Deceleration calculation method and device and electronic equipment

Abstract

The invention relates to a deceleration calculation method and device and electronic equipment, relates to the technical field of intelligent auxiliary driving, and is used for solving the problem of how to determine a proper deceleration. The method comprises the following steps: determining a distance variation based on a transverse distance at a target moment and a transverse distance at a current moment; when the distance variation is smaller than or equal to the change rate threshold value, the distance is changed; the vehicle body length of the target vehicle, the first distance between the vehicle head and the vehicle tail of the target vehicle at the last moment, the second driving speed at the last moment, the third driving speed at the current moment and the first driving speed are calculated based on the reserved safety distance, the brake response time, the vehicle body length of the target vehicle; and the expected deceleration of the current moment is generated according to the fourth driving speed of the target vehicle at the previous moment and the expected deceleration of the target vehicle at the previous moment.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent assisted driving technology, and in particular to a deceleration calculation method, device and electronic device. Background Art

[0002] At present, when vehicles are driving, it is common for vehicles in adjacent lanes in the same direction to change lanes without turning on the turn signal, or vehicles in adjacent lanes in the same direction to change lanes even when the conditions for changing lanes are not met. At this time, if the driver is not paying attention or the driver operates improperly, a collision is likely to occur; and in the process of autonomous driving, such situations will also be faced; in the process of assisted driving or autonomous driving, such situations are usually handled by deceleration, but too little deceleration may not avoid a collision, and too much deceleration may affect the user experience.

[0003] Therefore, how to decelerate the vehicle at an appropriate time and at an appropriate deceleration rate has become a problem that needs to be solved urgently. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a deceleration calculation method, device and electronic device.

[0005] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present disclosure provides a deceleration calculation method, which is applied to a first vehicle including a distance measuring device, and includes: obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a preset direction measured by the distance measuring device to the target vehicle at the current moment; wherein the rear end of the target vehicle is in front of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; determining a distance change based on the lateral distance at the target moment and the lateral distance at the current moment; when the distance change is less than or equal to a change rate threshold, generating an expected deceleration at the current moment based on a reserved safety distance, a brake response time, a body length of the target vehicle, a first distance between the front end and the rear end of the target vehicle at a previous moment, a second driving speed at a previous moment, a third driving speed at a current moment, the first driving speed, a fourth driving speed of the target vehicle at a previous moment, and an expected deceleration of the target vehicle at a previous moment; and controlling the brake to decelerate according to the expected deceleration at the current moment.

[0007] In some feasible examples, the deceleration calculation method provided by the present disclosure also includes: generating a warning message when the distance change is less than or equal to the target distance; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

[0008] In some feasible examples, when the lateral distance is less than or equal to the target distance, the expected deceleration at the current moment is generated based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment, including: determining the actual driving distance of the target vehicle based on the first driving speed, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment; determining the distance required for braking response based on the second driving speed at the previous moment and the brake response time; determining the avoidance distance based on the reserved safety distance and the body length of the target vehicle; generating the expected deceleration at the current moment based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the distance required for braking response, and the avoidance distance.

[0009] In some feasible examples, based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the distance required for braking response, and the avoidance distance, the expected deceleration at the current moment is generated, including: the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the distance required for braking response, and the avoidance distance are substituted into the deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes:

[0010]

[0011] Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q represents the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y represents the distance required for braking response, D0 represents the avoidance distance, D0=+S0, L represents the body length of the target vehicle, and S0 represents the reserved safety distance of the first vehicle.

[0012] In some feasible examples, it is characterized in that S0=0.06 z0 |.

[0013] In some possible implementations, the distance measuring device includes a lidar.

