Vehicle following distance adjusting method and device, vehicle-mounted computing equipment and vehicle

Abstract

The invention relates to the technical field of intelligent driving, provides a vehicle following distance adjusting method and device, vehicle-mounted computing equipment and a vehicle, and can adaptively adjust the vehicle following distance according to the specific condition of a driving environment. According to the method, the front target contour integrity and the front target contour definition are obtained according to the forward image of the vehicle; according to the front target contour integrity and the front target contour definition, the target visual distance grade of the vehicle is obtained; determining a target car following gear to which the target visual distance grade belongs; and according to the target car following gear and the current car following gear of the car, the current car following distance of the car is adjusted.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, vehicle-mounted computing equipment, vehicle, storage medium and computer program product for adjusting a following distance. Background Art

[0002] When the vehicle is in intelligent driving mode, the vehicle can automatically determine the following distance relative to the vehicle in front with the help of the on-board vision system, and follow the vehicle at this following distance.

[0003] In driving environments with poor visibility such as darkness, heavy rain, fog, and strong sandstorms, traditional solutions are difficult to adaptively adjust the following distance according to the specific conditions of the driving environment, which poses certain safety risks. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, on-board computing equipment, vehicle, storage medium and computer program product for adjusting the following distance to address the above technical problems.

[0005] The present application provides a method for adjusting a following distance, the method comprising:

[0006] According to the forward image of the vehicle, the completeness and clarity of the contour of the front target are obtained;

[0007] According to the front target outline completeness and the front target outline clarity, the target visibility distance level of the vehicle is obtained;

[0008] Determine the target following gear position to which the target visual distance level belongs;

[0009] The current following distance of the vehicle is adjusted according to the target following gear position and the current following gear position of the vehicle.

[0010] In one embodiment, adjusting the current following distance of the vehicle according to the target following gear position and the current following gear position of the vehicle includes:

[0011] If the target following gear is higher than the current following gear of the vehicle, the current following distance of the vehicle is increased; the increased current following distance is within the following distance range corresponding to the target following gear.

[0012] In one embodiment, adjusting the current following distance of the vehicle according to the target following gear position and the current following gear position of the vehicle includes:

[0013] If the target following gear position is equal to the current following gear position, obtaining a visual distance level set corresponding to the target following gear position;

[0014] Determining the level of the target visual distance level within the gear according to the visual distance level set and the target visual distance level;

[0015] If the gear level is not the lowest level within the gear, the current following distance of the vehicle is increased; the increased current following distance is within the following distance range corresponding to the current following gear.

[0016] In one embodiment, if the gear level is not the lowest level in the gear, increasing the current following distance of the vehicle includes:

[0017] If the gear level is not the lowest level in the gear, a first increase ratio is determined according to the gear level; the higher the gear level is, the greater the first increase ratio is;

[0018] According to the first increase ratio, the current following distance of the vehicle is increased.

[0019] In one embodiment, increasing the current following distance of the vehicle includes:

[0020] Determining a second increase ratio according to current environment data of the vehicle; the current environment data indicates that the more the current environment interferes with the vehicle-mounted vision of the vehicle, the greater the second increase ratio;

[0021] According to the second increase ratio, the current following distance of the vehicle is increased.

[0022] In one embodiment, the target visibility distance level of the vehicle is obtained according to the front target outline completeness and the front target outline clarity, including:

[0023] Obtaining a first visual distance level according to the completeness of the outline of the target ahead;

[0024] According to the outline clarity of the target ahead, a second visual distance level is obtained;

[0025] A target visibility distance level of the vehicle is obtained according to the first visibility distance level and the second visibility distance level.

[0026] In one embodiment, obtaining a target visibility level of the vehicle according to the first visibility level and the second visibility level includes:

[0027] Obtaining a first confidence level according to the confidence level of the completeness of the contour of the forward target;

[0028] Obtaining a second confidence level according to the confidence level of the front target contour clarity;

[0029] Determining a first weight and a second weight according to a relative size between the first confidence level and the second confidence level;

[0030] The first visibility distance level and the second visibility distance level are weightedly summed according to the first weight and the second weight to obtain a target visibility distance level of the vehicle.

[0031] The present application provides a device for adjusting a following distance, the device comprising:

[0032] The contour processing module is used to obtain the completeness and clarity of the contour of the front target according to the front image of the vehicle;

[0033] A visibility distance level determination module, used to obtain the target visibility distance level of the vehicle according to the front target outline completeness and the front target outline clarity;

[0034] A target following gear position determination module is used to determine the target following gear position to which the target visual distance level belongs;

[0035] The following distance adjustment module is used to adjust the current following distance of the vehicle according to the target following gear position and the current following gear position of the vehicle.

