Vehicle control method and related equipment

Abstract

A vehicle control method and related equipment, the vehicle control method comprising: acquiring first driving information of a target vehicle and second driving information of a rear vehicle of the target vehicle, predicting a first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information and the second driving information, and when the first collision parameter is smaller than or equal to the first threshold value, the target vehicle is controlled so that the first collision parameter can be larger than the first threshold value, that is, when the backward collision risk is recognized, the target vehicle is automatically controlled to escape from the backward collision risk, and the occurrence probability of the vehicle backward collision accident is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicles, and in particular, to a vehicle control method and related equipment. Background Art

[0002] In recent years, automobile intelligent driving technology has developed rapidly, but there are still many problems to be solved in terms of the safety of intelligent driving technology in complex traffic scenarios.

[0003] In some traffic conditions, for example, a large truck / lorry behind you may fail to brake due to its high speed and heavy weight, and may hit the driving vehicle from behind, causing the driving vehicle to be severely impacted and squeezed, resulting in serious traffic accidents with casualties. Currently, among the functions of intelligent driving, the traditional rear collision warning solution mainly relies on the driving vehicle's sensing equipment (such as millimeter-wave radar, camera, etc.) to identify the rearward vehicle while the driving vehicle is driving.

[0004] However, even if the driver can identify the danger of rear-end collision, the driver may not be able to deal with the risk in time due to the driver's driving state, and the rear-end collision accident cannot be avoided. Summary of the invention

[0005] The embodiment of the present application provides a vehicle control method for reducing the probability of a rear-end collision accident of the vehicle. The embodiment of the present application also provides a corresponding device, a vehicle, a computer-readable storage medium, a computer device, etc.

[0006] A first aspect of the present application provides a vehicle control method, the method comprising: acquiring first driving information of a target vehicle and second driving information of a vehicle behind the target vehicle; predicting a first collision parameter based on the first driving information and the second driving information, the first collision parameter comprising at least one of a first remaining time and a first remaining distance for the rear vehicle to collide with the target vehicle; when the first collision parameter is less than or equal to a first threshold value, controlling the target vehicle so that the first collision parameter is greater than the first threshold value.

[0007] In the present application, the target vehicle obtains the second driving information of the rear vehicle through millimeter wave radar, laser radar, ultrasonic radar and / or external camera.

[0008] The first collision parameter in the present application includes at least one of a first remaining time and a first remaining distance for the rear vehicle to collide with the target vehicle. The first remaining time is the remaining time for the rear vehicle to collide with the target vehicle when the first driving information and the second driving information remain unchanged. Similarly, the first remaining distance is the remaining distance for the rear vehicle to collide with the target vehicle when the first driving information and the second driving information remain unchanged.

[0009] In the present application, the speed and steering of the target vehicle are controlled by controlling the vehicle controller and the electric power steering system of the target vehicle, thereby escaping the risk of rear-end collision. After the first collision parameter is greater than the first threshold, the control of the target vehicle is stopped.

[0010] The first aspect is to obtain first driving information of a target vehicle and second driving information of a vehicle behind the target vehicle, predict a first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information and the second driving information, and when the first collision parameter is less than or equal to a first threshold, control the target vehicle so that the first collision parameter is greater than the first threshold, that is, automatically control the target vehicle to escape the risk of a rear collision when a rear collision risk is identified, thereby reducing the probability of a rear collision accident.

[0011] In a possible implementation of the first aspect, the method further includes: sending a first warning prompt when the target vehicle is in an automatic driving mode and the first collision parameter is less than or equal to a second threshold, and the second threshold is greater than the first threshold.

[0012] In this possible implementation, before automatically controlling the target vehicle, a warning is issued to the user in advance to remind the user that there is a risk of collision from behind, thereby further reducing the probability of rear-end collision accidents.

[0013] In a possible implementation manner of the first aspect, the method further includes: when the target vehicle is in a manual driving mode and the first collision parameter is less than or equal to a third threshold, sending a first warning prompt, and the third threshold is greater than the second threshold.

[0014] In this possible implementation, due to the driver's reaction time, when the target vehicle is in manual driving mode, an early warning prompt is issued to the user, further reducing the probability of rear-end collision accidents.

[0015] In a possible implementation of the first aspect, the method also includes: when the target vehicle is in a manual driving mode and the target vehicle is not authorized to automatically change to an automatic driving mode, and the first collision parameter is less than or equal to a second threshold, sending a second warning prompt, and the reminder intensity of the second warning prompt is greater than that of the first warning prompt.

[0016] In this possible implementation, when the target vehicle is in manual driving mode and the target vehicle is not authorized to automatically change to automatic driving mode, the user may not respond to the first warning prompt and cannot automatically control the target vehicle, and the first collision parameter may further decrease. When the first collision parameter decreases to the second threshold, the second warning prompt with a stronger reminder intensity continues to be issued, further reducing the probability of rear-end collision accidents.

[0017] In a possible implementation manner of the first aspect, the method further includes: acquiring video information of the rear vehicle until the first collision parameter is greater than a second threshold.

[0018] In this possible implementation, if a traffic accident occurs later, the user can use the video information as evidence to improve the user experience.

[0019] In a possible implementation manner of the first aspect, the first warning prompt includes an optical information prompt, a sound prompt and / or a steering wheel vibration prompt.

[0020] In this possible implementation, there are multiple prompting methods for the first warning prompt, which not only improves the user experience, but also can warn the user in a targeted manner to further reduce the probability of rear-end collision accidents.

[0021] In a possible implementation of the first aspect, the above-mentioned step: controlling the target vehicle includes: when there is no obstacle within a preset distance in front of the lane in which the target vehicle is currently located, controlling the target vehicle to accelerate; or, when there is an obstacle within a preset distance in front of the lane in which the target vehicle is currently located, controlling the target vehicle to change lanes.