[0014] In a second aspect, the present disclosure provides a deceleration calculation device, which is applied to a first vehicle including a distance measurement device, including: an acquisition unit, used to acquire a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance between the target vehicle and the distance measurement device and the target vehicle in a preset direction at the current moment; wherein the rear end of the target vehicle is in front of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; a processing unit, used to determine a distance change based on the lateral distance at the target moment and the lateral distance at the current moment acquired by the acquisition unit; the processing unit is also used to generate an expected deceleration at the current moment based on a reserved safety distance, a brake response time, a body length of the target vehicle, a first distance between the front end and the rear end of the target vehicle at the previous moment, a second driving speed at the previous moment, a third driving speed at the current moment, a first driving speed acquired by the acquisition unit, a fourth driving speed of the target vehicle at the previous moment, and an expected deceleration of the target vehicle at the previous moment when the distance change is less than or equal to a change rate threshold; the processing unit is also used to control the brake to decelerate according to the expected deceleration at the current moment.

[0015] In some feasible examples, the processing unit is further used to generate a warning message when the distance change is less than or equal to the target distance; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

[0016] In some implementable examples, the processing unit is specifically used to determine the actual driving distance of the target vehicle based on the first driving speed acquired by the acquisition unit, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment; the processing unit is specifically used to determine the required distance for braking response based on the second driving speed and the brake response time at the previous moment; the processing unit is specifically used to determine the avoidance distance based on the reserved safety distance and the body length of the target vehicle; the processing unit is specifically used to generate the expected deceleration at the current moment based on the first distance from the front of the vehicle to the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for braking response and the avoidance distance.

[0017] In some feasible examples, the processing unit is specifically used to bring the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for braking response and the avoidance distance into the deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes:

[0018]

[0019] Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q represents the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y represents the required distance for braking response, D0 represents the safe distance, D0=+S0, L represents the body length of the target vehicle, and S0 represents the reserved safe distance of the first vehicle. In some feasible examples, S0=0.06 z0 |.

[0020] In some possible implementations, the distance measuring device includes a lidar.

[0021] In a third aspect, the present disclosure provides an electronic device, comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to enable the electronic device to implement the deceleration calculation method provided in the first aspect when executing the computer program.

[0022] In a fourth aspect, the present disclosure provides a computer-readable storage medium, comprising: a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a computing device, the computing device implements the deceleration calculation method provided in the first aspect above.

[0023] In a fifth aspect, the present disclosure provides a vehicle, comprising any deceleration calculation device provided in the second aspect.

[0024] In the present disclosure, the name of the deceleration calculation device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of the present disclosure, they fall within the scope of the claims of the present disclosure and their equivalent technologies.

[0025] These and other aspects of the present disclosure will become more apparent from the following description.

[0026] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0027] The deceleration calculation method provided by the present disclosure, in order to calculate a suitable deceleration, the first vehicle obtains the first driving speed of the target vehicle in the adjacent lane in the same direction at the current moment, and the lateral distance in the preset direction measured by the distance measuring device at the current moment with the target vehicle, so that the distance change can be determined based on the lateral distance at the previous moment and the lateral distance at the current moment. Afterwards, by determining whether the distance change is less than or equal to the change rate threshold, it is judged whether the first vehicle and the target vehicle have the risk of sending a collision, such as: when the distance change is less than or equal to the change rate threshold, it means that the distance between the target vehicle and the first vehicle is close, and the risk of the first vehicle and the target vehicle colliding is high. At this time, the first vehicle can generate the expected deceleration at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment. In this way, the expected deceleration that meets the current driving conditions can be obtained, solving the problem of how to determine a suitable deceleration. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0030] Figure 1 One of the flowcharts of the deceleration calculation method provided in the embodiment of the present disclosure;

[0031] Figure 2 A schematic diagram of a scene of a first vehicle and a target vehicle in a deceleration calculation method provided in an embodiment of the present disclosure;

[0032] Figure 3 The second flowchart of the deceleration calculation method provided in the embodiment of the present disclosure;

[0033] Figure 4 The third flowchart of the deceleration calculation method provided in the embodiment of the present disclosure;

[0034] Figure 5 A fourth flowchart of the deceleration calculation method provided in an embodiment of the present disclosure;

[0035] Figure 6 A schematic diagram of the structure of a deceleration calculation device provided in an embodiment of the present disclosure;

[0036] Figure 7 A schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of the present disclosure;

[0037] Figure 8 A schematic diagram of the structure of a computer program product provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0038] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0040] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0041] The execution subject of the deceleration calculation method in the embodiment of the present application is a deceleration calculation device, which can be set in a server or other device, and this embodiment does not limit this. For example, when the deceleration calculation device is set in a car, the execution subject of the deceleration calculation method provided in the embodiment of the present disclosure is the processor of the car.