[0036] The present application provides an in-vehicle computing device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the above method.

[0037] The present application provides a vehicle, wherein the vehicle includes an on-board computing device as described in the above embodiment.

[0038] The present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to execute the above method.

[0039] The present application provides a computer program product, on which a computer program is stored, and the computer program is executed by a processor to perform the above method.

[0040] In the above-mentioned following distance adjustment method, device, on-board computing device, vehicle, storage medium and computer program product, after obtaining the forward image of the vehicle, the completeness of the front target contour and the clarity of the front target contour can be obtained according to the forward image; the completeness of the front target contour and the clarity of the front target contour in the forward image can reflect the state of the visible distance of the vehicle in the current driving environment. Therefore, the present application uses the completeness of the front target contour and the clarity of the front target contour in the forward image to obtain the target visible distance level of the vehicle, and adjusts the current following distance of the vehicle according to the current following gear of the vehicle and the target following gear to which the target visible distance level belongs, so as to realize adaptive adjustment of the current following distance according to the specific conditions of the driving environment and reduce safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of a flow chart of a method for adjusting a following vehicle distance in one embodiment;

[0043] Figure 2 A schematic diagram of a process for determining the completeness of a front target contour in one embodiment;

[0044] Figure 3 A schematic diagram of a process for determining the contour clarity of a forward target in one embodiment;

[0045] Figure 4 is a structural block diagram of a device for adjusting the following vehicle distance in one embodiment;

[0046] Figure 5 FIG. 4 is a diagram showing the internal structure of an in-vehicle computing device in one embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] The method for adjusting the following distance provided by the present application can be executed by an on-board computing device. The on-board computing device is a device with computing capabilities installed on a vehicle. When a user is driving a vehicle, the intelligent driving mode can be turned on. In the intelligent driving mode, the current following distance can be adaptively adjusted with the method provided by the present application, where the vehicle can be referred to as the vehicle itself.

[0049] The method may include Figure 1 The steps shown are:

[0050] Step S101, obtaining the completeness and clarity of the front target contour according to the front image of the vehicle.

[0051] During the driving process of the vehicle, the vehicle-mounted visual system of the vehicle can collect images of the front field of view, which can be called forward images. After collecting at least one frame of forward images, the forward images can be analyzed for contours to obtain the contour integrity and contour clarity of the forward target. The forward targets include but are not limited to the vehicle in front of the vehicle (which can be referred to as the front vehicle) and road signs.

[0052] The specific process of analyzing the contour of the forward image to obtain the completeness of the contour of the forward target may include: Figure 2 The steps shown are as follows: step S201, target positioning on the forward image, and determining the forward target of the forward image; step S202, converting the forward image from a color image to a black-and-white binary image; step S203, determining the minimum envelope of the forward target in the binary image, which may be discontinuous or missing due to blurred vision; step S204, determining the number of pixels of the minimum envelope as the first number of pixels; step S205, filling the minimum envelope to obtain a minimum envelope without missing pixels; step S206, determining the number of pixels of the minimum envelope without missing pixels as the second number of pixels; step S207, determining the ratio of the first number of pixels to the second number of pixels as the envelope pixel ratio of the forward image; step S208, obtaining the contour completeness of the forward target according to the envelope pixel ratio.

[0053] In some scenarios, in order to ensure the accuracy of the assessment of the completeness of the contour of the target ahead, multiple frames of forward images may be processed according to the above processing method to obtain the envelope pixel ratios of the multiple frames of forward images, and the envelope pixel ratios of the multiple frames of forward images may be counted to obtain the completeness of the contour of the target ahead. The statistical method may include but is not limited to averaging and other methods.

[0054] The specific process of analyzing the contour of the forward image and obtaining the contour clarity of the forward target may include: Figure 3 The steps shown are: step S301, target positioning for the forward image, and determining the forward target of the forward image; step S302, converting the forward image from a color image to a black-and-white binary image; step S303, determining the outline of the forward target in the binary image, and using the outline as the forward target outline; step S304, obtaining the grayscale gradient value of each point on the forward target outline; step S305, averaging the grayscale gradient value of each point to obtain the clarity of the forward target outline.

[0055] When obtaining the grayscale gradient value of each point on the target contour, a grayscale gradient operator may be used for processing, and the grayscale gradient operator includes but is not limited to: Roberts gradient operator, Sobel gradient operator, Prewitt gradient operator, Laplacian gradient operator.

[0056] Step S102, obtaining the target visibility distance level of the vehicle according to the completeness of the front target outline and the clarity of the front target outline.

[0057] Multiple visibility distance levels can be pre-calibrated, and the number of visibility distance levels can be an integer multiple of the number of following gears; for example, if there are 5 following gears, 5 visibility distance levels, 10 visibility distance levels, or 15 visibility distance levels can be calibrated.