[0022] In this possible implementation, the target vehicle is controlled to enter an escape mode or an avoidance mode based on the scene in which the target vehicle is currently located, thereby improving the feasibility of the solution.

[0023] In a possible implementation of the first aspect, the above step: before controlling the target vehicle, the method also includes: canceling the parking gear, parking function, lane keeping function or cruise function of the target vehicle, or switching the target vehicle to sports mode, or turning on the double flash lights of the target vehicle.

[0024] In this possible implementation, before controlling the target vehicle to enter the escape mode or the avoidance mode, the target vehicle needs to be enabled to meet the conditions for entering the escape mode or the avoidance mode, thereby improving the feasibility of the solution.

[0025] In a possible implementation of the first aspect, the method also includes: obtaining a second collision parameter of the target vehicle collided with by the rear vehicle, the second collision parameter being predicted by the rear vehicle; the above-mentioned step: predicting the first collision parameter of the target vehicle collided with by the rear vehicle based on the first driving information and the second driving information includes: predicting the first collision parameter of the target vehicle collided with by the rear vehicle based on the first driving information, the second driving information and / or the second collision parameter.

[0026] In this possible implementation, collision parameters are determined by fusing data of the target vehicle and the rear vehicle, thereby improving the accuracy of rear collision risk identification.

[0027] In a possible implementation of the first aspect, the method also includes: obtaining a third collision parameter of the rear vehicle colliding with the target vehicle, the third collision parameter being predicted by other vehicles within a preset range of the target vehicle; the above-mentioned step: predicting the first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information and the second driving information includes: predicting the first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information, the second driving information and / or the third collision parameter.

[0028] In this possible implementation, collision parameters are determined by fusion data of the target vehicle and other vehicles, thereby improving the accuracy of rear collision risk identification.

[0029] In a possible implementation of the first aspect, the first driving information includes at least one of vehicle identification code information, position information, vehicle speed information, heading angle information, acceleration information, deceleration information, braking distance information and vehicle type information of the target vehicle.

[0030] In this possible implementation, the first driving information includes multiple parameters of the target vehicle, so as to determine the first collision parameter, thereby improving the feasibility of the solution.

[0031] In a possible implementation manner of the first aspect, the rear vehicle is a van or a truck.

[0032] In this possible implementation, because the risk of rear-end collision of trucks and lorries is relatively high, while the risk of rear-end collision of small vehicles or other vehicles is relatively low, the target vehicle obtains the second driving information of the rear vehicle and performs rear-end collision prediction and control only when the target vehicle identifies that the rear vehicle is a truck or a truck, thereby reducing the target vehicle's own computing load and improving the cruising range.

[0033] In a second aspect of the present application, a vehicle control device is provided for executing the method in the first aspect or any possible implementation of the first aspect. Specifically, the vehicle control device includes a module or unit for executing the method in the first aspect or any possible implementation of the first aspect, such as: an acquisition unit, a prediction unit, a control unit, and a sending unit.

[0034] A third aspect of the present application provides a vehicle, which is used to execute the method as described in the first aspect or any possible implementation method of the first aspect.

[0035] In a fourth aspect, the present application provides a computing device, the computing device comprising a processor, a memory, and a computer-readable storage medium storing a computer program; the processor is coupled to the computer-readable storage medium, and a computer-executable instruction running on the processor, when the computer-executable instruction is executed by the processor, the processor executes the method as described in the first aspect or any possible implementation of the first aspect. Optionally, the computing device may also include an input / output (I / O) interface, and the computer-readable storage medium storing the computer program may be a memory.

[0036] The fifth aspect of the present application provides a computer-readable storage medium storing one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor executes a method as described in the first aspect or any possible implementation of the first aspect.

[0037] The sixth aspect of the present application provides a computer program product storing one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor executes a method as described in the first aspect or any possible implementation of the first aspect.

[0038] In the seventh aspect of the present application, a chip system is provided, which includes at least one processor and an interface, the interface is used to receive data and / or signals, and at least one processor is used to support a computer device to implement the functions involved in the above-mentioned first aspect or any possible implementation of the first aspect. In one possible design, the chip system may also include a memory, which is used to store program instructions and data necessary for the computer device. The chip system can be composed of chips, or it can include chips and other discrete devices.

[0039] In an embodiment of the present application, by acquiring first driving information of a target vehicle and second driving information of a vehicle behind the target vehicle, a first collision parameter of the rear vehicle colliding with the target vehicle is predicted based on the first driving information and the second driving information; when the first collision parameter is less than or equal to a first threshold, the target vehicle is controlled so that the first collision parameter is greater than the first threshold, that is, when a rear collision risk is identified, the target vehicle is automatically controlled to escape the risk of the rear collision, thereby reducing the probability of a rear collision accident. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of a rear-end collision scenario;

[0041] Figure 2 A schematic diagram of a vehicle architecture provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of an embodiment of a vehicle control method provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of an embodiment of an application scenario of a vehicle control method provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of another embodiment of an application scenario of the vehicle control method provided in an embodiment of the present application;

[0045] Figure 6 A schematic diagram of another embodiment of an application scenario of the vehicle control method provided in an embodiment of the present application;

[0046] Figure 7 A schematic diagram of another embodiment of an application scenario of the vehicle control method provided in an embodiment of the present application;

[0047] Figure 8 A schematic diagram of an embodiment of a vehicle control device provided in an embodiment of the present application;

[0048] Fig. 9 A schematic diagram of an embodiment of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following describes the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the described embodiments are only embodiments of a part of the present application, rather than all embodiments. It is known to those skilled in the art that with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0050] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0051] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0052] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0053] The following is an example of the application scenario involved in the embodiments of the present application.

