Vehicle control method, vehicle, device and program product

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle control method, a vehicle, equipment and a program product. The method comprises the following steps: identifying whether the current environment of a first vehicle is a ghost probe environment; under the condition that the current environment is the ghost probe environment, the real-time number of second vehicles within the preset distance range of the first vehicle is obtained, and the vehicle speed of the second vehicles is smaller than a first vehicle speed threshold value; and if the real-time number of the second vehicles is larger than or equal to the vehicle number threshold value, wheel cylinders on the first vehicle are controlled to be filled with brake fluid, and the brake action for the first vehicle is executed through the wheel cylinders of the wheels. When it is recognized that the first vehicle is in the ghost probe environment, the wheel cylinders are filled with the brake fluid in advance, the longitudinal brake distance is shortened, and the vehicle safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, vehicle, equipment and program product. Background Art

[0002] At present, vehicles often encounter "ghosting" scenarios during driving, resulting in vehicle collision accidents. In the existing technology, the automatic emergency braking (AEB) function of the vehicle can take braking measures by identifying the target, thereby reducing the risk of collision. However, due to the fact that the sensors actually configured on the vehicle cannot identify the target in time, the longitudinal braking distance is insufficient and collision avoidance cannot be completed, so the incidence of collision accidents in the "ghosting" scenario is still high. Summary of the invention

[0003] Based on the defects and shortcomings of the above-mentioned prior art, the present application proposes a vehicle control method, vehicle, equipment and program product, which can pre-fill the wheel cylinder with brake fluid when it is identified that the first vehicle is in a ghost-peek environment, thereby shortening the longitudinal braking distance and improving vehicle safety.

[0004] According to a first aspect of an embodiment of the present application, a vehicle control method is provided, including: identifying whether a current environment in which a first vehicle is located is a ghost-peek environment; when the current environment is a ghost-peek environment, obtaining the real-time number of second vehicles within a preset distance range of the first vehicle, wherein the speed of the second vehicle is less than a first speed threshold; if the real-time number of the second vehicles is greater than or equal to the vehicle number threshold, controlling the wheel cylinders on the first vehicle to be filled with brake fluid, so as to perform a braking action on the first vehicle through the wheel cylinders.

[0005] According to the vehicle control method provided in the first aspect of the embodiment of the present application, when the current environment is a ghosting environment, the method further includes: controlling the speed of the first vehicle to be reduced to the first vehicle speed.

[0006] According to the vehicle control method provided in the first aspect of an embodiment of the present application, the process of determining the first vehicle speed includes: determining the minimum speed among the real-time driving speed of the second vehicle, the cruising speed of the first vehicle and a pre-set second speed as the first vehicle speed.

[0007] According to the vehicle control method provided in the first aspect of an embodiment of the present application, after controlling the speed of the first vehicle to be reduced to the first speed, it also includes: if the first vehicle has left the ghost-peek environment, controlling the speed of the first vehicle to be increased to a second speed, wherein the second speed is greater than the first speed.

[0008] According to the vehicle control method provided in the first aspect of an embodiment of the present application, the controlling of the wheel cylinder on the first vehicle to be filled with brake fluid includes: determining whether there is a braking torque at the wheel end of the first vehicle; if there is no braking torque at the wheel end, controlling the wheel cylinder on the first vehicle to be filled with brake fluid.

[0009] According to the vehicle control method provided in the first aspect of an embodiment of the present application, after controlling the wheel cylinder on the first vehicle to be filled with brake fluid, it also includes: counting the filling time after the brake fluid is filled, if the filling time is greater than a time threshold, controlling the wheel cylinder on the first vehicle to unload the brake fluid; or, re-obtaining the real-time number of second vehicles within a preset distance range, if the re-obtained real-time number is less than the vehicle number threshold, controlling the wheel cylinder on the first vehicle to unload the brake fluid.

[0010] According to the vehicle control method provided in the first aspect of an embodiment of the present application, the braking action performed on the first vehicle through the wheel cylinder includes: obtaining braking information of the first vehicle; and based on the braking information, controlling the wheel cylinder filled with the brake fluid to perform a braking action.

[0011] According to the vehicle control method provided in the first aspect of the embodiment of the present application, the identification of whether the current environment of the first vehicle is a ghost peeking environment includes: obtaining environmental perception information corresponding to the current environment of the first vehicle; if it is determined that the ghost peeking scene recognition conditions are met according to the environmental perception information, then determining that the current environment of the first vehicle is a ghost peeking environment; wherein the ghost peeking scene recognition conditions include at least any one of the following: the current environment of the first vehicle includes a traffic light intersection and / or a zebra crossing; the current environment of the first vehicle includes a target traffic sign; the total number of pedestrians and target type vehicles in the current environment of the first vehicle is greater than a quantity threshold, and the target type vehicles include two-wheeled vehicles and / or three-wheeled vehicles.

