Method, device, electronic device and readable storage medium for controlling vehicle driving

Abstract

The present application relates to the field of automobile technology, and provides a method, device, electronic device and readable storage medium for controlling vehicle driving. The method comprises: obtaining the surrounding environment information of the target vehicle, the surrounding environment information includes the driving information of the first vehicle behind the target vehicle and the obstacle information of the preset avoidance area; determining the rear-end collision risk level of the first vehicle according to the driving information of the first vehicle; when the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, controlling the warning system to perform a first warning operation, wherein the first warning operation is used to warn the target vehicle and the first vehicle to perform a risk avoidance operation; and, according to the obstacle information, controlling the target vehicle to perform a driving action corresponding to the obstacle information. The embodiment of the present application solves the technical problem of low vehicle driving safety in the prior art.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method, device, electronic device and readable storage medium for controlling vehicle driving. Background Art

[0002] The use of vehicles is becoming more and more frequent in people's lives. With the increase in the number of vehicles on the road, if the vehicle behind engages in speeding, drunk driving or other driving behaviors, it is likely to cause a rear-end collision, endangering the safety of life and property.

[0003] At present, there are still a large number of vehicles on the road that are not equipped with emergency brake assist systems. The vehicles cannot actively identify obstacles in front and automatically brake to a stop. The risk avoidance capabilities of vehicles equipped with emergency brake assist systems also need to be improved, and they cannot efficiently and safely prevent rear-end collisions from occurring.

[0004] It can be seen that the existing technology has the problem of low vehicle driving safety. Summary of the invention

[0005] In view of this, embodiments of the present application provide a method, device, electronic device, and readable storage medium for controlling vehicle driving to solve the problem of low vehicle driving safety.

[0006] According to a first aspect of an embodiment of the present application, a method for controlling vehicle driving is provided, comprising:

[0007] Acquiring surrounding environment information of the target vehicle, the surrounding environment information including driving information of a first vehicle behind the target vehicle and obstacle information in a preset avoidance area;

[0008] determining a rear-end collision risk level of the first vehicle according to the driving information of the first vehicle;

[0009] When the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, controlling the warning system to perform a first warning operation, wherein the first warning operation is used to warn the target vehicle and the first vehicle to perform a risk avoidance operation; and

[0010] According to the obstacle information, the target vehicle is controlled to execute driving actions corresponding to the obstacle information.

[0011] According to a second aspect of an embodiment of the present application, a device for controlling vehicle driving is provided, comprising:

[0012] An acquisition module is used to acquire surrounding environment information of the target vehicle, the surrounding environment information including driving information of a first vehicle behind the target vehicle and obstacle information in a preset avoidance area;

[0013] A determination module, configured to determine a rear-end collision risk level of the first vehicle according to the driving information of the first vehicle;

[0014] A first control module is used to control the warning system to perform a first warning operation when the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, wherein the first warning operation is used to warn the target vehicle and the first vehicle to perform a risk avoidance operation; and

[0015] The second control module is used to control the target vehicle to execute a driving action corresponding to the obstacle information according to the obstacle information.

[0016] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0017] According to a fourth aspect of an embodiment of the present application, a readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0018] The beneficial effects of the embodiments of the present application are:

[0019] By acquiring the surrounding environment information of the target vehicle, the surrounding environment information includes the driving information of the first vehicle behind the target vehicle and the obstacle information of the preset avoidance area, and determining the rear-end collision risk level of the first vehicle according to the driving information of the first vehicle, when the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, controlling the warning system to perform the first warning operation to warn the target vehicle and the first vehicle to perform a risk avoidance operation, and controlling the target vehicle to perform a driving action corresponding to the obstacle information according to the obstacle information, so that the target vehicle can monitor in real time whether the rear vehicle has the risk of causing a rear-end collision accident, and when the rear vehicle is likely to have a rear-end collision accident, the target vehicle and the driver of the rear vehicle are warned in advance to perform a risk avoidance operation, and at the same time, the driver of the target vehicle is made to notice the dangerous situation, and the target vehicle is controlled to actively avoid the risk and avoid the rear vehicle, thereby effectively reducing the incidence of rear-end collision accidents, and the active risk avoidance operation of the target vehicle can reduce the losses caused by rear-end collision accidents, improve the driving safety of the driver of the target vehicle, and solve the technical problem of low vehicle driving safety in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1It is a flowchart of a method for controlling vehicle driving provided by an embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of a vehicle driving road scene provided by an embodiment of the present application;

[0023] Figure 3 It is a structural schematic diagram of a device for controlling vehicle travel provided in an embodiment of the present application;

[0024] Figure 4 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0026] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0027] In addition, it should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "includes..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0028] A method, device, electronic device and readable storage medium for controlling vehicle driving according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0029] Figure 1 It is a flow chart of a method for controlling vehicle driving provided in an embodiment of the present application. Figure 1The method of controlling vehicle driving may be performed by a controller or an Advanced Driving Assistance System (ADAS). Figure 1 As shown, the method for controlling vehicle driving includes:

[0030] S101, obtaining the surrounding environment information of the target vehicle,

[0031] The surrounding environment information includes the driving information of the first vehicle behind the target vehicle and the obstacle information of the preset avoidance area.

[0032] It should be noted that the first vehicle is in the same lane as the target vehicle and is located behind the target vehicle. The distance between the first vehicle and the target vehicle is less than a preset distance, which may be 150 meters. This application does not specifically limit this.

[0033] The driving information of the first vehicle is used to calculate whether the first vehicle has a risk of rear-ending a target vehicle.

[0034] The obstacle information of the preset avoidance area indicates whether there are obstacles in the preset avoidance area. Obstacles may include vehicles, pedestrians, road buildings, etc. Vehicles may include two-wheeled vehicles, three-wheeled vehicles, four-wheeled vehicles and multi-wheeled vehicles, that is, motor vehicles and non-motor vehicles.