[0054] In recent years, the intelligent driving technology of automobiles has developed rapidly, but there are still many problems to be solved in terms of the safety of intelligent driving technology in complex traffic scenarios. Before the intelligent driving technology develops to the stage of full automatic driving, there will be a long period of human-machine co-driving.

[0055] like Figure 1 As shown, in some traffic environments, such as when the driver is driving the target vehicle, the driver has a weak perception of the rear traffic environment when driving slowly in a congested highway, or when the target vehicle suddenly encounters an emergency rear-end collision in front, or in traffic scenes such as red and green traffic lights on urban roads, and may not be able to accurately identify the risk of rearward collision. Large trucks / vans behind the target vehicle are prone to emergency braking failure due to their high speed and heavy weight. If the target vehicle is in a temporary parking state or at a slow speed, the truck / van will hit the driving vehicle from behind, causing the target vehicle to be severely collided and squeezed, resulting in serious traffic accidents with casualties. At present, in the functions of intelligent driving, the traditional rearward collision warning solution mainly identifies the vehicle behind the target vehicle based on the target vehicle's perception equipment (such as millimeter-wave radar, camera, etc.) during the driving of the target vehicle.

[0056] However, if the target vehicle only relies on its traffic environment perception, in traffic environments such as smoke / fog / rainstorm / snow, or in the case of other large trucks or road construction fences blocking the rearward traffic environment, the target vehicle cannot accurately identify the large truck behind it, resulting in inaccurate rearward collision warnings and certain false alarms. In addition, even if the target vehicle can identify the danger of a rearward vehicle collision, it may not be able to handle it in time due to the driver's driving state, and the rearward collision accident cannot be avoided.

[0057] Based on this, the embodiment of the present application provides a vehicle control method for reducing the probability of a rear-end collision accident. The embodiment of the present application also provides a corresponding device, a vehicle, a computer-readable storage medium, and a computer device, etc. The following are detailed descriptions.

[0058] like Figure 2As shown, the vehicle control method provided in an embodiment of the present application is applied to a vehicle, which includes a rear collision prediction warning system, a rear collision emergency avoidance control system, an on-board fusion sensing device, a communication system, an intelligent driving computing platform, and a vehicle control unit.

[0059] Among them, the vehicle-mounted fusion perception equipment includes millimeter wave radar, laser radar, ultrasonic radar and / or external camera and other devices for sensing vehicle environment information. The communication system includes fifth generation mobile communication technology (5G) communication equipment, vehicle wireless communication technology (vehicle to X, V2X) communication equipment, intelligent vehicle terminal (telematics-BOX, TBOX) communication equipment, vehicle-mounted unit (on board unit, OBU) and vehicle infotainment system (in-vehicle infotainment, IVI) and other devices for interactive data. Each device or system in the above-mentioned vehicle is used to jointly implement the vehicle control method provided in the embodiment of the present application. Among them, the rear collision prediction warning system, the rear collision emergency avoidance control system and the intelligent driving computing platform can be understood as the newly added system or platform of the embodiment of the present application, and other devices, systems or units are the original equipment of the vehicle.

[0060] It should be understood that the vehicle described in the embodiments of the present application is a vehicle in a broad sense, which may be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of the present application do not specifically limit the type of vehicle.

[0061] The vehicle control method provided in the embodiment of the present application is described below in conjunction with the above application scenarios.

[0062] like Figure 3 As shown, an embodiment of the vehicle control method provided in the embodiment of the present application includes:

[0063] 301. Obtain first driving information of a target vehicle and second driving information of a vehicle behind the target vehicle.

[0064] For example, the vehicle control method provided in the embodiment of the present application is applied to Figure 2 The vehicle shown in FIG. 1 is used as an example to illustrate the target vehicle. Figure 2 Vehicle shown.

[0065] Among them, the target vehicle obtains the second driving information of the rear vehicle through the millimeter-wave radar, lidar, ultrasonic radar and / or external camera in the on-board fusion sensing device, and the second driving information includes at least one of the vehicle identification code (VIN) information, position information, speed information, heading angle information, acceleration information, deceleration information, braking distance information and vehicle type information of the rear vehicle.

[0066] In addition, the target vehicle also obtains its own first driving information through its own equipment. Similarly, the first driving information includes at least one of the target vehicle's vehicle identification code information, position information, vehicle speed information, heading angle information, acceleration information, deceleration information, braking distance information and vehicle type information.

[0067] Exemplarily, the target vehicle obtains first driving information of the target vehicle and second driving information of the rear vehicle as shown in Table 1.

[0068] Table 1

[0069] First driving information Second driving information Vehicle speed information 10km / h 60km / h Acceleration information 0m / s2 10m / s2 Braking distance information 1m 50m Vehicle type information Small car Large truck

[0070] Optionally, the rear vehicle is a van or truck. Because the risk of rear-end collision of vans and trucks is higher, while the risk of rear-end collision of small vehicles or other vehicles is lower, the target vehicle obtains the second driving information of the rear vehicle only when it identifies the rear vehicle as a van or truck, and performs rear-end collision prediction and control, thereby reducing the target vehicle's own computing load and improving the cruising range.

[0071] It should be understood that the timing of obtaining the second driving information is selectable by the user (driver). If the user prefers safety, the user can choose to obtain the second driving information of all rear vehicles of the target vehicle through IVI. If the user prefers the range, the user can choose to obtain the second driving information of the rear vehicle only when the rear vehicle is identified as a truck or a truck through IVI, and execute the subsequent steps 302 and 303. Otherwise, the target vehicle does not obtain the second driving information, and does not execute steps 302 and 303.

[0072] 302. Predict a first collision parameter based on the first driving information and the second driving information.