[0058] The lower the following gear, the shorter the corresponding following distance; for example, in the case of 5 following gears, the following distance of the first following gear is the shortest, and the following distance of the fifth following gear is the longest. Accordingly, the lower the visibility distance level can be set, the longer the visibility distance; for example, if 15 visibility distance levels are calibrated, the first visibility distance level has the longest visibility distance, and the fifteenth visibility distance level has the shortest visibility distance.

[0059] For example, in the case of 5 following gears, after 15 visible distance levels are calibrated, the following gears can be associated with the visible distance levels in order from low to high, thereby obtaining the association relationship between the following gears and the visible distance levels.

[0060] For example, the visibility distance levels associated with the first following gear include: the first visibility distance level, the second visibility distance level and the third visibility distance level; the visibility distance levels associated with the second following gear include: the fourth visibility distance level, the fifth visibility distance level and the sixth visibility distance level; the visibility distance levels associated with the third following gear include: the seventh visibility distance level, the eighth visibility distance level and the ninth visibility distance level; the visibility distance levels associated with the fourth following gear include: the tenth visibility distance level, the eleventh visibility distance level and the twelfth visibility distance level; the visibility distance levels associated with the fifth following gear include: the thirteenth visibility distance level, the fourteenth visibility distance level and the fifteenth visibility distance level.

[0061] After obtaining the front target contour completeness and the front target contour clarity, the front target contour completeness and the front target contour clarity can be weighted summed to obtain the front target contour evaluation value of the vehicle, and the target visibility distance level of the vehicle can be determined according to the front contour evaluation value of the vehicle.

[0062] In the case where the target visible distance level of the vehicle is determined by this method, the preparatory stage may include the following steps: obtaining a number of front contour evaluation value intervals; the number of front contour evaluation value intervals is consistent with the number of visible distance levels; and the front contour evaluation value intervals are associated with the visible distance levels. For example, in the case where there are 15 visible distance levels, 0 to 100 can be divided to obtain 15 front contour evaluation value intervals; in order from large to small, for the 15 front contour evaluation value intervals, the largest front contour evaluation value interval is used as the first front contour evaluation value interval, and the smallest front contour evaluation value interval is used as the fifteenth front contour evaluation value interval; the first front contour evaluation value interval is associated with the first visible distance level, and the second front contour evaluation value interval is associated with the second visible distance level, and the association is performed in this way until the fifteenth front contour evaluation value interval is associated with the fifteenth visible distance level. After the association is completed, the association relationship between the front contour evaluation value interval and the visible distance level can be obtained.

[0063] When determining the target visible distance level of the vehicle based on the front contour evaluation value of the vehicle, the following steps may be specifically included: determining the front contour evaluation value interval to which the front contour evaluation value of the vehicle belongs; determining the visible distance level associated with the front contour evaluation value interval based on the correlation relationship between the front contour evaluation value interval and the visible distance level; and determining the visible distance level as the target visible distance level of the vehicle.

[0064] Step S103, determining the target following gear position to which the target visibility distance level belongs.

[0065] After the target visibility distance level is determined, the following gear position associated with the target visibility distance level can be determined according to the correlation between the following gear position and the visibility distance level, and the following gear position can be used as the target following gear position.

[0066] Take 5 following gears and 15 visible distance levels as an example: if the target visible distance level is the eighth visible distance level, based on the correlation between the following gear and the visible distance level, it can be determined that the following gear associated with the target visible distance level is the third following gear, and the third following gear can be used as the target following gear.

[0067] Step S104, adjusting the current following distance of the vehicle according to the target following gear position and the current following gear position of the vehicle.

[0068] After obtaining the target following gear position and the current following gear position of the vehicle, it can be determined whether to adjust the current following distance of the vehicle according to the relative height between the target following gear position and the current following gear position of the vehicle.

[0069] Specifically, when the target following gear is lower than the current following gear of the vehicle, it means that the following distance corresponding to the target following gear is shorter, and the following distance corresponding to the current following gear is longer. Under the strategy of not shortening the following distance, the current following gear may not be adjusted to the target following gear, and the current following distance of the vehicle may not be shortened. When the target following gear is higher than the current following gear of the vehicle, it means that the following distance corresponding to the target following gear is longer, and the following distance corresponding to the current following gear is shorter. At this time, the current following gear may be adjusted to the target following gear to increase the current following distance of the vehicle. When the target following gear is equal to the current following gear of the vehicle, it means that the following distance corresponding to the target following gear is consistent with the following distance corresponding to the current following gear. At this time, the current following distance of the vehicle may not be adjusted, or the current following distance of the vehicle may be fine-tuned, and the fine-tuned current following distance is within the following distance range corresponding to the current following gear.