[0012] According to the vehicle control method provided in the first aspect of the embodiment of the present application, the obtaining of environmental perception information corresponding to the current environment in which the first vehicle is located includes: identifying whether the current environment in which the first vehicle is located is a suspected ghost peeking environment; and when the current environment is a suspected ghost peeking environment, obtaining environmental perception information corresponding to the current environment.

[0013] According to a second aspect of an embodiment of the present application, a vehicle is provided, the vehicle comprising a wheel cylinder; the vehicle, as the first vehicle, is controlled by the vehicle control method as described in any one of the above.

[0014] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store programs; the processor is used to implement the vehicle control method as described in the first aspect by running the program in the memory.

[0015] According to a fourth aspect of the embodiments of the present application, a computer program product is provided, comprising computer program instructions; when the computer program instructions are executed by a processor, the processor is caused to execute the vehicle control method as described in the first aspect. Optionally, the computer program may be stored in a readable storage medium of a computer device or in the cloud; the processor of the computer device reads the computer program from the readable storage medium or the cloud.

[0016] In the embodiment of the present application, it is identified whether the current environment of the first vehicle is a ghost peeking environment; if the current environment is a ghost peeking environment, the real-time number of second vehicles within the preset distance range of the first vehicle is obtained, wherein the speed of the second vehicle is less than the first speed threshold; if the real-time number of the second vehicle is greater than or equal to the vehicle number threshold, the wheel cylinder on the first vehicle is controlled to be filled with brake fluid, so as to perform a braking action on the first vehicle through the wheel cylinder. When the first vehicle is in a ghost peeking environment, if the real-time number of the second vehicle is greater than or equal to the vehicle number threshold, indicating that the possibility of a ghost peeking event at this time is very high, the wheel cylinder on the first vehicle is filled with brake fluid in advance to avoid filling brake fluid after the braking action is passively started when a ghost peeking event occurs, advance the timing of filling brake fluid, reduce the braking time when the first vehicle performs a braking action when a ghost peeking event actually occurs, shorten the longitudinal braking distance, thereby reducing the accident rate and improving vehicle safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application 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, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0018] Figure 1 One of the flow charts of a vehicle control method provided in an embodiment of the present application;

[0019] Figure 2 A second flow chart of a vehicle control method provided in an embodiment of the present application;

[0020] Figure 3 A block diagram of a vehicle control device provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] Application Overview

[0024] Ghosting incidents are a common traffic accident, which refers to traffic accidents caused by the driver's blind spot not being able to see pedestrians or obstacles in front of the vehicle when turning or changing lanes. At present, in order to reduce the risk of vehicle collision, vehicles are usually equipped with automatic emergency braking (Automatic Emergency Braking, AEB) function. The vehicle uses radar and cameras to monitor the situation of vehicles and pedestrians in front. If a potential collision risk is detected, the system will take corresponding warning and braking measures to avoid a collision or reduce the degree of collision damage. However, in the case of insufficient longitudinal braking distance, automatic emergency braking still cannot completely avoid the occurrence of ghosting incidents.

[0025] Exemplary Methods

[0026] Based on the above, the present application provides a vehicle control method for reducing the risk of vehicle collision and improving vehicle safety. The vehicle control method can be implemented in any device with data processing function, such as a processor configured in the vehicle, a remote server, an independent processing device, etc., as long as the device can interact with the first vehicle for data and realize the control of the first vehicle. The vehicle control method is implemented in any of the above devices in the form of a software algorithm.

[0027] In one embodiment, if Figure 1 As shown, the process steps for implementing the vehicle control method include:

[0028] Step 101, identifying whether the current environment of the first vehicle is a ghost environment.

[0029] In this embodiment, the first vehicle refers to a vehicle that needs to be controlled. In this embodiment, the first vehicle refers to a vehicle that needs to be controlled in a ghost peeking environment. During the driving process, the first vehicle monitors the current environment in real time and identifies in real time whether the first vehicle has entered the ghost peeking environment. The current environment of the first vehicle can be set to a certain geographical range including the current position of the first vehicle according to actual conditions, for example, within a range of 10 meters around the first vehicle as the center. The ghost peeking environment refers to an environment where a ghost peeking incident may occur, and the ghost peeking environment can be determined according to actual conditions and needs. For example, the ghost peeking environment can be an environment at a traffic light intersection on a city road, near a school, or around a large number of pedestrians. The process of identifying the ghost peeking environment can be obtained based on the environmental perception information obtained by the perception system configured on the first vehicle, and can also be obtained in combination with the environmental information obtained in other forms such as the map information of the current environment of the first vehicle.