[0042] The to-be-recognized voice data and historical voice data involved in the present disclosure may be data authorized by the user or fully authorized by all parties.

[0043] Exemplarily, the deceleration calculation method provided by the embodiment of the present disclosure is introduced by taking the execution subject of the deceleration calculation method provided by the embodiment of the present disclosure as an example of a car.

[0044] like Figure 1 As shown, the deceleration calculation method provided by the embodiment of the present disclosure includes the following steps S11-S14:

[0045] S11, obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at the current moment, and a lateral distance between the target vehicle and the target vehicle in a preset direction measured by a distance measuring device at the current moment. The rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle.

[0046] In some examples, the preset direction is perpendicular to the direction of travel.

[0047] In some examples, the first vehicle obtains the first driving speed of the target vehicle in the adjacent lane in the same direction at the current moment and the lateral distance between the first vehicle and the target vehicle in the preset direction at the current moment through a detection device (such as a lidar).

[0048] In some examples, the laser radar includes a vehicle-mounted N-line laser radar, where N is an integer greater than 0. Exemplarily, N=128.

[0049] For example, a schematic diagram of a scene of a first vehicle a and a target vehicle b is shown in FIG. Figure 2 As shown in , the right side of the lane where the first vehicle is located is an adjacent lane in the same direction. Among them, the driving directions of the first vehicle a and the target vehicle b are as follows Figure 2 As shown by the middle dotted line, d1 represents the lateral distance in the preset direction. The lateral distance is equal to the distance between the right side of the first vehicle and the left side of the target vehicle in the direction directly in front of the first vehicle (direction directly in front of the driving direction); in addition, if the left side of the lane where the first vehicle is located is an adjacent lane in the same direction, and there is a target vehicle in the adjacent lane in the same direction, then the lateral distance is equal to the distance between the left side of the first vehicle and the right side of the target vehicle in the direction directly in front of the first vehicle.

[0050] S12. Determine a distance change based on the lateral distance at the target moment and the lateral distance at the current moment.

[0051] In some examples, the distance change is obtained based on the difference between the lateral distance at the target moment and the lateral distance at the current moment.

[0052] In addition, the lateral distance between the target vehicle in the adjacent lane in the same direction as the lane where the first vehicle is located and the target vehicle in the preset direction at the target time (such as the time when the lateral distance to the target vehicle is obtained for the first time) can be obtained through historical data. Since the lateral distance at the target time and the lateral distance at the current time are both determined, the difference between the lateral distance at the target time and the lateral distance at the current time can be obtained, and then the difference is used as the distance change amount.

[0053] In some examples, during the driving process, the target vehicles in the adjacent lanes in the same direction as the lane where the first vehicle is located will constantly change, so different target vehicles correspond to different target moments. For example, the first vehicle determines that vehicle 1 is the target vehicle at the first moment, and at this time the first vehicle will calculate the lateral distance with vehicle 1 at the first moment, that is, the first moment is used as the target moment corresponding to vehicle 1. Or, the first vehicle determines that vehicle 2 is the target vehicle at the second moment, and at this time the first vehicle will calculate the lateral distance with vehicle 2 at the second moment, that is, the second moment is used as the target moment corresponding to vehicle 2.

[0054] S13. When the distance change is less than or equal to the change rate threshold, the expected deceleration at the current moment is generated based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment.

[0055] In some examples, the previous moment and the current moment are adjacent moments, such as: moment 1 is 17:06:00 on June 5, 2023, moment 2 is 17:07:00 on June 5, 2023, and moment 3 is 17:08:00 on June 5, 2023. If the current moment is moment 2, the previous moment is moment 1; if the current moment is moment 3, the previous moment is moment 2.

