A vehicle control method and device, electronic equipment and storage medium

Abstract

The application discloses a vehicle control method and device, electronic equipment and a storage medium, wherein the vehicle control method can be applied to the technical field of intelligent driving, and the method comprises the following steps: in the case that an adaptive cruise function is in an open state, in response to the operation of a brake pedal, acquiring the current deceleration of the vehicle, and closing the adaptive cruise function; acquiring the deceleration requested by the brake pedal as the current brake deceleration; in the case that the current brake deceleration is smaller than the current deceleration, acquiring the current driving information of the vehicle and a target vehicle; the target vehicle is a vehicle located in front of the vehicle; based on the current driving information, predicting whether there is a collision risk in the execution of a preset control action; the preset control action is to control the vehicle to adjust the current deceleration to the current brake deceleration within a preset time length; in the case that the result of the prediction indicates that there is no collision risk, the preset control action is executed. The application takes into account the driving safety and the riding comfort.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a vehicle control method, device, electronic device and storage medium. Background Technology

[0002] With the development of intelligent driving technology, people have placed higher demands on vehicle safety and comfort. Therefore, vehicle intelligence has become a direction for the development of automotive technology and industry. Adaptive Cruise Control (ACC) is one of the key areas of research and development in automotive control safety systems. ACC controls the engine and braking system to maintain a stable speed set by the driver when there are no vehicles ahead (i.e., constant speed cruise). When there are vehicles ahead, it follows the vehicle in front, specifically slowing down to maintain a safe distance and accelerating back to the cruise speed when the vehicle ahead accelerates. This following control significantly improves driving safety and reduces the occurrence of traffic accidents.

[0003] Existing adaptive cruise control systems, based on the user's perspective as the driving entity, disengage and deactivate when the driver applies the brake pedal. If the adaptive cruise control requests a large deceleration at the moment of disengagement, while the brake pedal requests a smaller deceleration, a sudden deceleration occurs. Such sudden deceleration can potentially lead to collisions and reduce passenger comfort. Summary of the Invention

[0004] To address the problems of the prior art, this application provides a vehicle control method, apparatus, electronic device, and storage medium. The technical solution is as follows:

[0005] On the one hand, a vehicle control method is provided, the method comprising:

[0006] When the adaptive cruise control function is enabled, in response to the operation of the brake pedal, the current deceleration of the vehicle is obtained, and the adaptive cruise control function is disabled.

[0007] Obtain the deceleration requested by the brake pedal as the current braking deceleration;

[0008] If the current braking deceleration is less than the current deceleration, the current driving information of the vehicle and the target vehicle is obtained; the target vehicle is the vehicle located in front of the vehicle.

[0009] Based on the current driving information, it is predicted whether there is a risk of collision when executing a preset control action; the preset control action is to control the vehicle to adjust the current deceleration to the current braking deceleration within a preset time period.

[0010] If the prediction indicates that there is no collision risk, the preset control action is executed.

[0011] On the other hand, a vehicle control device is provided, the device comprising:

[0012] The braking response module is used to obtain the current deceleration of the vehicle in response to the operation of the brake pedal when the adaptive cruise control function is activated, and then deactivate the adaptive cruise control function.

[0013] The first acquisition module is used to acquire the deceleration requested by the brake pedal as the current braking deceleration;

[0014] The second acquisition module is used to acquire the current driving information of the vehicle and the target vehicle when the current braking deceleration is less than the current deceleration; the target vehicle is a vehicle located in front of the vehicle.

[0015] The first prediction module is used to predict, based on the current driving information, whether there is a risk of collision when executing a preset control action; the preset control action is to control the vehicle to adjust the current deceleration to the current braking deceleration within a preset time period.

[0016] The first execution module is used to execute the preset control action when the prediction result indicates that there is no collision risk.

[0017] In one exemplary embodiment, in the event of a collision risk, the device further includes a second execution module for controlling the vehicle, the second execution module comprising:

[0018] The second execution module is used to control the vehicle to maintain the current deceleration, update the current driving information, and update the prediction result when the prediction result indicates that there is no collision risk, until the prediction result indicates that there is no collision risk, and then execute the preset control action.