[0030] Step 102, when the current environment is a ghost environment, obtain the real-time number of second vehicles within a preset distance range of the first vehicle, wherein the speed of the second vehicles is less than the first speed threshold.

[0031] In this embodiment, after the first vehicle enters the ghost peeking environment, a ghost peeking event does not necessarily occur, but there is a certain possibility of a ghost peeking event. At this time, the real-time number of second vehicles whose speed is less than the first speed threshold within the preset distance range of the first vehicle is further used to characterize the possibility of the ghost peeking event. The first speed threshold is usually set to a smaller speed value, then the speed of the second vehicle is low or zero, that is to say, the second vehicle is a vehicle with a slow speed or stationary in the ghost peeking environment. The more second vehicles that are traveling at a low speed or stationary within the preset distance range, the greater the possibility of a ghost peeking event. The preset distance range can be pre-set according to actual conditions and needs, for example, a range within 5 meters around the first vehicle as the center, and another example, a range within 5 meters in front of the driving direction of the first vehicle.

[0032] Step 103: If the real-time number of the second vehicles is greater than or equal to the vehicle number threshold, the wheel cylinders on the first vehicle are controlled to be filled with brake fluid so as to perform a braking action on the first vehicle through the wheel cylinders.

[0033] In this embodiment, if the real-time number of the second vehicle is greater than or equal to the vehicle number threshold within the preset distance range, it indicates that there are many vehicles driving at low speed or stationary in the ghost peeking environment. In this case, the possibility of the ghost peeking event is greatly increased. At this time, the wheel cylinder on the first vehicle is controlled to be filled with brake fluid. It should be noted that the vehicle number threshold is pre-calibrated according to the actual situation and quantity. For example, the vehicle number threshold can be set to 1 or 3. When the vehicle number threshold is set to 1, there is 1 low-speed vehicle or stationary vehicle in the ghost peeking environment, and the wheel cylinder of the first vehicle is immediately filled with brake fluid; when the vehicle number threshold is set to 3, there are 3 low-speed vehicles or stationary vehicles in the ghost peeking environment, and the wheel cylinder of the first vehicle is filled with brake fluid; that is, the larger the value of the vehicle number threshold is set, the higher the sensitivity of the brake fluid filling action. Further, the preset multiple ghost peeking environments can be pre-classified. The higher the level of the ghost peeking environment, the larger the value of the vehicle number threshold corresponding to the ghost peeking environment is set, and the higher the sensitivity of the brake fluid filling action, thereby improving the flexibility of filling brake fluid.

[0034] In this embodiment, the first vehicle performs a braking action through a wheel cylinder. When the wheel cylinder performs a braking action, it is necessary to first fill the brake fluid, and then convert the hydraulic energy of the brake fluid into mechanical energy to complete the braking action. However, it takes a certain amount of time to fill the brake fluid. When a ghost event occurs, the process of filling the brake fluid will cause the longitudinal braking distance of the first vehicle to be lengthened, and the first vehicle will not brake in time, which will increase the risk of collision. Therefore, if the real-time number of the second vehicle is greater than or equal to the vehicle number threshold, and the possibility of a ghost event is very high, the brake fluid is filled into the wheel cylinder in advance. If the ghost event does occur, the braking action can be performed directly by the wheel cylinder filled with brake fluid based on the braking information, without the need to fill the brake fluid first after obtaining the braking information, and then control the wheel cylinder to perform the braking action, thereby shortening the longitudinal braking distance of the first vehicle and reducing the risk of vehicle collision.

[0035] In one embodiment, identifying whether the current environment of the first vehicle is a ghost peeking environment includes: obtaining environmental perception information corresponding to the current environment of the first vehicle; if it is determined that the ghost peeking scene recognition conditions are met based on the environmental perception information, then determining that the current environment of the first vehicle is a ghost peeking environment; wherein the ghost peeking scene recognition conditions include at least one of the following: the current environment of the first vehicle includes a traffic light intersection and / or a zebra crossing; the current environment of the first vehicle includes a target traffic sign; the total number of pedestrians and target type vehicles in the current environment of the first vehicle is greater than a quantity threshold, and the target type vehicles include two-wheeled vehicles and / or three-wheeled vehicles.