[0056] In some examples, the target moment is from the moment when the first vehicle first obtains the first driving speed of the target vehicle and the lateral distance of the target vehicle in the preset direction measured by the distance measurement device at the current moment to the moment other than the current moment during the period when the first vehicle determines any vehicle as the target vehicle, such as: at 17:06:00 on June 5, 2023, the first vehicle first obtains the first driving speed of the target vehicle and the lateral distance of the target vehicle in the preset direction measured by the distance measurement device at the current moment, and then during the period from 17:06:00 on June 5, 2023 to 17:09:00 on June 5, 2023 (including moment 1: 17:06:00 on June 5, 2023, moment 2: 17:07:00 on June 5, 2023, moment 3: 17:08:00 on June 5, 2023 and moment 4: 17:09:00 on June 5, 2023), the first vehicle determines vehicle 1 as the target vehicle. If the current moment is moment 2, the target moment may be moment 1. If the current moment is moment 3, the target moment may be any one of moment 1 and moment 2. If the current moment is moment 4, the target moment may be any one of moment 1, moment 2, and moment 3. In some embodiments, the reserved safety distance includes the minimum braking distance of the first vehicle. Exemplarily, the reserved safety distance is equal to the product of the third driving speed of the first vehicle at the previous moment and the coefficient a. Preferably, a is equal to 0.06.

[0057] In some examples, in order to prevent the target vehicle from colliding with the first vehicle, the vehicle collision avoidance method provided by the embodiment of the present disclosure, the first vehicle will continue to monitor the distance change, when the distance change gradually increases to the change rate threshold (such as 0.4m), it means that the distance between the first vehicle and the target vehicle is relatively close, so the first vehicle needs to decelerate (such as the first vehicle based on the reserved safety distance, brake response time, body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the last moment, the second driving speed at the last moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the last moment, and the expected deceleration of the target vehicle at the last moment, and decelerate according to the expected deceleration), and / or the first vehicle generates an early warning message to remind the user to pay attention to the distance from the target vehicle. Exemplarily, the early warning message can give an early warning reminder in a preset manner, and the preset manner includes one or more of sound, display and seat vibration.

[0058] In some examples, the automobile can determine the actual driving distance of the target vehicle based on the first driving speed, the fourth driving speed of the target vehicle at the last moment, and the expected deceleration of the target vehicle at the last moment. Afterwards, the required distance for the braking response is determined based on the second driving speed and the brake response time at the last moment. Afterwards, the avoidance distance is determined based on the reserved safety distance and the body length of the target vehicle. Afterwards, the expected deceleration at the current moment is generated based on the first distance from the front of the vehicle to the rear of the target vehicle at the last moment, the second driving speed, the actual driving distance, the required distance for the braking response, and the avoidance distance. For example, the first distance from the front of the vehicle to the rear of the target vehicle at the last moment, the second driving speed, the actual driving distance, the required distance for the braking response, and the avoidance distance are brought into the deceleration formula to obtain the expected deceleration at the current moment. Alternatively, the first distance from the front of the vehicle to the rear of the target vehicle at the last moment, the second driving speed, the actual driving distance, the required distance for the braking response, and the avoidance distance are input into the deceleration model to obtain the expected deceleration at the current moment.

[0059] Among them, the training process of the deceleration model is as follows:

[0060] Obtain training sample data and labeling results of the training sample data; wherein the training sample data includes historical driving data, the historical driving data includes a first distance between the front of the vehicle and the rear of the target vehicle at each moment, a second driving speed, an actual driving distance, a distance required for a braking response, and a hazard avoidance distance, and the labeling results include an expected deceleration corresponding to each moment.

[0061] The training sample data is input into the neural network model for learning, and the prediction results of the neural network model for the training sample data are obtained.

[0062] Based on the prediction results and the labeling results, the network parameters of the neural network model are adjusted until the neural network model converges to obtain the deceleration model.

[0063] In some examples, after the car obtains the desired deceleration, when the user uses the brake to brake, the brake decelerates according to the desired deceleration. Alternatively, when the car is in an adaptive cruise control (ACC) state, the car controls the brake to decelerate according to the desired deceleration to avoid collision with the target vehicle.