[0035] By acquiring the driving information of the first vehicle behind the target vehicle, a judgment basis is provided for determining the possibility of rear-end collision of the first vehicle behind; by acquiring the obstacle information of the preset avoidance area at the location of the target vehicle, it is possible to judge in advance whether there are obstacles in the preset avoidance area of ​​the target vehicle. In this way, when the first vehicle behind rear-ends the target vehicle, a safe avoidance plan can be provided for the target vehicle, ensuring that the target vehicle will not collide with other obstacles when avoiding rear-end collision of the first vehicle, thereby improving the driving safety of the driver in the target vehicle.

[0036] S102: Determine a rear-end collision risk level of the first vehicle according to driving information of the first vehicle.

[0037] Specifically, the rear-end collision risk level may include a first level indicating that there is a collision risk and no avoidance operation needs to be performed, and a second level indicating that an avoidance operation needs to be performed.

[0038] By determining the rear-end collision risk level of the first vehicle based on the driving information of the first vehicle, it can help the target vehicle determine whether there is a rear-end collision risk of the first vehicle, and provide a basis for judging whether early warning and avoidance of the first vehicle are needed and how to avoid the first vehicle in the future. In this way, corresponding measures can be taken when the rear-end collision risk level of the first vehicle is high, that is, before the first vehicle causes a rear-end collision accident, rather than taking measures only after the rear-end collision vehicle, which greatly reduces the possibility of rear-end collision accidents and improves the safety of drivers of both vehicles.

[0039] S103: When the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, the warning system is controlled to perform a first warning operation.

[0040] The first warning operation is used to warn the target vehicle and the first vehicle to perform a risk avoidance operation.

[0041] It should be noted that when the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, controlling the warning system to perform a first warning action includes: sending a first warning instruction to the warning system of the target vehicle, and the first warning instruction is used to instruct the warning system to perform a pre-set first warning action.

[0042] Among them, the first warning instruction can instruct all components of the warning system to perform the first warning action, and the components of the warning system may include the car media speaker and vehicle speaker of the sound component part; the seat, steering wheel, and seat belt of the vibration component part; the interior atmosphere light, integrated circuit (IC) instrument, in-vehicle infotainment (IVI) central control screen, vehicle high and low beam headlights, and intelligent interactive taillights of the lighting and display part. Correspondingly, controlling the warning system to perform the first warning action includes: controlling the car media speaker and the vehicle speaker to both issue a warning message indicating the current unsafe situation, controlling the seat to issue a high-frequency massage warning, controlling the steering wheel to issue a high-frequency vibration warning, controlling the seat belt to switch to a tight state, controlling the interior atmosphere light to change color at a first fixed frequency, controlling the IC instrument and the IVI central control screen to display a high-frequency flashing color for warning and displaying a text warning indicating the current unsafe situation, controlling the vehicle high and low beam headlights to switch periodically for warning, and controlling the intelligent interactive taillight to display text to warn the rear vehicle.

[0043] As an example, the sound component can broadcast the specific content "Imminent collision, please accelerate", the light part can change color at a fixed frequency, for example 5 times per second, the seat massage is adjusted to a high-frequency massage state, the seat belt is tightened to a tight state, the in-car display part can display the specific content "Imminent collision, please accelerate", and the out-of-car display part such as the smart interactive taillight displays a text warning "Please stop immediately", etc. This application does not make specific limitations on this.

[0044] When the rear-end collision risk level indicates that the target vehicle needs to perform an avoidance operation, it means that the possibility of the first vehicle causing a rear-end collision is very high. The warning system is controlled to perform the first warning operation, which not only warns the driver of the target vehicle to perform emergency avoidance, but also warns the driver of the first vehicle to perform emergency braking. In this way, warning operations are performed on both drivers, which increases the possibility of both drivers performing avoidance operations, thereby reducing the possibility of a rear-end collision and the losses caused when a rear-end collision actually occurs.

[0045] S104: According to the obstacle information, the target vehicle is controlled to execute a driving action corresponding to the obstacle information.

[0046] Specifically, when the rear-end collision risk level indicates that the target vehicle needs to perform an avoidance operation, it is also necessary to control the target vehicle to perform a driving action corresponding to the obstacle information based on the obstacle information, so that the target vehicle drives to a safe avoidance area in a preset avoidance area, thereby performing early avoidance.

[0047] In this way, by controlling the target vehicle to execute driving actions corresponding to the obstacle information based on the obstacle information, the target vehicle can avoid the obstacle in advance before the first vehicle causes a rear-end collision, and the target vehicle can actively avoid the vehicle behind to prevent a rear-end collision caused by a collision between the two vehicles, thereby improving the driving safety of the target vehicle driver.

[0048] For example, in one example, in a scenario where there are conditions restricting the passage of traffic, such as when the traffic light is on, the auxiliary vehicle gives way to the main road vehicle, or there is a passing vehicle in front of the intersection, the target vehicle is waiting to pass at the intersection. At this time, the vehicles behind the target vehicle will slow down and queue up to wait, but the first vehicle behind the target vehicle may have a higher speed. In this scenario, the rear-end collision risk level of the first vehicle can be determined according to the driving information of the first vehicle. If the rear-end collision risk level indicates that the target vehicle needs to perform an avoidance operation, the warning system is controlled to perform the first warning operation and the target vehicle is controlled to perform the driving action corresponding to the obstacle information of the preset avoidance area, so as to avoid the first vehicle from rear-ending the target vehicle. Of course, this embodiment is also applicable to the scenario where the target vehicle is in motion, and this embodiment does not specifically limit this.

[0049] According to the technical solution provided in the embodiment of the present application, the target vehicle can monitor in real time whether there is a risk of rear-end collision with the rear vehicle. When the possibility of rear-end collision with the rear vehicle is high, the target vehicle and the driver of the rear vehicle are warned in advance, and the target vehicle is controlled to actively avoid the risk and evade the rear vehicle, thereby effectively reducing the occurrence rate of rear-end collision accidents, reducing the losses caused by rear-end collision accidents, improving the driving safety of the driver of the target vehicle, and solving the technical problem of low driving safety in the prior art.

