target adjustment distance for the target vehicle behind is (210+150)×5 / 9=200m.

[0077] Furthermore, based on the target adjustment distance of each target vehicle, the target adjustment position of the current vehicle between the two vehicles to be processed can be determined, thereby generating power system control commands or braking system control commands.

[0078] In the above implementation, the target adjustment position of the current vehicle is determined by the ratio of the safe distance. When there is a risk of collision between the vehicle and the vehicle in front and behind, the relative distance of the vehicle with the greater risk of collision can be adjusted by the corresponding safe distance to reduce the risk of collision and further improve vehicle driving safety.

[0079] In one specific implementation, after identifying a target vehicle whose relative distance is less than a safe distance as a vehicle to be processed, the method further includes: if there is only one vehicle to be processed, if a braking request or throttle request of the current vehicle is detected, then based on the braking request or throttle request, it is predicted whether the relative distance of the vehicle to be processed has decreased. If so, the response to the braking request or throttle request is suppressed until a braking request or throttle request is detected again within a preset time.

[0080] When there are two vehicles to be processed, if a braking request or throttle request of the current vehicle is detected, the relative distance of the vehicle with the greatest collision risk is predicted based on the braking request or throttle request. If so, the response to the braking request or throttle request is suppressed until a braking request or throttle request is detected again within a preset time.

[0081] That is, when there is only one vehicle to be processed, if the received braking or accelerator request would reduce the relative distance between the current vehicle and the vehicle to be processed, then the braking or accelerator request will not be responded to until the user triggers the generation of the braking or accelerator request again within a preset time, that is, the user confirms the braking or acceleration a second time.

[0082] Furthermore, if there are two vehicles to be processed, and the received braking or accelerator request would reduce the relative distance between the vehicle with the greatest collision risk, then the braking or accelerator request will not be responded to until the user triggers the generation of the braking or accelerator request again within a preset time, i.e., the user confirms the braking or acceleration a second time.

[0083] In the above implementation, by detecting whether the user's braking request or accelerator request will reduce the relative distance of the vehicle to be processed, or the relative distance of the vehicle to be processed with the greatest collision risk, it is determined whether the braking request or accelerator request will increase the collision risk. If so, the request is not responded to, thus avoiding the safety risks caused by the user accidentally triggering the accelerator pedal or brake pedal.

[0084] Optionally, after identifying the target vehicle whose relative distance is less than the safe distance as the vehicle to be processed, the method further includes: generating a display device control command based on the position and direction of the vehicle to be processed relative to the current vehicle, so as to control the display of the light display device in the current vehicle in the position and direction of the vehicle to be processed; and / or, if there are two vehicles to be processed, generating a multimedia device control command, so as to control the multimedia device in the current vehicle to display lane change prompt information.

[0085] That is, when a vehicle to be processed is detected among the target vehicles, a control command for the display device is generated and sent to the light display device in that position direction according to the position direction of the vehicle to be processed relative to the current vehicle, such as in front or behind, so that the light display device in that position direction can provide a prompt, such as the front headlights flashing or the rear headlights flashing.

[0086] Alternatively, when there are two vehicles to be processed, meaning there is a risk of collision with each target vehicle, a multimedia device control command can be generated and sent to the multimedia device to display lane change prompts, reminding the user to change lanes at the appropriate time.

[0087] In the above embodiments, by controlling the vehicle's lighting display equipment or controlling the vehicle's multimedia equipment to display prompt information, reminders are given to other vehicles and to the driver of the vehicle, thereby further improving vehicle driving safety.

[0088] The driving control method for maintaining a safe following distance provided in this application embodiment acquires the relative distance between the current vehicle and each target vehicle during the current vehicle's travel, determines the corresponding safe distance for each target vehicle, and then, for each target vehicle, determines whether the relative distance of the target vehicle is less than the corresponding safe distance. If so, it is identified as a vehicle to be handled. When there is only one vehicle to be handled, the relative distance of the vehicle to be handled is adjusted to a safe distance. When there are two vehicles to be handled, the relative distance of the vehicle with the highest collision risk is increased. This achieves distance control between the vehicle and target vehicles in all directions during the vehicle's travel, solving the problem in the prior art that it is impossible to guarantee a safe following distance from vehicles behind, thus improving the vehicle's driving safety. Furthermore, when the relative distance between the current vehicle and the vehicles in front and behind are both less than the corresponding safe distance, the relative distance between the vehicle with the highest collision risk and the current vehicle can be adjusted, further improving the vehicle's driving safety.

[0089] Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 2 As shown, the electronic device 500 includes one or more processors 501 and memory 502.

[0090] The processor 501 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 500 to perform desired functions.

[0091] The memory 502 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 501 may execute the program instructions to implement the driving control method for maintaining a safe following distance as described above in any embodiment of this application, and / or other desired functions. Various contents such as initial extrinsic parameters and thresholds may also be stored in the computer-readable storage medium.