[0036] In this embodiment, when identifying a ghost peeking environment, it is determined whether the current environment meets the ghost peeking identification conditions based on the environmental perception information corresponding to the current environment of the first vehicle. Among them, the environmental perception information can be perceived by one or more perception devices such as cameras and radars configured on the first vehicle. It is determined whether the environmental perception information meets the ghost peeking scene recognition conditions. If so, it is determined that the current environment of the first vehicle is a ghost peeking environment. If not, the first vehicle is driving normally, and the environmental perception information is continuously updated during the driving of the first vehicle, and it is continuously determined whether the continuously updated environmental perception information meets the ghost peeking scene recognition conditions until the first vehicle stops running or the latest environmental perception information meets the ghost peeking scene recognition conditions. Thereby, continuous monitoring is formed during the driving of the first vehicle to improve the driving safety of the first vehicle.

[0037] In this embodiment, the ghost peeking scene recognition condition is set according to the actual situation and needs, and the ghost peeking scene recognition condition includes at least one of the following: the current environment of the first vehicle includes a traffic light intersection and / or a zebra crossing; the current environment of the first vehicle includes a target traffic sign; the total number of pedestrians and target type vehicles in the current environment of the first vehicle is greater than the quantity threshold, and the target type vehicles include two-wheeled vehicles and / or three-wheeled vehicles. For the current environment of the first vehicle including a traffic light intersection and / or a zebra crossing, some intersections include traffic lights and / or zebra crossings, indicating that the current environment of the first vehicle is more likely to have pedestrians passing through, and the possibility of ghost peeking events occurring is greater, then in this case the current environment belongs to the ghost peeking environment. The current environment of the first vehicle includes a target traffic sign, and the target traffic sign includes a sign such as a school ahead, a crosswalk sign, a pedestrian attention sign, and any other one or more signs about pedestrians. If such signs exist in the current environment, it also indicates that the possibility of pedestrians passing through the environment is greater, and the possibility of ghost peeking events occurring is greater, then in this case the current environment belongs to the ghost peeking environment. The total number of pedestrians and target type vehicles in the current environment where the first vehicle is located is greater than the quantity threshold, the target type vehicles include two-wheeled vehicles and / or three-wheeled vehicles, two-wheeled vehicles include bicycles, electric vehicles, motorcycles and other types of two-wheeled vehicles, three-wheeled vehicles also include three-wheeled automatic vehicles, three-wheeled electric vehicles and other types of three-wheeled vehicles, the traffic rules corresponding to pedestrians, two-wheeled vehicles and three-wheeled vehicles are different from the traffic rules corresponding to the first vehicle, different traffic rules will lead to the risk of ghost peeking incidents, especially in the current environment, there are a large number of pedestrians, two-wheeled vehicles and three-wheeled vehicles, the risk of ghost peeking incidents is relatively high, in this case the current environment is a ghost peeking environment.

[0038] In one embodiment, obtaining environmental perception information corresponding to the current environment of the first vehicle includes: identifying whether the current environment of the first vehicle is a suspected ghost peeking environment; if the current environment is a suspected ghost peeking environment, obtaining environmental perception information corresponding to the current environment.

[0039] In this embodiment, before the first vehicle obtains the environmental perception information corresponding to the current environment during driving, it first identifies whether the current environment is a suspected ghost peeking environment. A suspected ghost peeking environment is an environment where a ghost peeking event may occur, but the possibility of a ghost peeking event occurring in the suspected ghost peeking environment is less than the possibility of a ghost peeking event occurring in the ghost peeking environment; or, the environmental range of the suspected ghost peeking environment may be larger than the environmental range of the ghost peeking environment. First, identify whether the current environment of the first vehicle is a suspected ghost peeking environment. If so, obtain the environmental perception information corresponding to the current environment. If not, the first vehicle continues to drive until the first vehicle stops running or the current environment of the first vehicle is newly identified as a suspected ghost peeking environment. Thereby, continuous monitoring is formed during the driving process of the first vehicle, and the driving safety of the first vehicle is improved. At the same time, through the coarse-grained environmental recognition of the suspected ghost peeking environment, the amount of data obtained for the environmental perception information is reduced, the amount of data processing for the fine-grained environmental recognition of the ghost peeking environment is reduced, and the pertinence of environmental recognition and the efficiency of recognition processing are improved.