[0019] In one exemplary embodiment, the first execution module includes:

[0020] The rate of change determination module is used to determine the target deceleration rate of change based on the difference between the current deceleration and the current braking deceleration, and the preset duration;

[0021] The first control module is used to continuously control the vehicle to reduce the current deceleration based on the target deceleration rate of change, until the duration of the continuous control reaches the preset duration, and then terminate the continuous control.

[0022] In one exemplary implementation, updating the prediction result in the second execution module includes:

[0023] The stop determination module is used to determine whether the vehicle is in a stopped state based on the updated current driving information;

[0024] The second prediction module is used to predict, based on the updated current driving information, whether there is a risk of collision when the judgment result is negative, to execute the preset control action.

[0025] In one exemplary embodiment, the device further includes a control change module for timely altering the control method of the vehicle based on changes in brake pedal operation, the control change module comprising:

[0026] A brake update module is used to update the current braking deceleration in response to a change in the operation of the brake pedal;

[0027] The deceleration update module is used to update the current deceleration;

[0028] The second control module is used to control the vehicle to travel at the updated current braking deceleration when the updated current braking deceleration is greater than the updated current deceleration.

[0029] In an exemplary embodiment, when the current braking deceleration is less than the current deceleration, the device further includes a difference comparison module for controlling the vehicle when the difference between the current deceleration and the current braking deceleration is small, the difference comparison module including:

[0030] The difference determination module is used to determine the difference between the current deceleration and the current braking deceleration;

[0031] The third control module is used to control the vehicle to travel at the current braking deceleration when the difference is less than or equal to a preset threshold.

[0032] In one exemplary embodiment, the device further includes a fourth control module for controlling the vehicle when the current braking deceleration is greater than or equal to the current deceleration, the fourth control module comprising:

[0033] The fourth control module is used to control the vehicle to travel at the current braking deceleration when the current braking deceleration is greater than or equal to the current deceleration.

[0034] On the other hand, an electronic device is provided, including a processor and a memory, wherein the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the vehicle control method of any of the above aspects.

[0035] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction or at least one program is stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement the vehicle control method as described above.

[0036] On the other hand, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the vehicle control method of any of the above aspects.

[0037] This application embodiment predicts whether there is a collision risk when the adaptive cruise control function is turned off due to the brake pedal being operated, and the deceleration requested by the brake pedal is greater than the deceleration requested by the adaptive cruise control function at the time of deceleration, i.e., the current deceleration. The preset control action is to control the vehicle to adjust the current deceleration to the current braking deceleration within a preset time. If the prediction result indicates that there is no collision risk, the preset control action is executed, thus taking into account both driving safety and ride comfort. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0040] Figure 2 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application;

[0041] Figure 3This is a structural block diagram of a vehicle control device provided in an embodiment of this application;

[0042] Figure 4 This is a hardware structure block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0045] It is understood that in the specific embodiments of this application, data such as user information are involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0046] Existing adaptive cruise control systems, based on the user's perspective as the driving entity, disengage and deactivate when the driver applies the brake pedal. If the adaptive cruise control requests a large deceleration at the moment of disengagement, while the brake pedal requests a smaller deceleration, a sudden deceleration occurs. Such sudden deceleration can potentially lead to collisions and reduce passenger comfort.

[0047] In view of this, this application proposes a vehicle control method that, by comparing the deceleration requested when the adaptive cruise control function is turned off with the deceleration requested by the brake pedal, and corresponding to the different numerical relationships between the two, provides at least three schemes for controlling the deceleration of the vehicle, so as to safely and comfortably disengage the adaptive cruise control function during braking.

[0048] Please see Figure 1 The diagram illustrates a vehicle control method according to an embodiment of this application. It should be noted that while this specification provides method operation steps as shown in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive methods. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order. In actual system or product execution, the method can be executed sequentially according to the embodiments or accompanying drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment). Specifically, as shown... Figure 1 As shown, the method may include:

[0049] S101: When the adaptive cruise control is enabled, in response to the operation of the brake pedal, the current deceleration of the vehicle is obtained, and the adaptive cruise control is disabled.

[0050] Among them, adaptive cruise control mainly refers to the following cruise control function, which specifically controls the vehicle to decelerate at a certain speed when the vehicle in front decelerates, so as to maintain a safe distance from the vehicle in front.