[0073] After the on-board fusion sensing device of the target vehicle obtains the first driving information and the second driving information, the first driving information and the second driving information are sent to the intelligent driving computing platform of the target vehicle. The intelligent driving computing platform of the target vehicle is used to predict the first collision parameter based on the first driving information and the second driving information.

[0074] Among them, the first collision parameter includes at least one of a first remaining time and a first remaining distance for the rear vehicle to collide with the target vehicle. The first remaining time is the remaining time for the rear vehicle to collide with the target vehicle when the first driving information and the second driving information remain unchanged. Similarly, the first remaining distance is the remaining distance for the rear vehicle to collide with the target vehicle when the first driving information and the second driving information remain unchanged. The embodiment of the present application takes the first collision parameter as the first remaining time as an example for illustration.

[0075] Optionally, the first collision parameter may be optimized more accurately by acquiring more data, which will be described below.

[0076] 1. Prediction of vehicles behind

[0077] In step 301, the target vehicle obtains the second collision parameter predicted by the rear vehicle through the V2X communication device. The rear vehicle also obtains its own driving information and the driving information of the target vehicle, and predicts the second collision parameter, and sends it to the target vehicle based on V2X. At this time, the intelligent driving computing platform of the target vehicle predicts the first collision parameter through the first driving information, the second driving information and / or the second collision parameter.

[0078] Exemplarily, the second collision parameter is 3 seconds, and 2 seconds is predicted based on the first driving information and the second driving information, and the average of the two is taken to obtain the first collision parameter of 2.5 seconds, that is, the remaining time for the rear vehicle to collide with the target vehicle is 2.5 seconds.

[0079] 2. Other Vehicle Prediction

[0080] In step 301, the target vehicle obtains the third collision parameter predicted by other vehicles through the V2X communication device. The other vehicles are vehicles within the preset range of the target vehicle. The other vehicles obtain the driving information of the rear vehicle and the driving information of the target vehicle, and predict the third collision parameter, and send it to the target vehicle based on V2X. At this time, the intelligent driving computing platform of the target vehicle predicts the first collision parameter through the first driving information, the second driving information and / or the third collision parameter.

[0081] Exemplarily, the third collision parameter is 4 seconds, and 2 seconds is predicted based on the first driving information and the second driving information, and the average of the two is taken to obtain the first collision parameter of 3 seconds, that is, the remaining time for the rear vehicle to collide with the target vehicle is 3 seconds.

[0082] 3. Fusion Prediction

[0083] Based on the above two situations, the target vehicle can simultaneously obtain the second collision parameter and the third collision parameter, and predict the first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information, the second driving information, the second collision parameter and / or the third collision parameter.

[0084] Exemplarily, the second collision parameter is 3 seconds, the third collision parameter is 4 seconds, and 2 seconds is predicted based on the first driving information and the second driving information. The average of the three is taken to obtain the first collision parameter of 3 seconds, that is, the remaining time for the rear vehicle to collide with the target vehicle is 3 seconds.

[0085] 303. When the first collision parameter is less than or equal to the first threshold, control the target vehicle so that the first collision parameter is greater than the first threshold.

[0086] When the intelligent driving computing platform of the target vehicle predicts the first collision parameter, the first collision parameter is sent to the rear collision emergency avoidance control system of the target vehicle. When the first collision parameter is less than or equal to the first threshold, the rear collision emergency avoidance control system controls the vehicle control unit of the target vehicle to avoid danger.

[0087] Exemplarily, the vehicle control unit includes a vehicle control unit (VCU) and an electric power steering system (EPS) of the target vehicle. The rear-end collision avoidance control system controls the speed and steering of the target vehicle by controlling the VCU and EPS of the target vehicle, thereby escaping the risk of rear-end collision.

[0088] Specifically, the target vehicle can be controlled to enter the escape mode or the avoidance mode according to the actual situation of the target vehicle. When there is no obstacle within a preset distance in front of the lane where the target vehicle is currently located, the target vehicle is controlled to enter the escape mode, that is, the target vehicle is controlled to accelerate until the first collision parameter is greater than the first threshold. When there is an obstacle within a preset distance in front of the lane where the target vehicle is currently located, the target vehicle is controlled to enter the avoidance mode, that is, the target vehicle is controlled to change lanes until the first collision parameter is greater than the first threshold.

[0089] Among them, obstacles include vehicles, road test equipment (traffic lights), road obstacles and pedestrians.

[0090] Optionally, before controlling the target vehicle to enter the escape mode or the avoidance mode, in order to enable the target vehicle to meet the conditions for entering the escape mode or the avoidance mode, the rear collision emergency avoidance control system may also cancel the parking gear, parking function, lane keeping function or cruise function of the target vehicle, or reduce the priority of the lane keeping function and cruise function (including cruise control, adaptive cruise and full-speed adaptive cruise), or switch the target vehicle to sport mode (for example, when it is necessary to control the target vehicle to enter the escape mode), or turn on the target vehicle's hazard lights to alert other vehicles around the target vehicle.

[0091] Optionally, after the intelligent driving computing platform of the target vehicle predicts the first collision parameter, the first collision parameter may also be sent to the rear collision prediction warning system of the target vehicle to warn the user. The sending of the warning prompt is divided into multiple situations, which are described below.

[0092] Specifically, when the target vehicle is in the automatic driving mode and the first collision parameter is less than or equal to the second threshold, a first warning prompt is sent, and the second threshold is greater than the first threshold. When the target vehicle is in the manual driving mode and the first collision parameter is less than or equal to the third threshold, a first warning prompt is sent, and the third threshold is greater than the second threshold. When the target vehicle is in the manual driving mode, and the target vehicle is not authorized to automatically change to the automatic driving mode, and the first collision parameter is less than or equal to the second threshold, a second warning prompt is sent, and the reminder intensity of the second warning prompt is greater than the first warning prompt.