[0070] In the above-mentioned method for adjusting the following distance, after obtaining the forward image of the vehicle, the completeness of the outline of the target ahead and the clarity of the outline of the target ahead can be obtained based on the forward image; the completeness of the outline of the target ahead and the clarity of the outline of the target ahead in the forward image can reflect the state of the visible distance of the vehicle in the current driving environment. Therefore, the present application uses the completeness of the outline of the target ahead and the clarity of the outline of the target ahead in the forward image to obtain the target visible distance level of the vehicle, and adjusts the current following distance of the vehicle based on the current following gear of the vehicle and the target following gear to which the target visible distance level belongs, so as to realize adaptive adjustment of the current following distance according to the specific conditions of the driving environment and reduce safety risks.

[0071] In one embodiment, the current following distance of the vehicle is adjusted according to the target following gear and the current following gear of the vehicle, including: if the target following gear is higher than the current following gear of the vehicle, the current following distance of the vehicle is increased; the increased current following distance is within the following distance range corresponding to the target following gear.

[0072] When the target following gear is higher than the current following gear of the vehicle, it means that the following distance corresponding to the target following gear is longer, and the following distance corresponding to the current following gear is shorter. At this time, if the vehicle is driven according to the current following gear, there is a risk of collision. Therefore, the current following gear can be adjusted to the target following gear to increase the current following distance of the vehicle; the increased current following distance is within the following distance range corresponding to the target following gear.

[0073] For example, if the current following gear of the vehicle is the third gear and the target following gear is the fifth gear, the current following gear can be adjusted to the fifth gear, and the current following distance of the vehicle can be increased. The increased current following distance is within the following distance range corresponding to the fifth gear.

[0074] In this embodiment, when the target following gear is higher than the current following gear of the vehicle, the following distance corresponding to the target following gear is longer, and the following distance corresponding to the current following gear is shorter. Adjusting the current following gear to the target following gear and increasing the current following distance of the vehicle can reduce the risk of collision and further improve driving safety.

[0075] In one embodiment, the current following distance of the vehicle is adjusted according to the target following gear and the current following gear of the vehicle, including: if the target following gear is equal to the current following gear, obtaining the visible distance level set corresponding to the target following gear; determining the gear level of the target visible distance level according to the visible distance level set and the target visible distance level; if the gear level is not the lowest level within the gear, increasing the current following distance of the vehicle; the increased current following distance is within the following distance range corresponding to the current following gear.

[0076] When the target following gear is equal to the current following gear of the vehicle, it means that the following distance corresponding to the target following gear is consistent with the following distance corresponding to the current following gear. At this time, the current following distance of the vehicle can be fine-tuned.

[0077] Take 5 following gears, 15 visual distance levels and the current following gear of the vehicle as the third following gear as an example:

[0078] If the target visible distance level is the eighth visible distance level, then according to the correlation between the following gear and the visible distance level, it can be determined that the target following gear is the third following gear. The target following gear is equal to the current following gear of the vehicle. At this time, the visible distance level set corresponding to the target following gear is obtained, that is, the visible distance level set corresponding to the third following gear is obtained; the visible distance level set includes: the seventh visible distance level, the eighth visible distance level and the ninth visible distance level. Among them, the seventh visible distance level belongs to the lowest level in the visible distance level set, and the seventh visible distance level belongs to the lowest level in the gear; the eighth visible distance level belongs to the middle level in the visible distance level set, and the eighth visible distance level belongs to the middle level in the gear; the ninth visible distance level belongs to the highest level in the visible distance level set, and the ninth visible distance level belongs to the highest level in the gear; among them, the non-lowest level in the gear includes the middle level in the gear and the highest level in the gear.

[0079] The target visibility distance level is the eighth visibility distance level, and the eighth visibility distance level is the middle level within the gear, that is, it is not the lowest level within the gear.

[0080] When the current following gear of the vehicle is the third following gear, the default visibility distance level is the lowest visibility distance level in the gear, that is, the default visibility distance level is the seventh visibility distance level.

[0081] Since the target visibility distance level is the eighth visibility distance level, which is higher than the default visibility distance level, the current following distance of the vehicle may be slightly increased, and the increased current following distance is within the following distance range corresponding to the third gear following gear.

[0082] In this embodiment, when the target following gear is equal to the current following gear of the vehicle, if the target visibility distance level is not the lowest level within the gear, it means that the current visibility of the vehicle has not reached the optimal visibility of the current following gear. The current following distance of the vehicle can be slightly increased. The increased current following distance is within the following distance range corresponding to the third gear following gear, which further reduces the risk of collision and further improves driving safety.