[0040] In this embodiment, identifying whether the current environment of the first vehicle is a suspected ghost peeking environment includes: judging whether the current environment of the first vehicle is a suspected ghost peeking environment based on vehicle-mounted map information, cloud-loaded map information, road perception information, rural roads and other road information. When the environment passed by the first vehicle during driving may be any one of urban roads, highways, urban elevated expressways and other environments. A suspected ghost peeking environment refers to an environment where the probability of a ghost peeking event is relatively high. The suspected ghost peeking environment can be set according to information such as pedestrian flow, traffic rules, and the incidence rate of ghost peeking events. For example, the suspected ghost peeking environment includes urban roads, and the highway setting is a non-suspected ghost peeking environment. When the first vehicle is driving in a suspected ghost peeking environment such as an urban road, the environmental perception information corresponding to the current environment is obtained. When the first vehicle is driving in a non-suspected ghost peeking environment such as a highway or an urban elevated expressway where the probability of a ghost peeking event is very small, the first vehicle can drive normally.

[0041] In one embodiment, when the current environment of the first vehicle is a preset ghost-peek environment, the vehicle control method provided in the present application also includes: controlling the speed of the first vehicle to decrease to the first vehicle speed.

[0042] In this embodiment, when it has been confirmed that the first vehicle has entered the ghost peeking environment, but the brake fluid has not been filled in the wheel cylinder of the first vehicle, if the real-time speed of the first vehicle is large, the collision risk will increase. Therefore, the first vehicle can be controlled to slow down first. Optionally, the first speed is a pre-set speed. Generally speaking, the first speed is set to a safe speed with a smaller speed value, for example, 30 kilometers per hour, 15 kilometers per hour, etc. The smaller the value of the first speed setting, the smaller the collision risk. Furthermore, the preset multiple ghost peeking environments can also be graded in advance. The higher the level of the ghost peeking environment, the smaller the value of the first speed setting corresponding to the ghost peeking environment, which can further reduce the collision risk of the first vehicle.

[0043] In one embodiment, the process of obtaining the first vehicle speed is as follows: The process of determining the first vehicle speed includes: determining the minimum speed among the real-time driving speed of the second vehicle, the cruising speed of the first vehicle and the pre-set second vehicle speed as the first vehicle speed.

[0044] In this embodiment, the first vehicle speed can be determined in real time according to the current environment of the first vehicle. When there is a second vehicle within the preset distance range of the first vehicle, the speed of the first vehicle is ensured not to exceed the real-time driving speed of the second vehicle; if the first vehicle includes an automatic cruise function, the speed of the first vehicle is controlled not to exceed the cruise speed; and the second vehicle speed can also be pre-set, and the second vehicle speed can be calibrated or updated according to actual conditions and needs, thereby improving the flexibility of adjusting the first vehicle speed.

[0045] In one embodiment, after controlling the speed of the first vehicle to decrease to the first speed, the method further includes: if the first vehicle has left the ghost-peek environment, controlling the speed of the first vehicle to increase to a second speed, wherein the second speed is greater than the first speed.

[0046] In this embodiment, after determining that the first vehicle has entered the ghost peeking scene, the speed of the first vehicle is controlled to be reduced to the first speed. If the first vehicle continues to travel and it is determined that the first vehicle has left the ghost peeking environment, the speed of the first vehicle is controlled to be increased to the second speed, and the first vehicle resumes normal travel at the second speed. In the process of controlling the speed increase of the first vehicle, the speed can be gradually increased from the real-time speed to the second speed according to a pre-set speed increase gradient, thereby improving the safety of the speed-up process of the first vehicle. Among them, the speed increase gradient can be a constant gradient, a stage gradient, and any other gradient set according to actual conditions and needs. Optionally, the second speed can be a speed value pre-calibrated according to actual conditions and needs; optionally, when the automatic cruise function of the first vehicle is turned on, the second speed can also be the target cruising speed, and the speed increase gradient can be a gradient under automatic cruise conditions.

[0047] In one embodiment, controlling the wheel cylinders on the first vehicle to be filled with brake fluid includes: determining whether there is a braking torque at the wheel end of the first vehicle; if there is no braking torque at the wheel end, controlling the wheel cylinders on the first vehicle to be filled with brake fluid.