[0093] Exemplarily, the first threshold is 1 second, the second threshold is 3 seconds, and the third threshold is 6 seconds. When the target vehicle is in automatic driving mode, the rear collision emergency avoidance control system can directly and automatically control the target vehicle. Therefore, when the first collision parameter is less than or equal to the second threshold, the rear collision prediction warning system sends a first warning prompt to remind the user that there is a risk of rear collision.

[0094] When the target vehicle is in manual driving mode, the user's reaction time also needs to be considered. When the first collision parameter is less than or equal to the third threshold, the rear collision prediction warning system needs to send a first warning prompt to remind the user earlier than when the target vehicle is in automatic driving mode. The user can control the target vehicle or authorize the target vehicle to enter automatic driving mode according to the first warning prompt.

[0095] Furthermore, if the target vehicle has been authorized in advance to automatically change to the automatic driving mode, when the first collision parameter is less than or equal to the first threshold, the rear collision emergency collision avoidance control system directly and automatically controls the target vehicle. However, when the target vehicle has not been authorized to automatically change to the automatic driving mode, the user may not respond to the first warning prompt, and the rear collision prediction warning system cannot automatically control the target vehicle, and the first collision parameter may further decrease. When the first collision parameter decreases to the second threshold, the rear collision prediction warning system issues a second warning prompt, and the reminder intensity of the second warning prompt is greater than the first warning prompt.

[0096] It should be understood that there is no direct correlation between the third threshold and the second threshold, the third threshold is not limited to being greater than the second threshold, and the first threshold to the third threshold in the embodiment of the present application can be replaced as judgment conditions for executing the steps. It is only necessary to satisfy that the third threshold is greater than the first threshold and the second threshold is greater than the first threshold. For example, when the first collision parameter decreases to the first threshold, a second warning prompt is issued.

[0097] Optionally, the first warning prompt includes an optical information prompt, a sound prompt and / or a steering wheel vibration prompt, and the second warning prompt includes an optical information prompt, a sound prompt and / or a steering wheel vibration prompt.

[0098] For example, the optical information prompt may be a red light flashing on the screen of the IVI, and the sound prompt may be a sound message of "there is a risk of rear collision, please pay attention" emitted by the IVI. Because the reminder intensity of the second warning prompt is greater than that of the first warning prompt, the second warning prompt includes three prompts, namely, the optical information prompt, the sound prompt and the steering wheel vibration prompt, while the first warning prompt only includes the optical information prompt.

[0099] Optionally, when the first collision parameter is less than or equal to the second threshold, the on-board fusion perception device of the target vehicle will also start to obtain video information of the rear vehicle until the first collision parameter is greater than the second threshold. That is, the target vehicle will obtain the video information of the rear vehicle during the period when the first collision parameter is less than or equal to the second threshold. If a traffic accident occurs later, the user can use the video information as evidence. It should be understood that the second threshold can also be replaced by the third threshold or other value, and the embodiment of the present application does not limit the timing of obtaining video information of the rear vehicle.

[0100] Optionally, after the rear collision emergency avoidance control system controls the target vehicle, it can also maintain automatic control within a preset time period. During the automatic control period, if the first collision parameter is less than the second threshold or the third threshold again, the first warning prompt or the second warning prompt is not sent, and control is performed directly.

[0101] The vehicle control method provided in the embodiments of the present application is described in detail below with reference to several examples.

[0102] Example 1

[0103] like Figure 4 As shown in the figure, in this scenario, there is a suspected collision with a large truck in the lane behind the target vehicle. If there are no other vehicles in front of the lane, the rear collision emergency avoidance control is the escape mode. The following describes the different driving modes of the target vehicle.

[0104] 1. The target vehicle is in autonomous driving mode

[0105] When the first collision parameter is less than or equal to the second threshold, the rear collision prediction warning system initiates the first warning prompt to the user, and the system voice reminds the driver "There is a risk of collision with a large truck behind the current lane, please drive away quickly."

[0106] Furthermore, the rear collision emergency avoidance control system turns on the target vehicle's double flash lights, cancels automatic parking, cancels P gear parking, cancels braking force such as foot brake / hand brake, or lane keeping function, cancels adaptive cruise and other functions, or reduces the priority, sets the target vehicle's power mode to Sport mode, and makes the target vehicle enter the monitoring state of escape mode (real-time monitoring of the current lane, real-time calculation of the first collision parameter), enables the target vehicle to enter the escape mode (forward acceleration away), and ensures the safety of the vehicle in front. For example, if there are other vehicles in front of the target vehicle cutting into the lane, or the vehicle is parked at the stop line of the traffic light, the monitoring state of entering the avoidance mode is adjusted (if the target vehicle is parked at the stop line of the traffic light, the avoidance mode strategy is to change lanes right).

[0107] 2. The target vehicle is in manual driving mode

[0108] Due to the driver's reaction time, when the first collision parameter is less than or equal to the third threshold, a first warning prompt is issued. When the first collision parameter is less than or equal to the first threshold, according to the result record that the user has confirmed the authorization of the rear collision emergency collision avoidance control system to take over, the rear collision emergency collision avoidance control system changes the driving rights of the target vehicle and adjusts to the automatic driving mode; conversely, when the first collision parameter is less than or equal to the second threshold, the rear collision prediction warning system initiates a second warning warning prompt to the user.

[0109] When the first collision parameter recovers to be greater than the first threshold value, the rear collision emergency avoidance control system causes the target vehicle to enter a monitoring state of an escape mode and prompts the driver to take over the vehicle.