[0083] In one embodiment, if the level in the gear is not the lowest level in the gear, the current following distance of the vehicle is increased, including: if the level in the gear is not the lowest level in the gear, determining a first increase ratio according to the level in the gear; the higher the level in the gear, the greater the first increase ratio; and increasing the current following distance of the vehicle according to the first increase ratio.

[0084] Still taking the above example as an example for introduction, in the above example, the target following gear and the current following gear of the vehicle are the third following gear, and the target visible distance level is the eighth visible distance level.

[0085] If the visual distance level set corresponding to each following gear includes three visual distance levels, the middle level in the gear can be associated with the first ratio value, and the highest level in the gear can be associated with the second ratio value, so as to obtain the correlation relationship between the level and the ratio value in the gear; wherein the first ratio value is less than the second ratio value, for example, the first ratio value can be set to 110% and the second ratio value can be set to 120%. In the visual distance level set corresponding to the third following gear, the eighth visual distance level is the middle level in the gear. According to the correlation relationship between the level and the ratio value in the gear, it can be determined that the ratio value associated with the eighth visual distance level is the first ratio value, and the first ratio value can be used as the first increase ratio. If the first ratio value is 110%, the first increase ratio is 110%, and the following distance can be increased to 110% of the current following distance of the vehicle.

[0086] Different first and second ratio values ​​may be set for different vehicle models. In this case, different vehicle models have their own association relationship between the gear level and the ratio value. According to the vehicle model, the association relationship matching the vehicle model may be determined from the association relationships between the gear level and the ratio value of multiple vehicle models that are pre-constructed. According to the association relationship, the first ratio value associated with the eighth visible distance level may be determined. Then, the first ratio value may be used as the first increase ratio, and the current following distance of the vehicle may be increased according to the first increase ratio.

[0087] In this embodiment, if the target visible distance level within the gear is not the lowest level within the gear, the lower the target visible distance level within the gear is, the closer the current visibility of the vehicle is to the optimal visibility of the current following gear, the smaller the first increase ratio is, and the smaller the increase in the current following distance of the vehicle is, so that the following distance can be adjusted more finely while reducing the risk of collision.

[0088] In one embodiment, increasing the current following distance of the vehicle includes: determining a second increase ratio based on current environmental data of the vehicle; the current environmental data indicates that the more the current environment interferes with the vehicle's on-board vision, the greater the second increase ratio; and increasing the current following distance of the vehicle based on the second increase ratio.

[0089] The current environmental data of the vehicle may include, but is not limited to: current weather data of the area where the vehicle is traveling and current data of the environment surrounding the vehicle.

[0090] The method of obtaining the current weather data of the driving area of ​​the vehicle may include: obtaining the current weather data of the driving area of ​​the vehicle through the vehicle, the Internet and the positioning signal of the vehicle.

[0091] Ways to obtain current data about the vehicle's surroundings may include:

[0092] 1. According to the sunlight and rainfall sensor of the vehicle, the current brightness and rainfall of the vehicle's surrounding environment can be obtained.

[0093] 2. According to the temperature and humidity sensor of the vehicle, the current temperature and humidity of the vehicle's surrounding environment can be obtained.

[0094] 3. Based on the PM2.5 environmental sensor of the vehicle, the current particulate matter content of the vehicle's surrounding environment can be obtained.

[0095] With the help of the current brightness and current rainfall of the vehicle's surroundings, it can be determined whether the vehicle is traveling in darkness or in a rainstorm.

[0096] By using the definition of the outline of the target in front of the vehicle, the current rainfall, the current temperature and the current humidity of the vehicle's surrounding environment, it can be determined whether the vehicle is traveling in heavy fog. Specifically, if the definition of the outline of the target in front of the vehicle is lower than a threshold, the current rainfall is lower than a threshold, the current humidity is higher than a threshold and the current temperature is within a certain range, it can be determined that the vehicle is traveling in heavy fog.

[0097] By using the current particle content and current humidity of the vehicle's surrounding environment, it can be determined whether the vehicle is traveling in a sandstorm environment. Specifically, if the current particle content is higher than a threshold and the current humidity is lower than a threshold, it can be determined that the vehicle is traveling in a sandstorm environment.

[0098] After obtaining the current environment data of the vehicle, if the current environment data indicates that the current environment interferes with the vehicle vision of the vehicle, such as heavy rain, darkness, fog, sandstorm, etc., the value of the second increase ratio is correspondingly larger. After obtaining the second increase ratio, the current following distance of the vehicle can be increased according to the second increase ratio.