[0048] In this embodiment, when the real-time number of the second vehicle is greater than or equal to the vehicle number threshold, it is first determined whether there is braking torque at the wheel end of the first vehicle. If there is braking torque at the wheel end of the first vehicle, it indicates that the driver has actively identified the risk in the current environment and has taken braking measures. Based on the driver's active operation behavior, the first vehicle is controlled to perform braking actions according to the braking torque provided by the active operation behavior, and there is no need to fill brake fluid at this time. If the current environment of the first vehicle is a ghost peeking environment, the possibility of a ghost peeking event is high, and there is no braking torque at the wheel end of the first vehicle, indicating that the driver is not aware of the risk, the wheel cylinder is automatically filled with brake fluid to achieve the role of assisted driving and reduce the collision risk of the first vehicle.

[0049] In one embodiment, after controlling the wheel cylinder on the first vehicle to be filled with brake fluid, it also includes: counting the filling time after the brake fluid is filled, if the filling time is greater than a time threshold, controlling the wheel cylinder on the first vehicle to unload the brake fluid; or, re-obtaining the real-time number of second vehicles within a preset distance range, if the re-obtained real-time number is less than a vehicle number threshold, controlling the wheel cylinder on the first vehicle to unload the brake fluid.

[0050] In this embodiment, according to the vehicle structure, the time for filling the wheel cylinder with brake fluid should not be too long, and a time threshold is pre-set. When the filling time after the brake fluid is filled is longer than the time threshold, the brake fluid in the wheel cylinder is automatically unloaded to reduce the risk of damage to the wheel cylinder. After the wheel cylinder on the first vehicle is controlled to be filled with brake fluid, if the possibility of a ghost peeking event occurring in the first vehicle is reduced, for example, a vehicle that affects the field of vision leaves, etc., after the wheel cylinder on the first vehicle is controlled to be filled with brake fluid, the real-time number of the second vehicle within the preset distance range is re-acquired. If the re-acquired real-time number is less than the vehicle number threshold, it indicates that the possibility of a ghost peeking event has decreased, and the wheel cylinder on the first vehicle is controlled to unload the brake fluid to restore the wheel cylinder to a normal state.

[0051] In one embodiment, performing a braking action on a first vehicle through a wheel cylinder includes: acquiring braking information of the first vehicle; and controlling the wheel cylinder filled with brake fluid to perform a braking action based on the braking information.

[0052] In this embodiment, after the wheel cylinder is filled with brake fluid, if an obstacle such as a pedestrian suddenly appears through any method such as automatic perception or active observation by the driver, and emergency braking is required, the wheel cylinder filled with brake fluid will perform a braking action to brake the first vehicle in time to avoid a collision. The braking information that starts the braking action can be information generated by the driver actively triggering the braking system, or information automatically triggered by auxiliary driving functions such as automatic emergency braking. Regardless of how the braking information is triggered, since the wheel cylinder has completed the filling of brake fluid, the longitudinal braking distance of the first vehicle will be shortened, thereby reducing the collision risk of the first vehicle and reducing the occurrence of ghost head-on events.

[0053] In a specific embodiment, the controller configured for the first vehicle includes an assisted driving controller and an AEB system, the assisted driving controller includes a target screening module, a planning module and a control module, and the AEB system includes a brake fluid filling module (also called a Pre-fill module).

[0054] like Figure 2 As shown, the specific process of implementing the vehicle control method is as follows:

[0055] Step 201, the target screening module determines whether the current environment of the first vehicle is a ghost environment, if not, execute step 201 and continue to perform environmental detection; if yes, execute step 202;

[0056] Step 202, the auxiliary driving controller enters a standby waiting state (also called a Standby-wait state);

[0057] Step 203: the planning module uses the minimum speed among the real-time speed of the second vehicle, the cruising speed of the first vehicle and the preset second speed as the first speed, calculates the target deceleration based on the first speed and the current speed of the first vehicle, and sends the target deceleration to the control module;

[0058] Step 204 , the control module requests the driving system or the braking system of the first vehicle to reduce the speed of the first vehicle to a first vehicle speed based on the target deceleration;

[0059] Step 205, the target screening module obtains the real-time number of the second vehicle within the preset distance range, and determines whether the real-time number is less than the vehicle number threshold. If so, execute step 215; if not, execute step 206;

[0060] Step 206, the auxiliary driving controller enters a hot standby state (also called a Standby-active state);

[0061] Step 207, the control module determines whether there is a braking torque at the wheel end of the first vehicle, if so, executes step 214, and performs a braking action based on the braking torque, if not, executes step 208;

[0062] Step 208, the control module calls the brake fluid filling module to fill the brake fluid into the wheel cylinder of the first vehicle;

[0063] Step 209, the control module determines whether there is braking information, if so, executes step 210, if not, executes steps 211 and 212;

[0064] Step 210, the brake module controls the wheel cylinder filled with brake fluid to perform a braking action based on the brake information;