[0050] In some embodiments, the driving information includes a vehicle type and a driving speed of the first vehicle and a separation distance between the first vehicle and the target vehicle;

[0051] Determining a rear-end collision risk level of the first vehicle according to the driving information of the first vehicle includes:

[0052] determining a braking distance of the first vehicle according to the driving speed, a vehicle type safety factor corresponding to the vehicle type, and a preset average braking deceleration;

[0053] If the first distance is greater than the first preset distance and less than or equal to the braking distance, the rear-end collision risk level is determined to be the first level for indicating that there is a collision risk and no avoidance operation is required, and the first distance is the sum of the separation distance and the preset safety distance;

[0054] If the first distance is less than the first preset distance, the rear-end collision risk level is determined to be a second level for indicating execution of a risk avoidance operation.

[0055] Specifically, vehicle types include small cars, small trucks, heavy trucks, etc. Correspondingly, a corresponding relationship is set between vehicle types and vehicle type safety factors. For example, the vehicle type safety factor corresponding to small cars is 1, the vehicle type safety factor corresponding to small trucks is 1.3, and the vehicle type safety factor corresponding to heavy trucks is 1.7. This application does not specifically limit this.

[0056] The preset average braking deceleration may take the minimum value required by international standard braking, which may be 6 meters per second squared.

[0057] In addition, the braking distance of the first vehicle can be calculated by the following formula: S = C*V 2 / 2A, where S is the braking distance of the first vehicle, C is the vehicle type safety factor of the first vehicle, V is the driving speed of the first vehicle, and A is the preset average braking deceleration.

[0058] The vehicle type takes into account the inertia of different vehicles. Obviously, different vehicle types have different vehicle weights, and the inertia of the vehicle when braking is also different. The greater the inertia, the longer the braking distance. For example, heavy trucks are usually used to transport large amounts of goods. Their weight and inertia are greater than those of small cars and small trucks. Therefore, their vehicle type safety factor is also the largest.

[0059] The preset minimum average braking deceleration also allows a larger value to be used when calculating the braking distance, thereby leaving a safer reference distance for the target vehicle when the subsequent target vehicle performs evasive action.

[0060] The first preset distance can be 5 meters, 6 meters, etc.; in addition, considering the situation that the braking distance of the rear vehicle is insufficient during driving, a safety distance can be reserved to ensure that the vehicle is not rear-ended by the first vehicle behind. The specific preset safety distance can be 0.5 meters, 1 meter, etc., and this application does not make specific limitations on this.

[0061] By setting a preset safety distance and determining the sum of the interval distance and the preset safety distance as the distance between the target vehicle and the first vehicle behind, sufficient safety space is reserved for judging the rear-end collision risk level of the first vehicle and for the subsequent target vehicle to perform evasive actions, so as to ensure the accuracy of the judgment and the driving safety of the target vehicle.

[0062] As an example, assuming that the interval distance between the target vehicle and the first vehicle is 9 meters, the preset safety distance is 1 meter, the first preset distance is 5 meters, the vehicle type of the first vehicle is a small car, the speed is 24 meters per second, the preset average braking deceleration is 6 meters per square second, and the vehicle type safety factor of the first vehicle is 1, then the first distance is 10 meters, and the calculated braking distance is 48 meters. At this time, the first distance is greater than the first preset distance and is less than or equal to the braking distance, that is, there may be a risk of collision at this time, then the rear-end collision risk level is determined to be the first level used to indicate that there is a risk of collision and no risk avoidance operation needs to be performed.

[0063] If the first distance is less than the first preset distance, it means that the distance between the first vehicle and the target vehicle is very small, which is an unsafe and emergency situation. The rear-end collision risk level can be determined as the second level for indicating the execution of an avoidance operation, so that the target vehicle can be controlled to perform an emergency avoidance operation.

[0064] It should be noted that, in this embodiment, the preset value can be used as a trigger condition for determining the rear-end collision risk level of the first vehicle, that is, if the first distance is greater than the preset value, the rear-end collision risk level of the first vehicle is not determined. In addition, if the first distance is greater than the braking distance and less than or equal to the preset value, it is determined that the first vehicle has no rear-end collision risk, that is, the target vehicle is in a safe state. The preset value can be 150 meters, 160 meters, etc., and this application does not specifically limit this.

[0065] According to the technical solution provided in the embodiment of the present application, by comparing the first distance between the target vehicle and the first vehicle with the braking distance of the first vehicle, it is determined whether the first vehicle has a rear-end collision risk, and the rear-end collision risk level of the first vehicle is distinguished, so as to provide a reference basis for the subsequent control of the target vehicle to perform warning actions and driving actions, and the influence of various aspects such as vehicle type, preset average braking deceleration and preset safety distance on the above-mentioned judgment process is taken into account, thereby improving the accuracy of judging the rear-end collision risk level of the first vehicle.

[0066] In some embodiments, after determining the rear-end collision risk level of the first vehicle according to the driving information of the first vehicle, the method further includes:

[0067] When the rear-end collision risk level is the first level, control sends a warning instruction to the warning system of the target vehicle, the warning instruction is used to instruct the warning system to perform a second warning operation to warn the drivers of the target vehicle and the first vehicle to pay attention to the following distance;

[0068] When it is detected that the braking distance has not been reduced within a preset period of time, a warning instruction is sent to the warning system of the target vehicle at every preset time interval until the first distance is greater than the braking distance.

[0069] Specifically, the warning instruction may instruct the warning system to perform a second warning action, and the components involved in the second warning action may be some components of the warning system, which may specifically include: vehicle media speakers, steering wheels, seats, seat belts, interior ambient lights, smart interactive taillights, IC instrument screens, IVI central control screens, etc. Correspondingly, the second warning action includes: the vehicle media speakers issue a sound warning indicating the risk of collision, the seats are adjusted to a massage state, the steering wheel issues a slight vibration warning, the interior ambient lights change color at a second fixed frequency, the IC instrument and IVI central control screen perform breathing flashes and display text indicating the risk of collision, and the smart interactive taillights display text indicating the following distance to give a warning to the following vehicle.