[0099] The current following distance of the vehicle is increased according to the second increase ratio. The specific processing process can be divided into several situations:

[0100] Case 1: When the target following gear is higher than the current following gear of the vehicle, the current following gear can be adjusted to the target following gear, firstly the current following distance of the vehicle is increased to the minimum following distance corresponding to the target following gear, and then the minimum following distance corresponding to the target following gear is increased according to the second increase ratio; the minimum following distance corresponding to the increased target following gear is within the following distance range corresponding to the target following gear; the minimum following distance corresponding to the increased target following gear can be determined as the target following distance; and the vehicle is controlled to travel according to the target following distance.

[0101] Case 2: When the target following gear is equal to the current following gear of the vehicle, the current following distance of the vehicle can be increased directly according to the second increase ratio, and the increased current following distance is within the following distance range corresponding to the current following gear; the increased current following distance can be determined as the target following distance; and the vehicle is controlled to travel according to the target following distance.

[0102] Case three: When the target following gear is equal to the current following gear of the vehicle and the first increase ratio is determined, the current following distance of the vehicle can be increased according to the first increase ratio to obtain the intermediate following distance; the intermediate following distance can be increased according to the second increase ratio to obtain the target following distance, and the target following distance is within the following distance range corresponding to the current following gear; the vehicle is controlled to travel according to the target following distance.

[0103] In this embodiment, the current environmental data of the vehicle represents that the more the current environment interferes with the vehicle's on-board vision, the greater the second increase ratio. Increasing the current following distance of the vehicle according to the second increase ratio can further reduce the risk of collision and improve driving safety in special weather such as heavy rain and heavy fog.

[0104] In one embodiment, the target visibility level of the vehicle is obtained according to the completeness of the outline of the target ahead and the clarity of the outline of the target ahead, including: obtaining a first visibility level according to the completeness of the outline of the target ahead; obtaining a second visibility level according to the clarity of the outline of the target ahead; obtaining the target visibility level of the vehicle according to the first visibility level and the second visibility level.

[0105] After obtaining the front target outline completeness and the front target outline clarity, a visual distance level can be determined according to the front target outline completeness, and this visual distance level is called the first visual distance level; another visual distance level can also be determined according to the front target outline clarity, and this visual distance level is called the second visual distance level. According to the first visual distance level and the second visual distance level, the target visual distance level of the vehicle is obtained.

[0106] When the target visibility level of the vehicle is determined in this way, the preliminary preparation stage may include the following steps:

[0107] Acquire several front target contour integrity intervals; the number of front target contour integrity intervals is consistent with the number of visible distance levels; associate the front target contour integrity intervals with the visible distance levels. For example, when there are 15 visible distance levels, 0 to 100 can be divided to obtain 15 front target contour integrity intervals; in order from large to small, for the 15 front target contour integrity intervals, the largest front target contour integrity interval is used as the first front target contour integrity interval, and the smallest front target contour integrity interval is used as the fifteenth front target contour integrity interval; associate the first front target contour integrity interval with the first visible distance level, associate the second front target contour integrity interval with the second visible distance level, and associate in this way until the fifteenth front target contour integrity interval is associated with the fifteenth visible distance level. After the association is completed, the association relationship between the front target contour integrity interval and the visible distance level can be obtained.

[0108] Acquire a number of front target contour clarity intervals; the number of front target contour clarity intervals is consistent with the number of visible distance levels; associate the front target contour clarity intervals with the visible distance levels. For example, when there are 15 visible distance levels, 0 to 100 can be divided to obtain 15 front target contour clarity intervals; in order from large to small, for the 15 front target contour clarity intervals, the largest front target contour clarity interval is used as the first front target contour clarity interval, and the smallest front target contour clarity interval is used as the fifteenth front target contour clarity interval; associate the first front target contour clarity interval with the first visible distance level, associate the second front target contour clarity interval with the second visible distance level, and associate in this way until the fifteenth front target contour clarity interval is associated with the fifteenth visible distance level. After the association is completed, the association relationship between the front target contour clarity interval and the visible distance level can be obtained.

[0109] When obtaining the first visible distance level according to the completeness of the outline of the target ahead, the following steps may be specifically included: determining the front target outline completeness interval to which the front target outline completeness of the vehicle belongs; determining the visible distance level associated with the front target outline completeness interval according to the correlation between the front target outline completeness interval and the visible distance level; and determining the visible distance level as the first visible distance level.

[0110] When obtaining the second visible distance level according to the clarity of the outline of the target ahead, the following steps may be specifically included: determining the front target outline clarity interval to which the front target outline clarity of the vehicle belongs; determining the visible distance level associated with the front target outline clarity interval according to the correlation between the front target outline clarity interval and the visible distance level; and determining the visible distance level as the second visible distance level.

[0111] After obtaining the first visibility distance level and the second visibility distance level, two pre-configured weights may be obtained, and the first visibility distance level and the second visibility distance level are weightedly summed according to the two weights to obtain the target visibility distance level of the vehicle.