[0051] The current deceleration is the deceleration currently requested by the adaptive cruise control function, and it is also the deceleration currently being performed by the vehicle. Specifically, when the adaptive cruise control function is activated, the vehicle decelerates according to the deceleration requested by the adaptive cruise control function.

[0052] Specifically, when the adaptive cruise control function is on, if the driver operates the brake pedal, the adaptive cruise control function will be turned off. Furthermore, it is necessary to determine whether to control the vehicle according to the deceleration requested by the brake pedal, or to control the vehicle to continue to maintain the deceleration requested when the adaptive cruise control function is off.

[0053] S103, obtain the deceleration requested by the brake pedal, and use it as the current braking deceleration.

[0054] Among them, the current braking deceleration is related to the opening of the brake pedal, which is determined by the force applied by the driver to the brake pedal and reflects the driver's intention.

[0055] S105, determine whether the current braking deceleration is less than the current deceleration.

[0056] Specifically, if the result of the judgment is negative, step S107 can be executed; otherwise, if the result of the judgment is positive, step S109 can be executed.

[0057] Specifically, if the deceleration requested by the brake pedal is greater than or equal to the deceleration requested when the adaptive cruise control is off, and the vehicle is controlled to decelerate at the deceleration requested by the brake pedal, a collision with the vehicle in front will not occur due to the change in deceleration. Therefore, the vehicle is controlled to decelerate at the deceleration requested by the brake pedal. However, if the deceleration requested by the brake pedal is less than the deceleration requested when the adaptive cruise control is off, and the vehicle is controlled to decelerate at the deceleration requested by the brake pedal, a collision with the vehicle in front may occur due to the change in deceleration. Therefore, further calculation of deceleration is required to control the vehicle's movement.

[0058] S107, control the vehicle to travel at the current braking deceleration.

[0059] Specifically, if the current braking deceleration is greater than or equal to the current deceleration, and the vehicle is controlled to decelerate at the current braking deceleration, a collision with the vehicle in front will not occur due to the change in the vehicle's deceleration. Therefore, the vehicle is controlled to decelerate at the current braking deceleration.

[0060] S109, Obtain the current driving information of this vehicle and the target vehicle.

[0061] The target vehicle is the vehicle located in front of this vehicle.

[0062] The current driving information mainly includes the distance between the current vehicle and the target vehicle, the current speed of the current vehicle, the current speed of the target vehicle, and the current deceleration of the target vehicle. Specifically, the current driving information is used to predict whether a collision with the target vehicle is possible if the current vehicle decelerates at a certain rate.

[0063] In one exemplary embodiment, if the current braking deceleration is less than the current deceleration, the following steps may be included before executing step S109:

[0064] Determine the difference between the current deceleration and the current braking deceleration;

[0065] If the difference is less than or equal to a preset threshold, control the vehicle to travel at the current braking deceleration.

[0066] Specifically, if the difference is greater than a preset threshold, step S109 is executed.

[0067] The current deceleration is the deceleration requested when the adaptive cruise control is off, and it is also the deceleration currently being performed by the vehicle. Specifically, when the adaptive cruise control is on, the vehicle decelerates according to the deceleration requested by the adaptive cruise control function.

[0068] Among them, the current braking deceleration is related to the opening of the brake pedal, which is determined by the force applied by the driver to the brake pedal and reflects the driver's intention.

[0069] The preset threshold is a critical value for the difference between the current deceleration and the current braking deceleration. Specifically, when the current braking deceleration is less than the current deceleration, the difference between the current deceleration and the current braking deceleration is compared to see if it reaches the preset threshold. If the difference between the current deceleration and the current braking deceleration is less than or equal to the preset threshold, the difference can be ignored, and the current braking deceleration is considered to be not less than the current deceleration. If the vehicle is controlled to decelerate at the current braking deceleration, a collision with the target vehicle will not occur due to the change in deceleration. Therefore, the vehicle is controlled to decelerate at the current braking deceleration. However, when the difference between the current deceleration and the current braking deceleration is greater than the preset threshold, the difference cannot be ignored. If the current braking deceleration is less than the current deceleration, and the vehicle is controlled to decelerate at the current braking deceleration, a collision with the target vehicle may occur due to the change in deceleration. Therefore, further calculation of deceleration is required to control the vehicle's movement.