[0070] As an example, the car media speaker can broadcast the content "Please pay attention to the car coming from behind", the seat is adjusted to the massage state, if the massage state is turned on, the massage frequency is increased, the seat belt begins to tighten slightly, the interior atmosphere light begins to change color at a fixed frequency, such as 2 times / second, the smart interactive taillight can display a text warning "Please pay attention to the distance from the car", the IC instrument screen and the IVI central control screen can flash and pop up a pop-up window to display the copy "Please pay attention to the car coming from behind", etc. This application does not make specific restrictions on this. In this way, when the first vehicle is at risk of rear-end collision but does not need to avoid it, the driver of the target vehicle is prompted to pay attention to the distance between vehicles and be prepared to avoid it, and at the same time warns the rear vehicle to pay attention to the braking distance and take braking measures to avoid rear-end collision.

[0071] In addition, the preset period can be 0.5 seconds, 1 second, etc., and the preset time can be 0.5 seconds, 1 second, etc., which are not specifically limited in this application. If it is detected that the braking distance has not been reduced within the preset period, a warning instruction is sent to the warning system of the target vehicle at each preset interval, so that the warning system can continue to warn, thereby reducing the probability of the target vehicle colliding with the first vehicle.

[0072] As an example, assuming that the preset time period is 1 second, the preset time is 0.5 seconds, the braking distance of the first vehicle 1 second ago was 20 meters, and the current braking distance is also 20 meters, it is determined that the braking distance of the first vehicle has not decreased within 1 second, indicating that the first vehicle did not reduce its speed after the target vehicle issued the warning information, that is, the first vehicle did not perform the braking operation, then a warning instruction can be sent to the warning system every 0.5 seconds until the first distance is greater than the braking distance.

[0073] According to the technical solution provided in the embodiment of the present application, when the first vehicle has a certain risk of rear-end collision but the target vehicle does not need to avoid it, both the target vehicle and the first vehicle are reminded. After at least one of the drivers of both vehicles notices the current situation and takes corresponding actions, the possibility of rear-end collision accidents can be reduced, and when it is detected that the braking distance has not been reduced within a preset time period, early warning instructions are continuously sent for early warning, thereby improving driving safety.

[0074] In some embodiments, the preset avoidance area includes a first area directly in front of the target vehicle, a second area to the left and in front of the left, and a third area to the right and in front of the right;

[0075] According to the obstacle information, the target vehicle is controlled to execute a driving action corresponding to the obstacle information, including:

[0076] When the obstacle information indicates that there is no obstacle in the first area, the target vehicle is controlled to travel a second preset distance at a preset speed after the increase in speed, and the target vehicle is controlled to operate according to the current first distance between the target vehicle and the first vehicle after the target vehicle travels the second preset distance;

[0077] In the case where the obstacle information indicates that an obstacle exists in the first area, the target vehicle is controlled to be operated according to the indication result of the obstacle information indicating whether obstacles exist in the second area and the third area.

[0078] As an example, Figure 2As shown, the first area 201 is the area directly in front of the target vehicle, and the area is located in the lane where the target vehicle is located; the second area 202 is the area on the left and left front of the target vehicle, and the area is located in the left lane adjacent to the target vehicle; the third area 203 is the area on the right and right front of the target vehicle, and the area is located in the right lane adjacent to the target vehicle. The first area 201, the second area 202 and the third area 203 can all be rectangular areas, and the area size can be determined or set to a default value according to the vehicle type of the target vehicle, for example, the size of the first area 201 can be 3.5 meters and 20 meters wide and long respectively, and the size of the second area 202 and the third area 203 can be 3.5 meters and 25 meters wide and long respectively; in addition, the sizes of the first area, the second area and the third area can be the same or different, and can be adjusted according to the actual driving situation and historical driving records, and this application does not specifically limit this. By setting the avoidance areas in the first area, the second area and the third area in three directions, it is ensured that the target vehicle can avoid a wide range of areas, thereby increasing the probability of successful avoidance of the target vehicle.

[0079] In addition, the preset speed after the acceleration refers to a speed greater than the current driving speed of the target vehicle, and the acceleration can be 10 kilometers per hour, 20 kilometers per hour, etc., and the second preset distance can be 10 meters, 15 meters, etc., which is not specifically limited in this application. If the obstacle information indicates that there is no obstacle in the first area, the target vehicle is controlled to travel the second preset distance at the preset speed after the acceleration, so that the target vehicle can avoid the obstacle in the most convenient and fast way.

[0080] The current first distance between the target vehicle and the first vehicle after the target vehicle 204 travels the second preset distance is the sum of the current interval distance between the target vehicle 204 and the first vehicle 205 and the preset safety distance after the target vehicle 204 travels the second preset distance.

[0081] If the obstacle information indicates that there are no obstacles in the first area, the target vehicle can be controlled to travel a second preset distance at a preset speed after the increase in speed, so that the distance between the target vehicle and the first vehicle can be increased to reduce the risk of collision; then, the subsequent driving action of the target vehicle is determined based on the current first distance between the target vehicle and the first vehicle after traveling the second preset distance, so that the subsequent driving can be determined according to the actual interval situation to avoid vehicle collision.

[0082] If the obstacle information indicates that there is an obstacle in the first area, the target vehicle will collide with the obstacle in front if it moves forward, so it can no longer move forward to avoid rear-end collision. At this time, the driving action can be determined based on the obstacle conditions in the second and third areas to avoid collision with the vehicle behind.

[0083] As an example, assuming that the preset speed after acceleration is 20 kilometers per hour and the second preset distance is 10 meters, if there is no obstacle in the first area 201, the target vehicle is controlled to travel 10 meters in the forward direction at a speed of 20 kilometers per hour; if there is an obstacle in the first area 201, the driving action of the target vehicle is determined according to whether there are obstacles in the second area 202 and the third area 203 to perform an evasive action.

[0084] According to the technical solution provided in the embodiment of the present application, the driving avoidance action of the target vehicle is determined by judging whether there are obstacles in different scenarios, i.e., different avoidance areas. This fully considers the various scenarios in which the target vehicle performs driving actions in actual applications, and formulates specific plans for different driving actions based on obstacle information, thereby increasing the options for driving avoidance of the target vehicle, thereby improving the possibility and safety of the target vehicle avoiding rear-end collision with the first vehicle.