[0112] In this embodiment, two visibility distance levels are obtained according to the completeness of the front target outline and the clarity of the front target outline. By combining these two visibility distance levels, a more accurate target visibility distance level can be obtained, thereby further reducing the risk of collision and improving driving safety.

[0113] In one embodiment, a target visible distance level of the vehicle is obtained according to a first visible distance level and a second visible distance level, including: obtaining a first confidence level according to a confidence level of the completeness of a contour of a target ahead; obtaining a second confidence level according to a confidence level of the clarity of a contour of a target ahead; determining a first weight and a second weight according to a relative size between the first confidence level and the second confidence level; and performing a weighted summation of the first visible distance level and the second visible distance level according to the first weight and the second weight to obtain the target visible distance level of the vehicle.

[0114] After obtaining the forward image, the forward image can be subjected to contour analysis to obtain the contour integrity of the forward target. In order to determine the confidence level of the contour integrity of the forward target, the following steps can be performed:

[0115] A target pattern is acquired, and contour loss processing is performed on the target pattern to reduce the contour integrity of the target pattern to a set contour integrity; the target pattern after contour loss is pasted into a forward image, and then contour analysis processing is performed on the forward image to obtain the contour integrity of the forward target and the contour integrity of the target pattern; the confidence level of the contour integrity of the forward target is obtained based on the difference between the obtained contour integrity of the target pattern and the set contour integrity; the smaller the difference, the higher the confidence level.

[0116] After the confidence level of the completeness of the contour of the forward target is obtained, the confidence level may be referred to as the first confidence level.

[0117] After obtaining the forward image, the forward image can be subjected to contour analysis to obtain the contour clarity of the forward target. In order to determine the confidence level of the contour clarity of the forward target, the following steps can be performed:

[0118] A target pattern is acquired, and contour blurring processing is performed on the target pattern to reduce the contour clarity of the target pattern to a set contour clarity; the target pattern after contour blurring is pasted in a forward image, and then contour analysis processing is performed on the forward image to obtain the contour clarity of the forward target and the contour clarity of the target pattern; according to the difference between the obtained contour clarity of the target pattern and the set contour clarity, the confidence of the contour clarity of the forward target is obtained; the smaller the difference, the higher the confidence.

[0119] After the confidence level of the front target contour clarity is obtained, the confidence level may be referred to as a second confidence level.

[0120] After obtaining the first confidence and the second confidence, the first weight and the second weight are determined according to the relative size between the first confidence and the second confidence; if the first confidence is greater than the second confidence, the maximum value of the two values ​​can be determined as the first weight, and the minimum value of the two values ​​can be determined as the second weight; if the first confidence is less than the second confidence, the minimum value of the two values ​​can be determined as the first weight, and the maximum value of the two values ​​can be determined as the second weight.

[0121] The first weight is multiplied by the first visible distance level, and the obtained product result is called the first product result. The second weight is multiplied by the second visible distance level, and the obtained product result is called the second product result. The sum of the first product result and the second product result is obtained to obtain the target visible distance level of the vehicle.

[0122] In this embodiment, the matching weight is determined based on the confidence level of the completeness of the outline of the target ahead and the relative size of the clarity of the outline of the target ahead, and is used to perform weighted summation on the first visibility distance level and the second visibility distance level, thereby obtaining a more accurate target visibility distance level, further reducing the risk of collision and improving driving safety.

[0123] In the solution provided by the present application, when the current following gear or current following distance of the vehicle is adjusted, the user can be reminded by voice that the following status of the vehicle has changed; in addition, the user can also be informed of the reason for the change based on the current environmental data of the vehicle. For example, because the vehicle is currently driving in certain special weather conditions, the current following distance is adjusted to ensure driving safety, thereby avoiding user tension caused by changes in the following status of the vehicle.

[0124] In addition, in the solution provided in the present application, when adjusting the current following distance, if the user intervenes, the following distance required by the user can be given the highest priority and the following can be performed according to the following distance required by the user.

[0125] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0126] Based on the same inventive concept, the embodiment of the present application also provides a device for adjusting the following distance for implementing the above-mentioned method for adjusting the following distance. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of one or more following distance adjustment devices provided below can refer to the limitations of the following distance adjustment method above, and will not be repeated here.

[0127] In one embodiment, Figure 4 As shown, a device for adjusting the following distance is provided, comprising:

[0128] The contour processing module 401 is used to obtain the contour integrity and the contour clarity of the front target according to the front image of the vehicle;

[0129] A visibility distance level determination module 402 is used to obtain a target visibility distance level of the vehicle according to the front target outline completeness and the front target outline clarity;

[0130] A target following gear position determination module 403 is used to determine the target following gear position to which the target visual distance level belongs;

[0131] The following distance adjustment module 404 is used to adjust the current following distance of the vehicle according to the target following gear position and the current following gear position of the vehicle.