[0070] As can be seen from the above technical solutions of the embodiments of this application, the embodiments of this application calculate the difference between the current deceleration and the current braking deceleration when the current braking deceleration is less than the current deceleration. If the difference is too small, it can be ignored. The vehicle is controlled according to the current braking deceleration being greater than or equal to the current deceleration, so as to reduce the calculation pressure of the vehicle control system as much as possible while ensuring the safe driving of the vehicle.

[0071] S1011, based on current driving information, predicts whether there is a risk of collision when executing preset control actions.

[0072] The preset control action is to control the vehicle to adjust the current deceleration to the current braking deceleration within a preset time period.

[0073] The preset duration is the time allotted for the vehicle to adjust its deceleration. Specifically, if the current braking deceleration is less than the target vehicle's current braking deceleration, the vehicle can be controlled to reduce its deceleration within the preset duration until its deceleration matches the target vehicle's current braking deceleration, provided that this does not result in a collision between the vehicle and the target vehicle. In practice, the preset duration can be set to 1 second.

[0074] Collision risk refers to the possibility of a collision between this vehicle and a target vehicle.

[0075] Specifically, it predicts the deceleration change of the vehicle within a preset time period, and combines the current driving information, namely the distance between the vehicle and the target vehicle, the current speed of the vehicle, the current speed of the target vehicle, and the current deceleration of the target vehicle, to predict the distance change between the vehicle and the target vehicle within a preset time period, thereby determining whether there is a risk of collision when executing the preset control action.

[0076] S1013, determine whether the prediction results indicate whether there is a collision risk.

[0077] Specifically, if the result of the judgment is negative, step S1015 can be executed; otherwise, if the result of the judgment is positive, step S1017 can be executed.

[0078] Specifically, if there is no risk of collision when executing the preset control action, then the preset control action is executed; if there is a risk of collision when executing the preset control action, then the vehicle is controlled to maintain the deceleration requested when the adaptive cruise control function is turned off until there is no risk of collision, then the preset control action is executed.

[0079] S1015, execute the preset control action.

[0080] Specifically, the system controls the vehicle to adjust its current deceleration to its current braking deceleration within a preset time period.

[0081] In one exemplary embodiment, step S1015 may include the following steps:

[0082] The target deceleration rate is determined based on the difference between the current deceleration and the current braking deceleration, and the preset time.

[0083] Based on the target rate of change of deceleration, the vehicle is continuously controlled to reduce its current deceleration until the duration of continuous control reaches the preset duration, at which point the continuous control ends.

[0084] The current deceleration is the deceleration requested when the adaptive cruise control is off, and it is also the deceleration currently being performed by the vehicle. Specifically, when the adaptive cruise control is on, the vehicle decelerates according to the deceleration requested by the adaptive cruise control function.

[0085] Among them, the current braking deceleration is related to the opening of the brake pedal, which is determined by the force applied by the driver to the brake pedal and reflects the driver's intention.

[0086] The preset duration is the time allotted for the vehicle to adjust its current deceleration to match its current braking deceleration. Specifically, if the current braking deceleration is less than the target deceleration, the vehicle can be controlled to reduce its deceleration within the preset duration until its deceleration matches the target braking deceleration, provided that this does not result in a collision between the vehicle and the target vehicle. In practice, the preset duration can be set to 1 second.

[0087] Among them, the rate of change of the target deceleration is the rate at which the deceleration is controlled and adjusted.

[0088] As can be seen from the above technical solutions of the embodiments of this application, the embodiments of this application appropriately increase the time for the vehicle to adjust from the deceleration requested by the adaptive cruise function to the deceleration requested by the driver through the brake pedal, and adjust the vehicle's deceleration at a constant speed within a preset time, so that the vehicle's deceleration smoothly transitions between the two values, thereby achieving seamless deactivation of the adaptive cruise function and ensuring driving comfort.

[0089] S1017, control the vehicle to maintain its current deceleration.

[0090] Specifically, you can continue with step S109.

[0091] Specifically, control the vehicle to maintain the current deceleration and repeat steps S109 to S1013 until the result of step S1013 is negative, then execute step S1015.