[0092] In one example, the electronic device 500 may further include an input device 503 and an output device 504, these components being interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 503 may include, for example, a keyboard, a mouse, etc. The output device 504 may output various information to the outside, including warning messages, braking force, etc. The output device 504 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0093] Of course, for the sake of simplicity, Figure 2 Only some of the components of the electronic device 500 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 500 may include any other suitable components depending on the specific application.

[0094] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps of the driving control method for maintaining a safe following distance provided in any embodiment of this application.

[0095] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0096] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the driving control method for maintaining a safe following distance provided in any embodiment of this application.

[0097] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0098] It should be noted that the terminology used in this application is for the purpose of describing specific embodiments only and is not intended to 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," "an," and / or "the" do not specifically refer to the singular and may also include the plural. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element.

[0099] It should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0100] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A driving control method for maintaining a safe following distance, characterized in that, include: During the current vehicle's driving process, the relative distance between the current vehicle and each target vehicle is obtained, and the safe distance corresponding to each target vehicle is determined; For each target vehicle, determine whether the relative distance to the target vehicle is less than the corresponding safe distance, and identify the target vehicles whose relative distance is less than the safe distance as vehicles to be processed; If there is only one vehicle to be processed, the relative distance between the vehicles to be processed is adjusted to the corresponding safe distance. If there are two vehicles to be processed, the relative distance between the vehicles with the highest collision risk is increased. Increasing the relative distance between the vehicles with the highest collision risk among all the vehicles to be processed includes: Based on the safety distances corresponding to each of the vehicles to be processed, a safety distance ratio is determined. Based on the safety distance ratio and the relative distances of each of the vehicles to be processed, a target adjustment distance for each of the vehicles to be processed is determined. Based on the target adjustment distances of each of the vehicles to be processed, a target adjustment position for the current vehicle is determined. A power system control command or a braking system control command is generated to adjust the current vehicle to the target adjustment position, thereby increasing the relative distance of the vehicle to be processed with the greatest collision risk to the target adjustment distance. After identifying target vehicles whose relative distance is less than a safe distance as vehicles to be processed, the method further includes: When there is only one vehicle to be processed, if a braking request or throttle request of the current vehicle is detected, it is predicted whether the relative distance of the vehicle to be processed has decreased based on the braking request or throttle request. If so, the response to the braking request or throttle request is suppressed until the braking request or throttle request is detected again within a preset time. When there are two vehicles to be processed, if a braking request or throttle request of the current vehicle is detected, the relative distance of the vehicle with the greatest collision risk to be processed is predicted based on the braking request or throttle request. If so, the response to the braking request or throttle request is suppressed until the braking request or throttle request is detected again within a preset time.

2. The method according to claim 1, characterized in that, Determining the safe distance corresponding to each of the target vehicles includes: For each target vehicle, determine the vehicle behind it from the current vehicle and the target vehicle, and obtain the current speed of the vehicle behind it. Based on the current speed of the vehicle behind and the first preset mapping table, determine the safe distance corresponding to the target vehicle; The first preset mapping table is used to describe the correspondence between each vehicle speed and each safe distance.

3. The method according to claim 1, characterized in that, Determining the safe distance corresponding to each of the target vehicles includes: For each target vehicle, determine the vehicle behind it from the current vehicle and the target vehicle, and obtain the current speed of the vehicle behind it. Based on the current speed of the vehicle behind, the current vehicle type of the vehicle behind, and the second preset mapping table, a safe distance corresponding to the target vehicle is determined. The second preset mapping table is used to describe the correspondence between various vehicle speeds, vehicle types, and safety distances.

4. The method according to claim 1, characterized in that, Each of the target vehicles includes a front target vehicle and a rear target vehicle. Adjusting the relative distance between the vehicles to be processed to a corresponding safe distance includes: When the vehicle to be processed is a target vehicle behind, a powertrain control command corresponding to the current vehicle is generated to control the current vehicle to accelerate, adjusting the relative distance to the target vehicle behind to a corresponding safe distance; and, When the vehicle to be processed is the target vehicle ahead, a braking system control command corresponding to the current vehicle is generated to control the current vehicle to decelerate and adjust the relative distance to the target vehicle ahead to the corresponding safe distance.

5. The method according to any one of claims 1-4, characterized in that, After identifying target vehicles whose relative distance is less than a safe distance as vehicles to be processed, the method further includes: Based on the position and orientation of the vehicle to be processed relative to the current vehicle, a display device control command is generated to control the display of a lighting display device in the current vehicle at that position and orientation; and / or, If there are two vehicles to be processed, a multimedia device control command is generated to control the multimedia device in the current vehicle to display lane change prompt information.

6. An electronic device, characterized in that, The electronic device includes: Processor and memory; The processor executes the driving control steps for maintaining a safe following distance as described in any one of claims 1 to 5 by calling the program or instructions stored in the memory.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instructions that cause a computer to perform the driving control steps for maintaining a safe following distance as described in any one of claims 1 to 5.

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