[0065] Step 211, the control module counts the filling time after the brake fluid is filled, and determines whether the filling time is greater than the time threshold. If so, step 213 is executed; if not, the filling time is continuously counted;

[0066] Step 212, the target screening module re-acquires the real-time number of the second vehicle within the preset distance range, and determines whether the re-acquired real-time number is less than the vehicle number threshold, if so, executing step 213; if not, continuing to acquire the real-time number of the second vehicle;

[0067] Step 213, the control module calls the brake fluid filling module to remove the brake fluid;

[0068] Step 214, the auxiliary driving controller exits the hot standby state;

[0069] Step 215, the target screening module determines whether the first vehicle is out of the ghost environment, if not, execute step 205, if yes, execute step 216;

[0070] In step 216 , the auxiliary driving controller exits the standby waiting state, and the control module requests the driving system of the first vehicle to increase the speed of the first vehicle to the target cruising speed, and step 201 is executed.

[0071] The above process is cyclically implemented after the first vehicle is started, and is stopped after the first vehicle is stopped or the stop control information of the process is obtained.

[0072] In the embodiment of the present application, when the current environment of the first vehicle is a ghosting environment, the real-time number of second vehicles within the preset distance range is obtained, wherein the speed of the second vehicle is less than the first speed threshold; if the real-time number of the second vehicle is greater than or equal to the vehicle number threshold, the wheel cylinder on the first vehicle is controlled to be filled with brake fluid, so as to perform a braking action on the first vehicle through the wheel cylinder. When the first vehicle is in a ghosting environment, if the real-time number of the second vehicle is greater than or equal to the vehicle number threshold, indicating that the possibility of a ghosting event is very high at this time, the wheel cylinder on the first vehicle is filled with brake fluid in advance to avoid filling brake fluid after the braking action is passively started when a ghosting event occurs, advance the timing of filling brake fluid, reduce the braking time when the first vehicle performs a braking action when a ghosting event actually occurs, shorten the longitudinal braking distance, thereby reducing the accident rate and improving vehicle safety.

[0073] Example Vehicles

[0074] Correspondingly, an embodiment of the present application further provides a vehicle, the vehicle including a wheel cylinder; the vehicle, as a first vehicle, is controlled by a vehicle control method provided in any one of the above embodiments.

[0075] The vehicle provided in this embodiment belongs to the same application concept as the vehicle control method provided in the above embodiment of this application, and can apply the vehicle control method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle control method provided in the above embodiment of this application, and will not be repeated here.

[0076] Exemplary Devices

[0077] Accordingly, the embodiment of the present application also provides a vehicle control device, such as Figure 3 As shown, the device may include:

[0078] An identification unit 301 is used to identify whether the current environment of the first vehicle is a ghost environment;

[0079] The acquisition unit 302 is used to acquire the real-time number of second vehicles within a preset distance range of the first vehicle when the current environment is a ghost-peek environment, wherein the speed of the second vehicle is less than a first speed threshold;

[0080] The control unit 303 is configured to control the wheel cylinders on the first vehicle to be filled with brake fluid if the real-time number of the second vehicles is greater than or equal to the vehicle number threshold, so as to perform a braking action on the first vehicle through the wheel cylinders.

[0081] The vehicle control device provided in this embodiment belongs to the same application concept as the vehicle control method provided in the above embodiments of this application, and can execute the vehicle control method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For the technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle control method provided in the above embodiments of this application, and will not be repeated here.

[0082] Exemplary Electronic Devices

[0083] The present application also provides an electronic device, such as Figure 4 As shown, the electronic device includes: a memory 400 and a processor 401.

[0084] The memory 400 is connected to the processor 401 and is used to store programs.

[0085] The processor 401 is used to implement the vehicle control method in the above embodiment by running the program stored in the memory 400.

[0086] Specifically, the electronic device may further include: a communication interface 402 , an input device 403 , an output device 404 and a bus 405 .

[0087] The processor 401, the memory 400, the communication interface 402, the input device 403 and the output device 404 are connected to each other via a bus.

[0088] Bus 405 may include a pathway for transferring information between various components of the computer system.

[0089] Processor 401 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0090] The processor 401 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0091] The memory 400 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 400 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0092] The input device 403 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0093] Output device 404 may include a device that allows information to be output to a user, such as a display screen, a printer, a speaker, etc.

[0094] The communication interface 402 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0095] The processor 401 executes the program stored in the memory 400 and calls other devices, which can be used to implement the various steps of the vehicle control method provided in the above embodiments of the present application.