[0092] Specifically, the system reacquires the current driving information of both the vehicle and the target vehicle, predicts whether there is a risk of collision based on the reacquired current driving information, determines whether there is a risk of collision based on the prediction result, and executes the preset control action when the prediction result indicates that there is no risk of collision.

[0093] As can be seen from the above technical solutions of the embodiments of this application, the embodiments of this application predict whether there is a risk of collision when the adaptive cruise control function is turned off due to the operation of the brake pedal, and the deceleration requested by the brake pedal is greater than the deceleration requested by the adaptive cruise control function at the time of deceleration, i.e., the current deceleration. The preset control action is to control the vehicle to adjust the current deceleration to the current braking deceleration within a preset time. If the prediction result indicates that there is no risk of collision, the preset control action is executed, thus taking into account both driving safety and ride comfort.

[0094] In one exemplary embodiment, after step S1017 described above, the following steps may be included:

[0095] Based on the current driving information, determine whether the vehicle is stationary;

[0096] If the judgment result is negative, based on the current driving information, predict whether there is a risk of collision when executing the preset control action.

[0097] The current driving information mainly includes the distance between the current vehicle and the target vehicle, the current speed of the current vehicle, the current speed of the target vehicle, and the current deceleration of the target vehicle. Specifically, the current driving information is used to predict whether a collision with the target vehicle is possible if the current vehicle decelerates at a certain rate.

[0098] The "stopped state" refers to a state where the vehicle's speed is 0. Specifically, while maintaining the vehicle's current deceleration, it may reduce the vehicle's speed to 0. If the vehicle enters a stopped state during this process, then there is no need to continue calculating and adjusting the vehicle's deceleration.

[0099] The preset control action involves adjusting the vehicle's current deceleration to match its current braking deceleration within a preset time period. Specifically, the preset time period is the time allotted for the vehicle to adjust its deceleration. If the current braking deceleration is less than the target deceleration, the vehicle can be controlled to reduce its deceleration within the preset time period until its deceleration matches the target braking deceleration, provided that this does not result in a collision between the vehicle and the target vehicle.

[0100] Collision risk refers to the possibility of a collision between this vehicle and a target vehicle.

[0101] Specifically, if the vehicle does not come to a complete stop while maintaining its current deceleration, the deceleration is continuously calculated and adjusted, i.e., steps S109 to S1011 are executed again. Specifically, the current driving information of both the vehicle and the target vehicle is reacquired, the deceleration change of the vehicle within a preset time period is predicted, and combined with the reacquired current driving information—namely, the distance between the vehicle and the target vehicle, the current speed of the vehicle, the current speed of the target vehicle, and the current deceleration of the target vehicle—the distance change between the vehicle and the target vehicle within the preset time period is predicted, thereby determining whether there is a risk of collision when executing the preset control action.

[0102] As can be seen from the above technical solutions of the embodiments of this application, the embodiments of this application determine whether the vehicle is in a stopped state and stop calculating and adjusting the deceleration of the vehicle in a timely manner, thereby ensuring the safety of the vehicle and avoiding unnecessary calculations by the vehicle control system.

[0103] In an exemplary embodiment, when the current braking deceleration is less than the current deceleration, the process of controlling the vehicle in step S1015 or step S1017 may include the following steps:

[0104] In response to changes in brake pedal operation, update the current braking deceleration;

[0105] Update the current deceleration;

[0106] If the updated current braking deceleration is greater than the updated current deceleration, control the vehicle to travel at the updated current braking deceleration.

[0107] Among them, change of control refers to the driver changing the force applied to the brake pedal.

[0108] The current braking deceleration is the deceleration corresponding to the opening degree of the brake pedal after the driver changes the operation of the brake pedal.

[0109] Here, the current deceleration is the deceleration currently being applied to the vehicle. Specifically, during the execution of step S1015, the current deceleration is a variable that needs to be obtained in real time; during the execution of step S1017, the current deceleration is the deceleration requested when the adaptive cruise control function is turned off.