[0085] In some embodiments, controlling the target vehicle according to the current first distance between the target vehicle and the first vehicle after traveling the second preset distance includes:

[0086] If the current first distance is greater than the current braking distance, the vehicle is restored to the speed before the increase in speed.

[0087] If the current first distance is less than or equal to the current braking distance, and if there are no obstacles in the second area and the third area, the target vehicle is controlled to turn and drive to the area corresponding to the lane where the second vehicle is located; wherein the second vehicle is the vehicle with a larger distance from the target vehicle among the two adjacent vehicles, and the two adjacent vehicles are the vehicles adjacent to the target vehicle in the lane where the second area is located and the lane where the third area is located respectively;

[0088] If the current first distance is less than or equal to the current braking distance, and if there is no obstacle in one of the second area and the third area, the target vehicle is controlled to turn and drive to the area where there is no obstacle.

[0089] It should be noted that if the current first distance is greater than the current braking distance, after returning to the speed before the acceleration, the target vehicle is further controlled to continue driving according to the navigation route until it reaches a safe parking position. In this way, since the target vehicle may be located at a position that is not suitable for parking after it has traveled the second preset distance, it is ensured that the target vehicle can still drive safely or stop at a safe parking location after avoiding the vehicle behind it by stopping the vehicle or continuing to travel according to the navigation route.

[0090] In addition, specifically, after the target vehicle travels the second preset distance straight ahead, there is still a situation where the current first distance is less than or equal to the current braking distance, indicating that there is still a risk of rear-end collision at the current position, and it is necessary to travel to an adjacent avoidance area or lane to avoid. At this time, if there is no obstacle in one of the current second area and the third area, the target vehicle is controlled to turn and travel to the area where there is no obstacle, thereby safely avoiding the first vehicle; of course, if there is no obstacle in both the second area and the third area, the vehicles adjacent to the target vehicle in the lane where the second area and the lane where the third area are located can be determined first, and then the distances between the two adjacent vehicles and the target vehicle are calculated respectively, the vehicle with the larger distance is determined as the second vehicle, and the target vehicle is controlled to turn and travel to the area corresponding to the lane where the second vehicle is located. This can reduce the loss caused by the target vehicle being affected in the event of a loss of control of the first vehicle or other accidents, such as a collision or scratching of a vehicle at a closer distance caused by a sharp turn during driving. In this way, when there is a risk of rear-end collision in the current lane, a lane can be selected from the lanes on both sides of the current lane where there are no obstacles in the area and obstacles outside the area are far away from the target vehicle for avoidance. Accidents such as collisions and scratches caused by the close distance between obstacles and target vehicles are taken into consideration, providing a comprehensive and safe driving strategy for the target vehicle's avoidance actions.

[0091] The case where there are no obstacles in the second area and the third area is used for explanation. As an example, if the current first distance is less than or equal to the current braking distance, and there are no obstacles in the second area and the third area, the vehicles adjacent to the target vehicle in the lane where the second area is located and the lane where the third area is located are identified, and the distance between the adjacent vehicle and the target vehicle in the lane where the second area is located is calculated to be 2 meters, and the distance between the adjacent vehicle and the target vehicle in the lane where the third area is located is 3 meters. Then, it is determined that the adjacent vehicle in the lane where the third area is located and the target vehicle are the second vehicles, and the target vehicle is controlled to turn to the third area.

[0092] It should be noted that after the target vehicle is controlled to turn and drive to an area where no obstacles exist, the step of obtaining the surrounding environment information of the current position of the target vehicle is repeated to prevent the rear vehicle from rear-ending.

[0093] In addition, if the current first distance is less than or equal to the current braking distance, and if there are obstacles in both the second area and the third area, the target vehicle is controlled to continue to move forward.

[0094] According to the technical solution provided in the embodiment of the present application, the target vehicle is controlled to make corresponding driving actions by processing the driving scenarios after the target vehicle travels the second preset distance according to different situations, and the relationship between the current first distance and the current braking distance after the target vehicle travels the second preset distance, as well as the obstacle conditions in the avoidance areas on both sides and the distance to the target vehicle are taken into consideration. While avoiding the rear-end collision of the first vehicle, the target vehicle is prevented from colliding with obstacles in other lanes and causing danger, and the damage that can still be caused to the target vehicle due to being too close to the target vehicle is reduced. A driving avoidance plan suitable for various driving scenarios is formulated for the target vehicle, and the driving safety of the target vehicle is guaranteed from multiple aspects.

[0095] In some embodiments, according to the obstacle information indicating whether there are obstacles in the second area and the third area, controlling the target vehicle includes:

[0096] When the obstacle information indicates that there is no obstacle in one of the second area and the third area, controlling the target vehicle to turn and drive to the area where there is no obstacle;

[0097] When the obstacle information indicates that there are no obstacles in the second area and the third area, and the distances between the target vehicle and the two adjacent vehicles are greater than the third preset distance, the target vehicle is controlled to turn and drive to the second area;

[0098] When the obstacle information indicates that there are no obstacles in the second area and the third area, and the distances between the target vehicle and the two adjacent vehicles are not both greater than the third preset distance, the target vehicle is controlled to turn and drive to the area corresponding to the lane where the second vehicle is located.

[0099] Specifically, the third preset distance may be 10 meters, 15 meters, etc., and this application does not specifically limit this.