[0110] Example 2

[0111] like Figure 5As shown in the figure, in this scenario, there is a suspected collision with a large truck in the rear of the target vehicle in the lane. If there are other vehicles in front of the lane, the rear collision emergency avoidance control is in the avoidance mode because a safe distance needs to be maintained from the vehicle in front. The following describes the different driving modes of the target vehicle.

[0112] 1. The target vehicle is in autonomous driving mode

[0113] When the first collision parameter is less than or equal to the second threshold, the rear collision prediction warning system initiates the first warning prompt to the user, and the system voice reminds the driver "There is a risk of collision with a large truck behind the current lane, please drive away quickly."

[0114] Furthermore, the rear collision emergency avoidance control system turns on the target vehicle's hazard lights, cancels automatic parking, cancels P gear parking, cancels braking forces such as foot brakes / hand brakes, or cancels lane keeping functions, cancels adaptive cruise control, or reduces priority, sets the target vehicle's power mode to Sport mode, and puts the target vehicle into the monitoring state of avoidance mode (real-time monitoring of the current lane, calculation of the feasibility of left and right lane changes and predefined lane change positions), enabling the target vehicle to enter avoidance mode. If there are other vehicles in front of the target vehicle that change lanes and cut out of the lane, and a safe distance can be maintained from the vehicle in front, the monitoring state is adjusted to enter the escape mode.

[0115] 2. The target vehicle is in manual driving mode

[0116] Due to the driver's reaction time, when the first collision parameter is less than or equal to the third threshold, a first warning prompt is issued. When the first collision parameter is less than or equal to the first threshold, according to the result record that the user has confirmed the authorization of the rear collision emergency collision avoidance control system to take over, the rear collision emergency collision avoidance control system changes the driving rights of the target vehicle and adjusts to the automatic driving mode; conversely, when the first collision parameter is less than or equal to the second threshold, the rear collision prediction warning system initiates a second warning warning prompt to the user.

[0117] When the first collision parameter is restored to be greater than the first threshold, the rear collision emergency avoidance control system causes the target vehicle to enter a monitoring state of an avoidance mode and prompts the driver to take over the vehicle.

[0118] Example 3

[0119] like Figure 6 As shown, in this scenario, there is a suspected collision with a large truck in the adjacent lane behind the target vehicle. If there are no other vehicles in front of this lane, the rear collision emergency avoidance control is in escape mode.

[0120] The specific implementation method of Example 3 can refer to Example 1, the only difference is that the rear vehicle in Example 1 is a vehicle in the same lane, while the rear vehicles in Example 3 are two vehicles in adjacent lanes. The only difference is the method for determining the first collision parameter, which will not be described in detail in the embodiments of the present application.

[0121] Example 4

[0122] like Figure 7 As shown, in this scenario, there is a suspected collision with a large truck in the adjacent lane behind the target vehicle. If there are other vehicles in front of this lane, the rear collision emergency avoidance control is in avoidance mode.

[0123] The specific implementation method of Example 4 can refer to Example 2. The only difference is that the rear vehicle in Example 2 is a vehicle in the same lane, while the rear vehicles in Example 4 are two vehicles in adjacent lanes. The only difference is the method for determining the first collision parameter, which will not be described in detail in the embodiments of the present application.

[0124] Summarizing the above embodiments, it can be seen that the beneficial effects brought by the embodiments of the present application include but are not limited to the following three points:

[0125] (1) When a rear-end collision risk is identified, the target vehicle is automatically controlled to escape the risk of the rear-end collision, thereby reducing the probability of a rear-end collision accident.

[0126] (2) Use different methods to remind users of the risk of rear-end collision in different scenarios, further reducing the probability of rear-end collision accidents.

[0127] (3) The collision parameters are determined by fusing data from the target vehicle, the rear vehicle, and other vehicles to improve the accuracy of rear collision risk identification.

[0128] The vehicle control method provided in the embodiment of the present application is introduced above. The vehicle control device provided in the embodiment of the present application is introduced below with reference to the accompanying drawings.

[0129] like Figure 8 As shown, an embodiment of the vehicle control device 800 provided in the embodiment of the present application includes:

[0130] The acquisition unit 801 is used to acquire the first driving information of the target vehicle and the second driving information of the vehicle behind the target vehicle; the acquisition unit 801 can execute step 301 in the above method embodiment.

[0131] The prediction unit 802 is used to predict the first collision parameter based on the first driving information and the second driving information, and the first collision parameter includes at least one of the first remaining time and the first remaining distance of the rear vehicle colliding with the target vehicle; the prediction unit 802 can execute step 302 in the above method embodiment.

[0132] The control unit 803 is used to control the target vehicle so that the first collision parameter is greater than the first threshold value when the first collision parameter is less than or equal to the first threshold value. The control unit 803 can execute step 303 in the above method embodiment.

[0133] In the embodiment of the present application, the first driving information of the target vehicle and the second driving information of the rear vehicle of the target vehicle are acquired by the acquisition unit 801, and the prediction unit 802 predicts the first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information and the second driving information. When the first collision parameter is less than or equal to the first threshold value, the control unit 803 controls the target vehicle so that the first collision parameter is greater than the first threshold value, that is, when the risk of rear collision is identified, the target vehicle is automatically controlled to escape the risk of the rear collision, thereby reducing the probability of a rear collision accident of the vehicle.

[0134] Optionally, the vehicle control device 800 further includes a sending unit 804. The sending unit 804 is configured to send a first warning prompt when the target vehicle is in the automatic driving mode and the first collision parameter is less than or equal to a second threshold, and the second threshold is greater than the first threshold.

[0135] Optionally, the sending unit 804 is further configured to send a first warning prompt when the target vehicle is in a manual driving mode and the first collision parameter is less than or equal to a third threshold, and the third threshold is greater than the second threshold.