[0110] Specifically, during vehicle control, if the deceleration requested by the brake pedal is greater than the deceleration currently being performed by the vehicle, and the vehicle is controlled to decelerate according to the deceleration requested by the brake pedal, a collision with the vehicle in front will not occur due to the change in the vehicle's deceleration. Therefore, the vehicle can be directly controlled to decelerate according to the deceleration requested by the brake pedal.

[0111] As can be seen from the above technical solutions of the embodiments of this application, the embodiments of this application improve the response speed to the brake pedal by comparing the deceleration requested by the brake pedal with the current deceleration in real time during the vehicle control process. Once the deceleration requested by the brake pedal is greater than the current deceleration of the vehicle, the vehicle is directly controlled to decelerate according to the deceleration requested by the brake pedal.

[0112] To facilitate a full understanding of the solution presented in this application, the vehicle control process is described in its entirety below. Please refer to [link / reference]. Figure 2 The diagram shown is a flowchart illustrating another vehicle control method provided in this application embodiment, which may specifically include:

[0113] (1) When the adaptive cruise function is on and the driver steps on the brake, causing the adaptive cruise function to exit, judgment 3 can be executed, specifically judging whether the deceleration generated by the driver stepping on the pedal is greater than or equal to the deceleration requested by the adaptive cruise function at the time of exit.

[0114] Specifically, if yes, then step 10 can be executed, which is to execute the deceleration generated by the driver stepping on the brake; otherwise, if no, then jump to (2) and execute judgment 7, which is to judge whether the deceleration difference is less than or equal to the threshold.

[0115] (2) Execute judgment 7, specifically to determine whether the deceleration difference is less than or equal to the threshold;

[0116] Specifically, if yes, then step 10 can be executed, which is to execute the deceleration generated by the driver stepping on the brake; otherwise, if no, then step 4 can be executed, which is to perform a 1-second interpolation on the deceleration difference, and then jump to (3) to execute judgment 5;

[0117] (3) Execute judgment 5, specifically to calculate whether there is a collision risk; specifically, if the vehicle is controlled according to step 4, is there a collision risk?

[0118] Specifically, if yes, then step 6 can be executed, which is to execute the deceleration requested by the adaptive cruise function at the time of exit and maintain it, and then jump to (5) to execute judgment 9; otherwise, if no, then step 8 can be executed, which is to execute the interpolated deceleration, and then jump to (4) to execute judgment 12;

[0119] (4) Execute judgment 12, specifically to determine whether the time for performing interpolation deceleration is greater than or equal to 1 second;

[0120] Specifically, if yes, then step 10 can be executed, which involves calculating the deceleration generated by the driver applying the brakes; otherwise, if no, then step 8 can be executed, which involves calculating the interpolated deceleration, and then continuing to execute judgment 12.

[0121] (5) Execute judgment 9, specifically to determine whether the vehicle is currently stationary;

[0122] Specifically, if yes, then step 14 can be executed, which is to end vehicle control; otherwise, if no, then jump to (3) and execute judgment 5, which is to calculate whether there is a collision risk.

[0123] (6) When performing steps 3, 4, 5, 6, 7, 8, and 9, judgment 11 can be performed, specifically judging whether the current deceleration is greater than or equal to the deceleration generated by the driver pressing the brake.

[0124] Specifically, if not, step 10 can be executed, which involves applying the deceleration generated by the driver applying the brakes; otherwise, if yes, step 13 can be executed, which means continuing with the previous operation.

[0125] Corresponding to the vehicle control methods provided in the above embodiments, this application also provides a vehicle control device. Since the vehicle control device provided in this application corresponds to the vehicle control methods provided in the above embodiments, the implementation methods of the aforementioned vehicle control methods are also applicable to the vehicle control device provided in this embodiment, and will not be described in detail in this embodiment.

[0126] Please see Figure 3The diagram shown is a structural schematic of a vehicle control device provided in an embodiment of this application. This device has the function of implementing the vehicle control method described in the above-described method embodiments. This function can be implemented by hardware or by hardware executing corresponding software. Figure 3 As shown, the device may include:

[0127] Braking response module 310 is used to obtain the current deceleration of the vehicle and turn off the adaptive cruise control function in response to the operation of the brake pedal when the adaptive cruise control function is turned on.