[0064] In some examples, in the process of the first vehicle decelerating according to the expected deceleration, in order to prevent a collision with the target vehicle, the deceleration calculation method provided by the embodiment of the present disclosure requires that the first vehicle also needs to determine the longitudinal travel time based on the second travel speed, the longitudinal distance and the first travel speed of the first vehicle at the current moment. After that, by determining the relationship between the distance change and the first threshold, and the relationship between the longitudinal travel time and the time threshold, it is determined whether an avoidance trajectory needs to be generated. After the avoidance trajectory is generated, driving is performed according to the avoidance trajectory. For example, when the distance change is equal to the first threshold (such as -0.3m) and the longitudinal driving time is less than the time threshold (such as 1.1s), it means that the distance between the target vehicle and the first vehicle is very close. In order to prevent the first vehicle from rear-ending the target vehicle, the first vehicle continues to judge the longitudinal driving time. If the longitudinal driving time is less than the time threshold (such as 1.1s), it means that the following distance between the first vehicle and the target vehicle is relatively close. Therefore, it is necessary to generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment.

[0065] Alternatively, when the longitudinal travel time is greater than or equal to a time threshold (such as 1.1 s), it indicates that the following distance between the first vehicle and the target vehicle is relatively far, and the first vehicle does not need to avoid the target vehicle.

[0066] In some examples, when the first vehicle generates an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment, it is first necessary to establish a rectangular coordinate system with the center of the first vehicle. Afterwards, the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment are substituted into the trajectory formula to generate the avoidance trajectory. Among them, the trajectory formula includes:

[0067]

[0068] Wherein, y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω represents the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0069] In this way, all coordinate points that satisfy the trajectory formula in the rectangular coordinate system can be obtained. Then, the coordinate points are discretized to obtain the discretized coordinate points. Then, the avoidance trajectory is generated based on the discretized coordinate points.

[0070] Afterwards, the first vehicle drives according to the avoidance trajectory. Since the avoidance trajectory contains discrete coordinate points, the first vehicle can drive in segments, such as: the avoidance trajectory contains 3 discrete coordinate points, namely coordinate point 1, coordinate point 2 and coordinate point 3. When the first vehicle drives according to the avoidance trajectory, the first vehicle moves from the coordinate origin to coordinate point 1. Afterwards, the first vehicle takes coordinate point 1 as the coordinate origin and moves from the coordinate origin to coordinate point 2. Afterwards, the first vehicle takes coordinate point 2 as the coordinate origin and moves from the coordinate origin to coordinate point 3. In this way, the first vehicle completes the process of driving according to the avoidance trajectory. In this way, it is possible to automatically avoid collisions with vehicles changing lanes without the need for driver operation.

[0071] In some examples, the second driving speed is the current driving speed of the first vehicle, and the first vehicle determines the relative speed between the first vehicle and the target vehicle based on the second driving speed and the first driving speed, such as by calculating the absolute value of the difference between the first driving speed and the second driving speed, and using the absolute value as the relative speed between the first vehicle and the target vehicle. Then, the ratio of the longitudinal distance and the relative speed is calculated to obtain the longitudinal driving time.

[0072] In some examples, the memory of the first vehicle pre-stores the correspondence between the second driving speed, the longitudinal distance, the first driving speed and the theoretical driving time. Later, when the first vehicle needs to determine the longitudinal driving time, it can query the theoretical driving time corresponding to the second driving speed, the longitudinal distance and the first driving speed in the correspondence. Later, the theoretical driving time is used as the longitudinal driving time.

[0073] S14. Control the brake to decelerate according to the desired deceleration at the current moment.

[0074] As can be seen from the above, in the deceleration calculation method provided by the embodiment of the present disclosure, the first vehicle obtains the first driving speed of the target vehicle in the adjacent lane in the same direction at the current moment, and the lateral distance between the first vehicle and the target vehicle in the preset direction measured by the distance measuring device at the current moment, so as to determine the distance change based on the lateral distance at the previous moment and the lateral distance at the current moment. Afterwards, by determining whether the distance change is less than or equal to the change rate threshold, it is judged whether the first vehicle and the target vehicle have the risk of sending a collision, such as: when the distance change is less than or equal to the change rate threshold, it means that the distance between the target vehicle and the first vehicle is close, and the risk of the first vehicle and the target vehicle colliding is high. At this time, the first vehicle can generate the expected deceleration at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment.