[0096] Exemplary computer program products and storage media

[0097] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the vehicle control method described in the embodiment of the present application.

[0098] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK).

[0099] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0100] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the vehicle control method described in the embodiment of the present application.

[0101] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0102] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0103] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0104] The modules and sub-modules in the devices and terminals provided in the embodiments of the present application can be merged, divided and deleted according to actual needs.

[0105] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, 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 modules, which can be electrical, mechanical or other forms.

[0106] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0108] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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 this application.

[0109] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0110] Finally, it should be noted that, in this article, relational terms such as first and second, etc. 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 presence of other identical elements in the process, method, article or device including the elements.

[0111] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. 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 application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: include: Identify whether the current environment of the first vehicle is a ghost environment; When the current environment is a ghost environment, obtaining the real-time number of second vehicles within a preset distance range of the first vehicle, wherein the speed of the second vehicle is less than a first speed threshold; If the real-time number of the second vehicles is greater than or equal to the vehicle number threshold, the wheel cylinders on the first vehicle are controlled to be filled with brake fluid so as to perform a braking action on the first vehicle through the wheel cylinders.

2. The vehicle control method according to claim 1, characterized in that: In the case where the current environment is a ghosting environment, the method further includes: The vehicle speed of the first vehicle is controlled to decrease to a first vehicle speed.

3. The vehicle control method according to claim 2, characterized in that: The process of determining the first vehicle speed includes: The minimum vehicle speed among the real-time driving speed of the second vehicle, the cruising speed of the first vehicle and a preset second vehicle speed is determined as the first vehicle speed.

4. The vehicle control method according to claim 2, characterized in that: After controlling the speed of the first vehicle to decrease to the first vehicle speed, the method further includes: If the first vehicle has left the ghost-peek environment, the speed of the first vehicle is controlled to increase to a second speed, wherein the second speed is greater than the first speed.

5. The vehicle control method according to claim 1, characterized in that: The controlling the wheel cylinders on the first vehicle to be filled with brake fluid comprises: determining whether there is a braking torque at the wheel end of the first vehicle; If the wheel end does not have the braking torque, the wheel cylinder on the first vehicle is controlled to be filled with brake fluid.

6. The vehicle control method according to claim 1, characterized in that: After controlling the wheel cylinders on the first vehicle to be filled with brake fluid, the method further includes: counting the filling time after the brake fluid is filled, and if the filling time is greater than a time threshold, controlling the wheel cylinder on the first vehicle to discharge the brake fluid; Alternatively, the real-time number of the second vehicles within the preset distance range is re-acquired, and if the re-acquired real-time number is less than the vehicle number threshold, the wheel cylinder on the first vehicle is controlled to remove the brake fluid.

7. The vehicle control method according to any one of claims 1 to 6, characterized in that: The performing a braking action on the first vehicle by using the wheel cylinder includes: obtaining braking information of the first vehicle; Based on the braking information, the wheel cylinder filled with the brake fluid is controlled to perform a braking action.

8. The vehicle control method according to any one of claims 1 to 6, characterized in that: The identifying whether the current environment of the first vehicle is a ghost environment includes: Acquire environmental perception information corresponding to the current environment in which the first vehicle is located; If it is determined according to the environmental perception information that the ghost peeking scene recognition condition is met, then the current environment of the first vehicle is determined to be a ghost peeking environment; wherein the ghost peeking scene recognition condition includes at least one of the following: The current environment where the first vehicle is located includes a traffic light intersection and / or a zebra crossing; The current environment of the first vehicle includes a target traffic sign; The total number of pedestrians and target type vehicles in the current environment where the first vehicle is located is greater than a quantity threshold, and the target type vehicles include two-wheeled vehicles and / or three-wheeled vehicles.

9. The vehicle control method according to claim 8, characterized in that: The acquiring of environmental perception information corresponding to the current environment in which the first vehicle is located includes: Identify whether the current environment of the first vehicle is a suspected ghosting environment; When the current environment is a suspected ghost environment, environmental perception information corresponding to the current environment is obtained.

10. A vehicle, characterized in that: The vehicle includes a wheel cylinder; The vehicle, as the first vehicle, is controlled by the vehicle control method according to any one of claims 1 to 9.

11. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the vehicle control method as described in any one of claims 1 to 9 by running the program in the memory.

12. A computer program product, characterized in that includes computer program instructions; When the computer program instructions are executed by a processor, the processor is caused to execute the vehicle control method according to any one of claims 1 to 9.

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