[0100] An explanation is given using the situation where the obstacle information indicates that there are no obstacles in the second area and the third area. As an example, assuming that the third preset distance is 10 meters, in the case where there are no obstacles in the second area and the third area, if the distance between the target vehicle and the adjacent vehicle in the lane where the second area is located and the distance between the target vehicle and the adjacent vehicle in the lane where the third area is located are both greater than 10 meters, it means that the vehicles in the lanes on both sides are less likely to rear-end the target vehicle after the target vehicle changes lanes, and both are safe avoidable areas. At this time, the second lane located on the left side of the target vehicle has a wider field of view for the driver of the target vehicle, which is convenient for the driver of the target vehicle to operate, so the target vehicle is controlled to transform and drive to the second area; of course, if the distance between the target vehicle and the adjacent vehicle in the lane where the second area is located is 3 meters and the distance between the target vehicle and the adjacent vehicle in the lane where the third area is located is 2 meters, which are not both greater than 10 meters, then the distances between the adjacent vehicles in the lanes on both sides and the target vehicle are compared. The comparison result shows that the target vehicle is farther from the adjacent vehicle in the lane where the second area is located, indicating that the target vehicle is farther away from the second vehicle after driving to the second area, and the possibility of being rear-ended by the second vehicle is lower, and the safety is higher, so the target vehicle is controlled to turn to the lane where the second area is located for avoidance.

[0101] It should be noted that, in the case where obstacles exist in both the second area and the third area, if the first vehicle collides with the target vehicle, the impact acceleration of the first vehicle behind is obtained; when the impact acceleration is greater than the preset acceleration, the target vehicle is controlled to send a distress signal.

[0102] The preset acceleration can be 15 meters per second squared, 20 meters per second squared, etc. This application does not make specific limitations on this. Different collision accelerations cause different injuries. If the collision acceleration does not reach the preset acceleration, it means that it is a minor collision and the possibility of causing life safety is low, so there is no need to waste medical rescue resources.

[0103] According to the technical solution provided in the embodiment of the present application, the avoidance area where there are no obstacles and the vehicles in the lane are far away from the first vehicle is safer. When there are obstacles in the first area, the obstacle information of the second area and the third area is analyzed, and the distances between the vehicles in the lane where the second area is located and the lane where the third area is located and the first vehicle are considered respectively. The safety situation of the target vehicle after driving to the second area or the third area is estimated, thereby determining the driving avoidance action of the target vehicle, and providing appropriate and safe driving strategies for the target vehicle in different driving scenarios, thereby improving the driving safety of the target vehicle in the process of avoiding the first vehicle and reducing the possibility of the first vehicle rear-ending or scratching the target vehicle.

[0104] In some embodiments, before determining the rear-end collision risk level of the first vehicle according to the driving information of the first vehicle, the method further includes:

[0105] Detect whether the target vehicle meets the following preset conditions;

[0106] When the target vehicle meets the following preset conditions, a step of determining a rear-end collision risk level of the first vehicle according to the driving information of the first vehicle is performed;

[0107] The preset conditions include at least one of the following:

[0108] The current gear position of the target vehicle is not reverse gear;

[0109] The target vehicle is driven by a driver;

[0110] The target vehicle is not currently in car wash mode, parking mode, or power-off mode;

[0111] The first vehicle behind the target vehicle is a motor vehicle;

[0112] The driving scenario of the target vehicle is not a congested scenario.

[0113] Specifically, if the current gear position of the target vehicle is the reverse gear, indicating that the target vehicle is reversing, the first distance between the target vehicle and the rear vehicle must continue to decrease. In the current case, the rear-end collision risk level result determined based on the first distance between the target vehicle and the first rear vehicle and the braking distance of the first vehicle is inaccurate. Therefore, when the current gear position of the target vehicle is not the reverse gear, the target vehicle executes the determination of the rear-end collision risk level to ensure the accuracy of the determination result.

[0114] In addition, specifically, the target vehicle is driven by a driver, who can actively avoid the first vehicle when the judgment result shows that the rear-end collision risk level is high, instead of relying solely on the rear vehicle to perform emergency braking to avoid the rear-end collision, thereby increasing the possibility of avoiding the rear-end collision.

[0115] In addition, specifically, when the target vehicle is in car wash mode, parking mode, and power-off mode, the target vehicle should be in a power-off state or unmanned state, and the driver cannot be reminded to evade, and there is generally no risk of rear-end collision in these modes. Therefore, subsequent operations are performed only when the target vehicle is not currently in car wash mode, parking mode, and power-off mode, saving computing resources.

[0116] In addition, specifically, the situation where the first vehicle behind the target vehicle is a non-motor vehicle is less dangerous than the situation where the first vehicle behind the target vehicle is a motor vehicle. The speed and weight of the motor vehicle are greater than those of the non-motor vehicle, and the inertia of the motor vehicle and the damage caused by the collision are also greater than those of the non-motor vehicle. However, the flexibility of the motor vehicle is less than that of the non-motor vehicle. Therefore, when the first vehicle behind the target vehicle is a non-motor vehicle, the safety factor is higher. If the subsequent steps of determining the rear-end collision risk level and performing evasive actions are executed, it will cause a waste of resources and space. Therefore, the subsequent operations are performed when the first vehicle behind the target vehicle is a motor vehicle, saving resources.

[0117] In addition, specifically, the congestion scenario may include that there are no other vehicles in front of the target vehicle, there is at least one motor vehicle behind it, and the distance between the first vehicle behind and the target vehicle is less than or equal to the fifth preset distance for a period longer than the preset time; or, there are vehicles in front and behind the target vehicle, and the distance between the target vehicle and the vehicle in front and the vehicle behind is less than or equal to the fifth preset distance for a period longer than the preset time. In the congestion scenario, the vehicles around the target vehicle are all driving at low speeds, and the possibility of a rear-end collision is low. In addition, it is impossible to perform evasive actions in the congestion scenario, and it is not necessary to determine the rear-end collision risk level. Therefore, determining the rear-end collision risk level on the premise that the driving scenario of the target vehicle is not a congestion scenario can save resources.

[0118] Among them, the fifth preset distance can be 3 meters, 4 meters, etc., and the preset time can be 1 minute, 1.5 minutes, etc., which can be set according to the congestion scene records in the historical driving records of the target vehicle. This application does not make any specific limitations on this.

[0119] It should be noted that the preset conditions also include that the advanced driving assistance system and intelligent rear-end collision avoidance function of the target vehicle have been turned on; in addition, it may also include that the target vehicle is driven by a driver and the target vehicle is not at the rear of the traffic flow.