[0075] In some possible implementation examples, combined with Figure 1 ,like Figure 3 As shown, the deceleration calculation method provided by the embodiment of the present disclosure further includes: S15.

[0076] S15: When the distance change is less than or equal to the target distance, generate a warning message, wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

[0077] In some possible implementation examples, combined with Figure 1 ,like Figure 4 As shown, the above S13 can be specifically implemented through the following S130-S133.

[0078] S130: Determine an actual driving distance of the target vehicle based on the first driving speed, a fourth driving speed of the target vehicle at a previous moment, and an expected deceleration of the target vehicle at a previous moment.

[0079] S131. Determine a distance required for a braking response based on the second driving speed and the brake response time at the last moment.

[0080] S132: Determine a risk avoidance distance based on the reserved safety distance and the body length of the target vehicle.

[0081] S133, generating an expected deceleration at the current moment based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the distance required for braking response, and the avoidance distance.

[0082] In some possible implementation examples, combined with Figure 4 ,like Figure 5 As shown, the above S133 can be specifically implemented through the following S1330.

[0083] S1330, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for braking response and the avoidance distance are substituted into the deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes:

[0084]

[0085] Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q represents the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y represents the distance required for braking response, D0 represents the avoidance distance, D0=+S0, L represents the body length of the target vehicle, and S0 represents the reserved safety distance of the first vehicle.

[0086] In some examples, when the first vehicle determines that the distance change is less than or equal to the change rate threshold, the expected deceleration of the target vehicle at the previous moment can be determined based on the first driving speed of the target vehicle at the current moment and the fourth driving speed of the target vehicle at the previous moment. For example, the expected deceleration satisfies the following formula:

[0087]

[0088] Wherein, Δt represents the time difference between the current moment and the previous moment. In some feasible examples, S0=0.06 z0 |.

[0089] In some possible implementations, the distance measuring device includes a lidar.

[0090] The above mainly introduces the solution provided by the embodiment of the present disclosure from the perspective of the method. In order to achieve the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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 exceed the scope of the present disclosure.

[0091] The embodiments of the present disclosure can divide the deceleration calculation device into functional modules according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0092] like Figure 6 FIG. 1 is a schematic diagram of a deceleration calculation device 10 provided in an embodiment of the present disclosure, comprising an acquisition unit 101 and a processing unit 102 .

[0093] The acquisition unit 101 is used to acquire the first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at the current moment, and the lateral distance between the target vehicle and the target vehicle in a preset direction measured by the distance measuring device at the current moment; wherein the rear end of the target vehicle is in front of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; the processing unit 102 is used to determine the distance change based on the lateral distance at the target moment and the lateral distance at the current moment acquired by the acquisition unit 101; the processing unit 102 is also used to generate the expected deceleration at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front end and the rear end of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed acquired by the acquisition unit 101, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment when the distance change is less than or equal to the change rate threshold; the processing unit 102 is also used to control the brake to decelerate according to the expected deceleration at the current moment;

[0094] In some feasible examples, the processing unit 102 is further used to generate a warning message when the distance change is less than or equal to the target distance; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

[0095] In some implementable examples, the processing unit 102 is specifically used to determine the actual driving distance of the target vehicle based on the first driving speed acquired by the acquisition unit 101, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment; the processing unit 102 is specifically used to determine the required distance for braking response based on the second driving speed and the brake response time at the previous moment; the processing unit 102 is specifically used to determine the avoidance distance based on the reserved safety distance and the body length of the target vehicle; the processing unit 102 is specifically used to generate the expected deceleration at the current moment based on the first distance from the front of the vehicle to the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for braking response and the avoidance distance.