[0128] The first acquisition module 320 is used to acquire the deceleration requested by the brake pedal as the current braking deceleration;

[0129] The second acquisition module 330 is used to acquire the current driving information of the vehicle and the target vehicle when the current braking deceleration is less than the current deceleration; the target vehicle is the vehicle located in front of the vehicle.

[0130] The first prediction module 340 is used to predict whether there is a collision risk when executing a preset control action based on the current driving information; the preset control action is to control the vehicle to adjust the current deceleration to the current braking deceleration within a preset time period.

[0131] The first execution module 350 is used to execute preset control actions when the prediction results indicate that there is no risk of collision.

[0132] In one exemplary embodiment, in the event of a collision risk, the device further includes a second execution module for controlling the vehicle, the second execution module comprising:

[0133] The second execution module is used to control the vehicle to maintain its current deceleration, update the current driving information, and update the prediction results when the prediction results indicate that there is no collision risk, until the prediction results indicate that there is no collision risk, and then execute the preset control action.

[0134] In one exemplary implementation, the first execution module includes:

[0135] The rate of change determination module is used to determine the target deceleration rate of change based on the difference between the current deceleration and the current braking deceleration, and a preset time.

[0136] The first control module is used to continuously control the vehicle to reduce its current deceleration based on the target rate of deceleration change, until the duration of continuous control reaches the preset duration, at which point the continuous control ends.

[0137] In one exemplary implementation, updating the prediction result in the second execution module includes:

[0138] The stop determination module is used to determine whether the vehicle is in a stopped state based on the updated current driving information;

[0139] The second prediction module is used to predict whether there is a risk of collision when the judgment result is negative, based on the updated current driving information.

[0140] In one exemplary embodiment, the apparatus further includes a control modification module for timely changing the control method of the vehicle based on changes in brake pedal operation. The control modification module includes:

[0141] The brake update module is used to update the current braking deceleration in response to changes in the operation of the brake pedal;

[0142] The deceleration update module is used to update the current deceleration;

[0143] The second control module is used to control the vehicle to travel at the updated current braking deceleration when the updated current braking deceleration is greater than the updated current deceleration.

[0144] In an exemplary embodiment, when the current braking deceleration is less than the current braking deceleration, the device further includes a difference comparison module for controlling the vehicle when the difference between the current deceleration and the current braking deceleration is small. The difference comparison module includes:

[0145] The difference determination module is used to determine the difference between the current deceleration and the current braking deceleration;

[0146] The third control module is used to control the vehicle to travel at the current braking deceleration when the difference is less than or equal to a preset threshold.

[0147] In one exemplary embodiment, the apparatus further includes a fourth control module for controlling the vehicle when the current braking deceleration is greater than or equal to the current deceleration, the fourth control module including:

[0148] The fourth control module is used to control the vehicle to travel at the current braking deceleration when the current braking deceleration is greater than or equal to the current deceleration.

[0149] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0150] This application provides an electronic device including a processor and a memory. The memory stores at least one instruction or at least one program segment, which is loaded and executed by the processor to implement any of the vehicle control methods provided in the above method embodiments.

[0151] Memory is used to store software programs and modules. The processor executes these stored software programs and modules to perform various functional applications and data processing. Memory can primarily consist of a program storage area and a data storage area. The program storage area stores the operating system, application programs required for functionality, etc.; the data storage area stores data created based on device usage, etc. Furthermore, memory can include high-speed random access memory (RAM) and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory can also include a memory controller to provide the processor with access to the memory.

[0152] The method embodiments provided in this application can be executed in a computer terminal, server or similar computing device, that is, the above-mentioned electronic device may include a computer terminal, server or similar computing device. Figure 4 This is a hardware structure block diagram of a computer device for running a vehicle control method provided in an embodiment of the present invention, such as... Figure 4 As shown, the internal structure of this computer device may include, but is not limited to, a processor, a network interface, and a memory. The processor, network interface, and memory within the computer device can be connected via a bus or other means, as illustrated in the embodiments of this specification. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0153] The processor (or CPU, Central Processing Unit) is the computing and control core of the computer device. The network interface may optionally include a standard wired interface or a wireless interface (such as Wi-Fi, mobile communication interface, etc.). Memory is the storage device in the computer device used to store programs and data. It is understood that the memory here can be a high-speed RAM storage device, or a non-volatile storage device, such as at least one disk storage device; optionally, it can also be at least one storage device located remotely from the aforementioned processor. The memory provides storage space, which stores the operating system of the electronic device, including but not limited to: Windows (an operating system), Linux (an operating system), Android (a mobile operating system), iOS (a mobile operating system), etc., which are not limited in this invention; and the storage space also stores one or more instructions suitable for loading and execution by the processor, which can be one or more computer programs (including program code). In the embodiments of this specification, the processor loads and executes one or more instructions stored in the memory to implement the vehicle control method provided in the above method embodiments.