[0120] According to the technical solution provided in the embodiment of the present application, by judging whether the target vehicle meets the preset conditions and determining whether the target vehicle performs the subsequent steps of judging the rear-end collision risk level, it is avoided that the target vehicle still executes the subsequent steps in special scenarios where the intelligent anti-rear-end collision instruction does not need to be executed, thereby saving resources and space.

[0121] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0122] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0123] Figure 3Schematic diagram of a device for controlling vehicle travel provided by an embodiment of the present application. Figure 3 As shown, the device for controlling vehicle travel includes:

[0124] An acquisition module 301 is used to acquire surrounding environment information of a target vehicle, wherein the surrounding environment information includes driving information of a first vehicle behind the target vehicle and obstacle information of a preset avoidance area;

[0125] A determination module 302, configured to determine a rear-end collision risk level of the first vehicle according to the driving information of the first vehicle;

[0126] A first control module 303 is used to control the warning system to perform a first warning operation when the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, wherein the first warning operation is used to warn the target vehicle and the first vehicle to perform a risk avoidance operation; and

[0127] The second control module 304 is used to control the target vehicle to execute a driving action corresponding to the obstacle information according to the obstacle information.

[0128] According to the technical solution provided in the embodiment of the present application, the surrounding environment information of the target vehicle is acquired by the acquisition module 301, the determination module 302 determines the rear-end collision risk level of the first vehicle according to the driving information of the first vehicle, the first control module 303 controls the warning system to perform the first warning operation when the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, and the second control module 304 controls the target vehicle to perform a driving action corresponding to the obstacle information according to the obstacle information; the target vehicle is enabled to monitor in real time whether the rear vehicle has the risk of causing a rear-end collision accident, and when the rear vehicle is likely to cause a rear-end collision accident, the target vehicle and the rear vehicle are warned in advance, which not only reminds the driver of the first vehicle to perform an emergency brake operation on the first vehicle, but also makes the driver of the target vehicle notice the dangerous situation, and controls the target vehicle to actively avoid risks and avoid the rear vehicle, effectively reducing the incidence of rear-end collision accidents, and the active risk avoidance operation of the target vehicle can reduce the losses caused by rear-end collision accidents, improve the driving safety of the driver of the target vehicle, and solve the technical problem of low safety of the method for controlling vehicle driving in the prior art.

[0129] In some embodiments, the driving information includes the vehicle type, driving speed and the interval distance between the first vehicle and the target vehicle; the determination module 302 is specifically used to determine the braking distance of the first vehicle according to the driving speed, the vehicle type safety factor corresponding to the vehicle type and the preset average braking deceleration; if the first distance is greater than the first preset distance and less than or equal to the braking distance, the rear-end collision risk level is determined to be the first level for indicating that there is a collision risk and no avoidance operation is required; if the first distance is less than the first preset distance, the rear-end collision risk level is determined to be the second level for indicating the performance of avoidance operation.

[0130] In some embodiments, the determination module 302 is also used to, when the rear-end collision risk level is the first level, control the sending of a warning instruction to the warning system of the target vehicle, and the warning instruction is used to instruct the warning system to perform a second warning operation to alert the drivers of the target vehicle and the first vehicle to pay attention to the following distance; when it is detected that the braking distance has not decreased within a preset time period, control the sending of a warning instruction to the warning system of the target vehicle at every preset time interval until the first distance is greater than the braking distance.

[0131] In some embodiments, the preset avoidance area includes a first area directly in front of the target vehicle, a second area to the left and in front of the left, and a third area to the right and in front of the right;

[0132] The second control module 303 is specifically used to control the target vehicle to travel a second preset distance at a preset speed after acceleration when the obstacle information indicates that there is no obstacle in the first area, and control the target vehicle according to the current first distance between the target vehicle and the first vehicle after traveling the second preset distance; when the obstacle information indicates that there is an obstacle in the first area, control the target vehicle according to the indication result of the obstacle information indicating whether there are obstacles in the second area and the third area.

[0133] In some embodiments, the second control module 303 is specifically used to, if the current first distance is greater than the current braking distance, restore the vehicle speed to the speed before the increase in speed; if the current first distance is less than or equal to the current braking distance, and if there are no obstacles in both the second area and the third area, control the target vehicle to turn and drive to the area corresponding to the lane where the second vehicle is located; wherein the second vehicle is the vehicle that is farther away from the target vehicle among the two adjacent vehicles, and the two adjacent vehicles are respectively vehicles adjacent to the target vehicle in the lane where the second area is located and the lane where the third area is located; if the current first distance is less than or equal to the current braking distance, and if there are no obstacles in one of the second area and the third area, control the target vehicle to turn and drive to the area where there are no obstacles.

[0134] In some embodiments, the second control module 303 is specifically used to control the target vehicle to turn and drive to the area where there is no obstacle when the obstacle information indicates that there is no obstacle in one of the second area and the third area; control the target vehicle to turn and drive to the second area when the obstacle information indicates that there is no obstacle in both the second area and the third area, and the distance between the two adjacent vehicles is greater than the third preset distance; control the target vehicle to turn and drive to the area corresponding to the lane where the second vehicle is located when the obstacle information indicates that there is no obstacle in both the second area and the third area, and the distance between the two adjacent vehicles is not greater than the third preset distance.

[0135] In some embodiments, the determination module 302 is also used to detect whether the target vehicle meets the following preset conditions; when the target vehicle meets the following preset conditions, the step of determining the rear-end collision risk level of the first vehicle according to the driving information of the first vehicle is executed; wherein the preset conditions include at least one of the following: the current gear position of the target vehicle is not the reverse gear; the target vehicle is driven by the driver; the target vehicle is not currently in the car wash mode, parking mode and power-off mode; the first vehicle behind the target vehicle is a motor vehicle; the driving scene of the target vehicle is not a congestion scene.

[0136] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0137] Figure 4 Schematic diagram of an electronic device 4 provided in an embodiment of the present application. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 401 executes the computer program 403, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0138] The electronic device 4 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that Figure 4 The electronic device 4 is merely an example and does not limit the electronic device 4 , and may include more or less components than those shown in the figure, or different components.