[0096] In some feasible examples, the processing unit 102 is specifically used to bring the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for braking response and the avoidance distance into the deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes:

[0097]

[0098] Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q represents the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y represents the distance required for braking response, D0 represents the avoidance distance, D0=+S0, L represents the body length of the target vehicle, and S0 represents the reserved safety distance of the first vehicle.

[0099] In some practical examples, S0=0.06 z0 |.

[0100] In some possible implementations, the distance measuring device includes a lidar.

[0101] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and its role will not be repeated here.

[0102] Of course, the deceleration calculation device 10 provided in the embodiment of the present disclosure includes but is not limited to the above modules, for example, the deceleration calculation device 10 may also include a storage unit 103. The storage unit 103 may be used to store the program code of the deceleration calculation device 10, and may also be used to store data generated by the deceleration calculation device 10 during operation, such as data in a write request, etc.

[0103] Figure 7 A schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of the present disclosure is shown in FIG. Figure 7 As shown, the vehicle-mounted terminal may include: at least one processor 51 , a memory 52 , a communication interface 53 and a communication bus 54 .

[0104] Combine the following Figure 7 The following is a detailed introduction to the various components of the vehicle terminal:

[0105] The processor 51 is the control center of the electronic device 10, and may be a processor or a general term for multiple processing elements. For example, the processor 51 is a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure, such as one or more DSPs, or one or more field programmable gate arrays (FPGAs).

[0106] In a specific implementation, as an embodiment, the processor 51 may include one or more CPUs, such as Figure 7 Also, as an embodiment, the electronic device may include multiple processors, such as Figure 7 51 and 55 are shown in FIG. Each of these processors may be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0107] The memory 52 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 52 may exist independently and be connected to the processor 51 via a communication bus 54. The memory 52 may also be integrated with the processor 51.

[0108] In a specific implementation, the memory 52 is used to store the data in the present disclosure and execute the software program in the present disclosure. The processor 51 can execute various functions of the air conditioner by running or executing the software program stored in the memory 52 and calling the data stored in the memory 52.

[0109] The communication interface 53 uses any transceiver-like device to communicate with other devices or communication networks, such as Radio Access Network (RAN), Wireless Local Area Networks (WLAN), terminals, the cloud, etc. The communication interface 53 may include an acquisition unit to implement the acquisition function.

[0110] The communication bus 54 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 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.

[0111] As an example, combine Figure 6The function of the acquisition unit 101 in the deceleration calculation device 10 is the same as Figure 7 The function of the communication interface 53 in the deceleration calculation device 10 is the same as that of the processing unit 102 in the deceleration calculation device 10. Figure 7 The function of the processor 51 in the deceleration calculation device 10 is the same as that of the storage unit 103 in the deceleration calculation device 10. Figure 7 The function of the memory 52 in is the same.

[0112] Another embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computing device, the computing device executes the deceleration calculation method shown in the above method embodiment.

[0113] In some embodiments, the disclosed methods may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or on other non-transitory media or articles of manufacture.

[0114] Figure 8 A conceptual partial view of a computer program product provided by an embodiment of the present disclosure is schematically shown, wherein the computer program product includes a computer program for executing a computer process on a computing device.

[0115] In one embodiment, the computer program product is provided using a signal bearing medium 410. The signal bearing medium 410 may include one or more program instructions, which when executed by one or more processors may provide the above-mentioned Figure 1 Thus, for example, reference to Figure 1 In the embodiment shown in , one or more features of S11-S13 can be undertaken by one or more instructions associated with the signal bearing medium 410. In addition, Figure 8 The program instructions in also describe example instructions.

[0116] In some examples, signal bearing medium 410 may include computer readable medium 411, such as, but not limited to, a hard drive, a compact disk (CD), a digital video disk (DVD), a digital tape, a memory, a read-only memory (ROM), or a random access memory (RAM), and the like.

[0117] In some implementations, signal bearing medium 410 may include computer recordable medium 412 such as, but not limited to, memory, read / write (R / W) CD, R / W DVD, and the like.

[0118] In some implementations, signal bearing medium 410 may include communication medium 413 such as, but not limited to, digital and / or analog communication media (eg, fiber optic cables, waveguides, wired communication links, wireless communication links, etc.).