[0136] Optionally, the sending unit 804 is also used to send a second warning prompt when the target vehicle is in manual driving mode and the target vehicle is not authorized to automatically change to automatic driving mode, and the first collision parameter is less than or equal to a second threshold, and the reminder intensity of the second warning prompt is greater than that of the first warning prompt.

[0137] Optionally, the acquisition unit 801 is further configured to acquire video information of the rear vehicle until the first collision parameter is greater than a second threshold.

[0138] Optionally, the first warning prompt includes an optical information prompt, a sound prompt and / or a steering wheel vibration prompt.

[0139] Optionally, the control unit 803 is specifically used to control the target vehicle to accelerate when there is no obstacle within a preset distance in front of the lane in which the target vehicle is currently located; when there is an obstacle within a preset distance in front of the lane in which the target vehicle is currently located, control the target vehicle to change lanes.

[0140] Optionally, the control unit 803 is also used to cancel the parking gear, parking function, lane keeping function or cruise function of the target vehicle, or switch the target vehicle to sports mode, or turn on the double flash lights of the target vehicle.

[0141] Optionally, the acquisition unit 801 is also used to obtain a second collision parameter of the target vehicle colliding with the rear vehicle, where the second collision parameter is predicted by the rear vehicle; the prediction unit 802 is specifically used to predict the first collision parameter of the target vehicle colliding with the rear vehicle based on the first driving information, the second driving information and / or the second collision parameter.

[0142] Optionally, the acquisition unit 801 is also used to obtain a third collision parameter of the rear vehicle colliding with the target vehicle, and the third collision parameter is predicted from other vehicles within a preset range of the target vehicle; the prediction unit 802 is specifically used to predict the first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information, the second driving information and / or the third collision parameter.

[0143] Optionally, the first driving information includes at least one of vehicle identification code information, position information, vehicle speed information, heading angle information, acceleration information, deceleration information, braking distance information and vehicle type information of the target vehicle.

[0144] Optionally, the rear vehicle is a van or a truck.

[0145] The vehicle control device 800 provided in the embodiment of the present application can be understood by referring to the corresponding contents of the aforementioned vehicle control method embodiment part, and will not be repeated here.

[0146] It should be understood that the division of the various units in the above vehicle control device 800 (hereinafter referred to as the device) is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the various units of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits, and the hardware circuits can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be realized by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be realized in the form of a processor calling software, or in the form of hardware circuits, or in part by a processor calling software, and the rest by hardware circuits.

[0147] In the embodiment of the present application, the processor is a circuit with the ability to process signals. In one implementation, the processor can be a circuit with the ability to read and run instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0148] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0149] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0150] The embodiment of the present application also provides a vehicle, which is as follows Figure 2The vehicle shown, or the vehicle includes the vehicle control device as shown in 8, or the vehicle includes the computing device 900. Fig. 9 The figure shows a possible logical structure diagram of a computing device 900 provided in an embodiment of the present application. The computing device 900 includes: a processor 901, a communication interface 902, a memory 903, and a bus 904. The processor 901 may include a CPU, or a CPU and at least one of a GPU, an NPU, and other types of processors. The processor 901, the communication interface 902, and the memory 903 are interconnected via the bus 904. In an embodiment of the present application, the processor 901 is used to control and manage the actions of the computing device 900. For example, the processor 901 is used to execute Figure 3 The steps 301 to 303 in the embodiment and / or other processes for the technology described herein. The communication interface 902 is used to support the computing device 900 to communicate. The memory 903 is used to store the program code and data of the computing device 900.

[0151] Among them, the processor 901 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the contents disclosed in this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and so on. The bus 904 can be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0152] In another embodiment of the present application, a computer-readable storage medium is further provided, wherein the computer-readable storage medium stores computer-executable instructions. When at least one processor of the device executes the computer-executable instructions, the device executes the above Figures 3 to 7 Vehicle control methods described in some embodiments.

[0153] In another embodiment of the present application, a computer program product is also provided. The computer program product includes computer-executable instructions, which are stored in a computer-readable storage medium; at least one processor of the device can read the computer-executable instructions from the computer-readable storage medium, and at least one processor executes the computer-executable instructions so that the device performs the above Figures 3 to 7 Vehicle control methods described in some embodiments.

[0154] In another embodiment of the present application, a chip system is further provided, the chip system comprising at least one processor and an interface, the interface being used to receive data and / or signals, and at least one processor being used to support the implementation of the above Figures 3 to 7 The vehicle control method described in some embodiments. In a possible design, the chip system may also include a memory, which is used to store program instructions and data necessary for the computer device. The chip system may be composed of a chip or may include a chip and other discrete devices.

[0155] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0156] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0157] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0158] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0159] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0160] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0161] If the integrated 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 computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A vehicle control method, characterized in that: include: Acquire first driving information of a target vehicle and second driving information of a vehicle behind the target vehicle; predicting a first collision parameter based on the first driving information and the second driving information, the first collision parameter comprising at least one of a first remaining time and a first remaining distance for the rear vehicle to collide with the target vehicle; When the first collision parameter is less than or equal to a first threshold, the target vehicle is controlled so that the first collision parameter is greater than the first threshold.

2. The method according to claim 1, characterized in that The method further comprises: When the target vehicle is in the automatic driving mode and the first collision parameter is less than or equal to a second threshold, a first warning prompt is sent, and the second threshold is greater than the first threshold.

3. The method according to claim 2, characterized in that The method further comprises: When the target vehicle is in a manual driving mode and the first collision parameter is less than or equal to a third threshold, the first warning prompt is sent, and the third threshold is greater than the second threshold.

4. The method according to claim 2 or 3, characterized in that: The method further comprises: When the target vehicle is in manual driving mode, and the target vehicle is not authorized to automatically change to the automatic driving mode, and the first collision parameter is less than or equal to the second threshold, a second warning prompt is sent, and the reminder intensity of the second warning prompt is greater than that of the first warning prompt.