[0139] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0140] The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 4. The memory 402 may also include both an internal storage unit and an external storage device of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0141] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0142] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable storage media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0143] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling vehicle travel, characterized in that: include: Acquiring surrounding environment information of the target vehicle, the surrounding environment information including driving information of a first vehicle behind the target vehicle and obstacle information of a preset avoidance area; determining a rear-end collision risk level of the first vehicle according to the driving information of the first vehicle; The driving information includes the vehicle type and driving speed of the first vehicle and the interval distance between the first vehicle and the target vehicle, and the rear-end collision risk level includes a first level indicating that there is a collision risk and no avoidance operation is required, a second level indicating that an avoidance operation is required, and no rear-end collision risk; When the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, controlling the warning system to perform a first warning operation, wherein the first warning operation is used to warn the target vehicle and the first vehicle to perform a risk avoidance operation; as well as, The target vehicle is controlled according to the obstacle information to execute a driving action corresponding to the obstacle information.

2. The method according to claim 1, characterized in that The determining, according to the driving information of the first vehicle, the rear-end collision risk level of the first vehicle includes: determining a braking distance of the first vehicle according to the driving speed, a vehicle type safety factor corresponding to the vehicle type, and a preset average braking deceleration; If the first distance is greater than the first preset distance and less than or equal to the braking distance, the rear-end collision risk level is determined to be the first level, and the first distance is the sum of the interval distance and the preset safety distance; If the first distance is less than the first preset distance, the rear-end collision risk level is determined to be the second level.

3. The method according to claim 2, characterized in that After determining the rear-end collision risk level of the first vehicle according to the driving information of the first vehicle, the method further includes: When the rear-end collision risk level is the first level, controlling to send a warning instruction to the warning system of the target vehicle, the warning instruction is used to instruct the warning system to perform a second warning operation to warn the drivers of the target vehicle and the first vehicle to pay attention to the following distance; When it is detected that the braking distance has not been reduced within a preset period of time, a warning instruction is sent to the warning system of the target vehicle at every preset time interval until the first distance is greater than the braking distance.

4. The method according to claim 1, characterized in that: The preset avoidance area includes a first area directly in front of the target vehicle, a second area to the left and in front of the left, and a third area to the right and in front of the right; The step of controlling the target vehicle to execute a driving action corresponding to the obstacle information according to the obstacle information includes: When the obstacle information indicates that there is no obstacle in the first area, controlling the target vehicle to travel a second preset distance at a preset speed after the increase in speed, and controlling the operation of the target vehicle according to the current first distance between the target vehicle and the first vehicle after traveling the second preset distance; In a case where the obstacle information indicates that an obstacle exists in the first area, the target vehicle is controlled and operated according to an indication result of the obstacle information indicating whether obstacles exist in the second area and the third area.

5. The method according to claim 4, characterized in that The controlling the target vehicle according to the current first distance between the target vehicle and the first vehicle after traveling the second preset distance includes: If the current first distance is greater than the current braking distance, the vehicle is restored to the speed before the increase in speed. If the current first distance is less than or equal to the current braking distance, and if there are no obstacles in the second area and the third area, the target vehicle is controlled to turn and drive to the area corresponding to the lane where the second vehicle is located; wherein the second vehicle is the vehicle with a larger distance from the target vehicle among the two adjacent vehicles, and the two adjacent vehicles are respectively vehicles adjacent to the target vehicle in the lane where the second area is located and the lane where the third area is located; If the current first distance is less than or equal to the current braking distance, and if there is no obstacle in one of the second area and the third area, the target vehicle is controlled to turn and drive to the area where there is no obstacle.

6. The method according to claim 5, characterized in that The controlling the target vehicle according to the indication result of whether there are obstacles in the second area and the third area indicated by the obstacle information comprises: When the obstacle information indicates that there is no obstacle in one of the second area and the third area, controlling the target vehicle to turn and drive to the area where there is no obstacle; When the obstacle information indicates that there are no obstacles in the second area and the third area, and the distances between the target vehicle and the two adjacent vehicles are greater than a third preset distance, controlling the target vehicle to turn and drive to the second area; When the obstacle information indicates that there are no obstacles in the second area and the third area, and the distances between the target vehicle and the two adjacent vehicles are not both greater than the third preset distance, the target vehicle is controlled to turn and drive to the area corresponding to the lane where the second vehicle is located.

7. The method according to claim 1, characterized in that Before determining the rear-end collision risk level of the first vehicle according to the driving information of the first vehicle, the method further includes: Detecting whether the target vehicle meets the following preset conditions; When the target vehicle meets the following preset conditions, a step of determining a rear-end collision risk level of the first vehicle according to the driving information of the first vehicle is performed; The preset condition includes at least one of the following: The current gear position of the target vehicle is not a reverse gear; The target vehicle is not currently in a car wash mode, a parking mode, or a power-off mode; The first vehicle behind the target vehicle is a motor vehicle; The driving scene of the target vehicle is not a congested scene.

8. A device for controlling vehicle travel, characterized in that: include: An acquisition module, used to acquire surrounding environment information of a target vehicle, wherein the surrounding environment information includes driving information of a first vehicle behind the target vehicle and obstacle information in a preset avoidance area; A determination module, configured to determine a rear-end collision risk level of the first vehicle according to the driving information of the first vehicle; The driving information includes the vehicle type and driving speed of the first vehicle and the interval distance between the first vehicle and the target vehicle, and the rear-end collision risk level includes a first level indicating that there is a collision risk and no avoidance operation is required, a second level indicating that an avoidance operation is required, and no rear-end collision risk; A first control module, configured to control the warning system to perform a first warning operation when the rear-end collision risk level indicates that the target vehicle needs to perform a risk avoidance operation, wherein the first warning operation is used to warn the target vehicle and the first vehicle to perform a risk avoidance operation; as well as, The second control module is used to control the target vehicle to perform a driving action corresponding to the obstacle information according to the obstacle information.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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