[0119] Signal bearing medium 410 may be communicated by a wireless form of communication medium 413 (eg, wireless communication medium complying with IEEE 802.41 standard or other transmission protocol). The one or more program instructions may be, for example, computing device executable instructions or logic implementing instructions.

[0120] In some examples, such as for Figure 6 The described deceleration calculation device 10 may be configured to provide various operations, functions, or actions in response to one or more program instructions via the computer-readable medium 411 , the computer-recordable medium 412 , and / or the communication medium 413 .

[0121] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned 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.

[0122] In the several embodiments provided in the present disclosure, it should be understood that the disclosed 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 modules or 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 device, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0123] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0124] In addition, each functional unit in each embodiment of the present disclosure 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.

[0125] 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 readable storage medium. Based on this understanding, the technical solution of the embodiment of the present disclosure 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, which is stored in a storage medium and includes several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0126] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for calculating deceleration, It is characterized in that The invention is applied to a first vehicle including a distance measuring device, comprising: Obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance between the target vehicle and the target vehicle in a preset direction measured by the distance measuring device at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; Determining a distance change based on the lateral distance at the target moment and the lateral distance at the current moment; In the case where the distance change is less than or equal to the change rate threshold, based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the last moment, the second driving speed at the last moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the last moment, and the expected deceleration of the target vehicle at the last moment, the expected deceleration of the target vehicle at the last moment is generated; The brake is controlled to decelerate according to the desired deceleration at the current moment.

2. The deceleration calculation method according to claim 1, It is characterized in that The method further comprises: When the distance change is less than or equal to the target distance, a warning message is generated; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

3. The deceleration calculation method according to claim 1, It is characterized in that In the case where the lateral distance is less than or equal to the target distance, based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the last moment, the second driving speed at the last moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the last moment, and the expected deceleration of the target vehicle at the last moment, the expected deceleration of the target vehicle at the last moment is generated, including: Determining an actual travel distance of the target vehicle based on the first travel speed, a fourth travel speed of the target vehicle at the last moment, and an expected deceleration of the target vehicle at the last moment; Determine a required distance for brake response based on the second driving speed and brake response time at the last moment; Determining a safe distance based on a reserved safe distance and a body length of the target vehicle; Based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the braking response required distance and the avoidance distance, the expected deceleration at the current moment is generated.

4. The deceleration calculation method according to claim 3, It is characterized in that The generating the expected deceleration at the current moment based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for the braking response and the avoidance distance comprises: Substitute the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for the braking response and the avoidance distance into the deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes: Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D 1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the last moment, v q0 represents the first driving speed of the target vehicle at the current moment, v q represents the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y Indicates the distance required for braking response, D 0 Indicates the safe distance, D 0 =+S 0 , L represents the body length of the target vehicle, S 0 Indicates the reserved safety distance of the first vehicle.

5. The deceleration calculation method according to claim 4, It is characterized in that S 0 ＝0.06 z0 |。 6. The deceleration calculation method according to any one of claims 1 to 5, It is characterized in that The distance measuring device includes a laser radar.

7. A deceleration calculation device, It is characterized in that The invention is applied to a first vehicle including a distance measuring device, comprising: an acquisition unit, configured to acquire a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance between the target vehicle and the target vehicle in a preset direction measured by the distance measuring device at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; a processing unit, configured to determine a distance change amount based on the lateral distance at the target moment and the lateral distance at the current moment acquired by the acquisition unit; The processing unit is also used to generate an expected deceleration at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed acquired by the acquisition unit, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment, when the distance change is less than or equal to the change rate threshold.

8. An electronic device, It is characterized in that include: A memory and a processor, wherein the memory is used to store a computer program; and the processor is used to enable the electronic device to implement the deceleration calculation method described in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, It is characterized in that include: The computer-readable storage medium stores a computer program, and when the computer program is executed by a computing device, the computing device implements the deceleration calculation method according to any one of claims 1 to 6.

10. A vehicle comprising the deceleration calculation device according to claim 8.

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