[0154] Embodiments of this application also provide a computer-readable storage medium that can be disposed in an electronic device to store at least one instruction or at least one program related to implementing a vehicle control method. The at least one instruction or the at least one program is loaded and executed by the processor to implement any of the vehicle control methods provided in the above-described method embodiments.

[0155] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0156] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0157] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0158] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0159] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: When the adaptive cruise control function is enabled, in response to the operation of the brake pedal, the current deceleration of the vehicle is obtained, and the adaptive cruise control function is disabled. Obtain the deceleration requested by the brake pedal as the current braking deceleration; If the current braking deceleration is less than the current deceleration, the current driving information of the vehicle and the target vehicle is obtained; the target vehicle is the vehicle located in front of the vehicle. Based on the current driving information, it is predicted whether there is a risk of collision when executing a preset control action; the preset control action is to control the vehicle to adjust the current deceleration to the current braking deceleration within a preset time period. If the prediction indicates that there is no collision risk, the preset control action is executed.

2. The vehicle control method according to claim 1, characterized in that, The method further includes: If the prediction indicates that there is a collision risk, the vehicle is controlled to maintain the current deceleration, the current driving information is updated, and the prediction result is updated until the prediction indicates that there is no collision risk, at which point the preset control action is executed.

3. The vehicle control method according to claim 1, characterized in that, The execution of the preset control action includes: The target deceleration rate is determined based on the difference between the current deceleration and the current braking deceleration, and the preset duration. Based on the target rate of change of deceleration, the vehicle is continuously controlled to reduce the current deceleration until the duration of the continuous control reaches the preset duration, at which point the continuous control ends.

4. The vehicle control method according to claim 2, characterized in that, The update of the prediction result includes: Based on the updated current driving information, determine whether the vehicle is in a stopped state; If the result of the judgment is negative, based on the updated current driving information, it is predicted whether there is a risk of collision when executing the preset control action.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that, The method further includes: In response to a change in the operation of the brake pedal, update the current braking deceleration; Update the current deceleration; If the updated current braking deceleration is greater than the updated current deceleration, the vehicle is controlled to travel at the updated current braking deceleration.

6. The vehicle control method according to claim 1, characterized in that, When the current braking deceleration is less than the current deceleration, the method further includes: Determine the difference between the current deceleration and the current braking deceleration; If the difference is less than or equal to a preset threshold, the vehicle is controlled to travel at the current braking deceleration.

7. The vehicle control method according to claim 1, characterized in that, The method further includes: If the current braking deceleration is greater than or equal to the current deceleration, the vehicle is controlled to travel at the current braking deceleration.

8. A vehicle control device, characterized in that, The device includes: The braking response module is used to obtain the current deceleration of the vehicle in response to the operation of the brake pedal when the adaptive cruise control function is activated, and then deactivate the adaptive cruise control function. The first acquisition module is used to acquire the deceleration requested by the brake pedal as the current braking deceleration; The second acquisition module is used to acquire the current driving information of the vehicle and the target vehicle when the current braking deceleration is less than the current deceleration; the target vehicle is the vehicle located in front of the vehicle. The first prediction module is used to predict, based on the current driving information, whether there is a risk of collision when executing a preset control action; the preset control action is to control the vehicle to adjust the current deceleration to the current braking deceleration within a preset time period. The first execution module is used to execute the preset control action when the prediction result indicates that there is no collision risk.

9. An electronic device, characterized in that, The system includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing at least one instruction or at least one program, said at least one instruction or said at least one program being loaded and executed by a processor to implement the vehicle control method as claimed in any one of claims 1 to 7.

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