5. The method according to any one of claims 2 to 4, characterized in that: The method further comprises: The video information of the rear vehicle is obtained until the first collision parameter is greater than the second threshold.

6. The method according to any one of claims 2 to 5, characterized in that: The first warning prompt includes an optical information prompt, a sound prompt and / or a steering wheel vibration prompt.

7. The method according to any one of claims 1 to 6, characterized in that The controlling the target vehicle comprises: When there is no obstacle within a preset distance in front of the lane where the target vehicle is currently located, controlling the target vehicle to accelerate; or, When the obstacle is present within a preset distance in front of the lane where the target vehicle is currently located, the target vehicle is controlled to change lanes.

8. The method according to any one of claims 1 to 7, characterized in that Before controlling the target vehicle, the method further includes: cancelling the parking position, parking function, lane keeping function or cruise function of the target vehicle, or, Switching the target vehicle to a sport mode, or, Turn on the hazard lights of the target vehicle.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: Acquire a second collision parameter of the rear vehicle colliding with the target vehicle, where the second collision parameter is predicted by the rear vehicle; The first collision parameter of predicting the collision between the rear vehicle and the target vehicle based on the first driving information and the second driving information includes: A first collision parameter of the rear vehicle colliding with the target vehicle is predicted based on the first driving information, the second driving information and / or the second collision parameter.

10. The method according to any one of claims 1 to 9, characterized in that The method further comprises: Obtaining a third collision parameter of the rear vehicle colliding with the target vehicle, where the third collision parameter is predicted by other vehicles within a preset range of the target vehicle; The first collision parameter of predicting the collision between the rear vehicle and the target vehicle based on the first driving information and the second driving information includes: A first collision parameter of the rear vehicle colliding with the target vehicle is predicted based on the first driving information, the second driving information and / or the third collision parameter.

11. The method according to any one of claims 1 to 10, characterized in that The first driving information includes at least one of vehicle identification code information, position information, vehicle speed information, heading angle information, acceleration information, deceleration information, braking distance information and vehicle type information of the target vehicle.

12. The method according to any one of claims 1 to 11, characterized in that The rear vehicle is a van or a truck.

13. A vehicle control device, characterized in that: include: An acquisition unit, used for acquiring first driving information of a target vehicle and second driving information of a vehicle behind the target vehicle; A prediction unit, configured to predict a first collision parameter based on the first driving information and the second driving information, wherein the first collision parameter includes at least one of a first remaining time and a first remaining distance for the rear vehicle to collide with the target vehicle; A control unit is used to control the target vehicle so that the first collision parameter is greater than the first threshold when the first collision parameter is less than or equal to the first threshold.

14. The device according to claim 13, characterized in that The device also includes: A sending unit is used to send a first warning prompt when the target vehicle is in an automatic driving mode and the first collision parameter is less than or equal to a second threshold, and the second threshold is greater than the first threshold.

15. The device according to claim 14, characterized in that The sending unit is further configured to send the first warning prompt when the target vehicle is in a manual driving mode and the first collision parameter is less than or equal to a third threshold, and the third threshold is greater than the second threshold.

16. The device according to claim 14 or 15, characterized in that The sending unit is also used to send a second warning prompt when the target vehicle is in a manual driving mode and the target vehicle is not authorized to automatically change to the automatic driving mode, and the first collision parameter is less than or equal to the second threshold, and the reminder intensity of the second warning prompt is greater than that of the first warning prompt.

17. The device according to any one of claims 14 to 16, characterized in that The acquisition unit is further configured to acquire video information of the rear vehicle until the first collision parameter is greater than the second threshold.

18. The device according to any one of claims 14 to 17, characterized in that The first warning prompt includes an optical information prompt, a sound prompt and / or a steering wheel vibration prompt.

19. The device according to any one of claims 13 to 18, characterized in that The control unit is specifically used to control the target vehicle to accelerate when there is no obstacle within a preset distance in front of the lane where the target vehicle is currently located; or, when the obstacle is within a preset distance in front of the lane where the target vehicle is currently located, control the target vehicle to change lanes.

20. The device according to any one of claims 13 to 19, characterized in that The control unit is also used to cancel the parking gear, parking function, lane keeping function or cruise function of the target vehicle, or switch the target vehicle to a sports mode, or turn on the double flash lights of the target vehicle.

21. The device according to any one of claims 13 to 20, characterized in that The acquisition unit is further used to acquire a second collision parameter of the rear vehicle colliding with the target vehicle, where the second collision parameter is predicted by the rear vehicle; The prediction unit is specifically configured to predict a first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information, the second driving information and / or the second collision parameter.

22. The device according to any one of claims 13 to 21, characterized in that The acquisition unit is further used to acquire a third collision parameter of the rear vehicle colliding with the target vehicle, wherein the third collision parameter is predicted by other vehicles within a preset range of the target vehicle; The prediction unit is specifically configured to predict a first collision parameter of the rear vehicle colliding with the target vehicle based on the first driving information, the second driving information and / or the third collision parameter.

23. The device according to any one of claims 13 to 22, characterized in that The first driving information includes at least one of vehicle identification code information, position information, vehicle speed information, heading angle information, acceleration information, deceleration information, braking distance information and vehicle type information of the target vehicle.

24. The device according to any one of claims 13 to 23, characterized in that The rear vehicle is a van or a truck.

25. A vehicle, characterized in that: The vehicle is used to perform the method according to any one of claims 1-12.

26. A computing device, characterized in that The method comprises a processor on which a computer-executable instruction runs. When the computer-executable instruction is executed by the processor, the processor executes the method according to any one of claims 1 to 12.

27. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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