[0132] In one embodiment, the following distance adjustment module 404 is further used to: if the target following gear is higher than the current following gear of the vehicle, increase the current following distance of the vehicle; the increased current following distance is within the following distance range corresponding to the target following gear.

[0133] In one embodiment, the following distance adjustment module 404 is also used for: if the target following gear is equal to the current following gear, obtaining the visible distance level set corresponding to the target following gear; determining the gear level of the target visible distance level according to the visible distance level set and the target visible distance level; if the gear level is not the lowest level within the gear, increasing the current following distance of the vehicle; the increased current following distance is within the following distance range corresponding to the current following gear.

[0134] In one embodiment, the following distance adjustment module 404 is also used to: if the gear level is not the lowest level within the gear, determine a first increase ratio according to the gear level; the higher the gear level is, the greater the first increase ratio is; and increase the current following distance of the vehicle according to the first increase ratio.

[0135] In one embodiment, the following distance adjustment module 404 is also used to: determine a second increase ratio based on the current environmental data of the vehicle; the current environmental data represents that the more the current environment interferes with the vehicle-mounted vision of the vehicle, the greater the second increase ratio; and increase the current following distance of the vehicle according to the second increase ratio.

[0136] In one embodiment, the visible distance level determination module 402 is further used to: obtain a first visible distance level according to the completeness of the outline of the target ahead; obtain a second visible distance level according to the clarity of the outline of the target ahead; and obtain a target visible distance level of the vehicle according to the first visible distance level and the second visible distance level.

[0137] In one embodiment, the visible distance level determination module 402 is also used to: obtain a first confidence level based on the confidence level of the completeness of the outline of the target ahead; obtain a second confidence level based on the confidence level of the clarity of the outline of the target ahead; determine a first weight and a second weight based on the relative size between the first confidence level and the second confidence level; and perform weighted summation of the first visible distance level and the second visible distance level according to the first weight and the second weight to obtain the target visible distance level of the vehicle.

[0138] Each module in the above-mentioned following distance adjustment device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the vehicle-mounted computing device in the form of hardware, or can be stored in the memory of the vehicle-mounted computing device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0139] In an exemplary embodiment, a vehicle-mounted computing device is provided, and its internal structure diagram can be as follows: Figure 5 As shown. The vehicle-mounted computing device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the vehicle-mounted computing device is used to provide computing and control capabilities. The memory of the vehicle-mounted computing device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the vehicle-mounted computing device is used to store data involved in the above method. The input / output interface of the vehicle-mounted computing device is used to exchange information between the processor and an external device. The communication interface of the vehicle-mounted computing device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for adjusting the following distance is implemented.

[0140] Those skilled in the art will understand that Figure 5 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the vehicle-mounted computing device to which the solution of the present application is applied. The specific vehicle-mounted computing device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0141] In one embodiment, a vehicle-mounted computing device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned various method embodiments when executing the computer program.

[0142] In one embodiment, a vehicle is provided. The vehicle includes the in-vehicle computing device of the above embodiment.

[0143] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0144] In one embodiment, a computer program product is provided, on which a computer program is stored, and the computer program is used by a processor to execute the steps in the above-mentioned various method embodiments.

[0145] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0146] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0147] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0148] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for adjusting the following distance, characterized in that: The method comprises: According to the forward image of the vehicle, the completeness and clarity of the contour of the front target are obtained; According to the front target outline completeness and the front target outline clarity, the target visibility distance level of the vehicle is obtained; Determine the target following gear position to which the target visual distance level belongs; The current following distance of the vehicle is adjusted according to the target following gear position and the current following gear position of the vehicle.

2. The method according to claim 1, characterized in that According to the target following gear position and the current following gear position of the vehicle, adjusting the current following distance of the vehicle includes: If the target following gear is higher than the current following gear of the vehicle, the current following distance of the vehicle is increased; the increased current following distance is within the following distance range corresponding to the target following gear.

3. The method according to claim 1, characterized in that According to the target following gear position and the current following gear position of the vehicle, adjusting the current following distance of the vehicle includes: If the target following gear position is equal to the current following gear position, obtaining a visual distance level set corresponding to the target following gear position; Determining the level of the target visual distance level within the gear according to the visual distance level set and the target visual distance level; If the gear level is not the lowest level within the gear, the current following distance of the vehicle is increased; the increased current following distance is within the following distance range corresponding to the current following gear.

4. The method according to claim 3, characterized in that If the gear level is not the lowest level in the gear, the current following distance of the vehicle is increased, including: If the gear level is not the lowest level in the gear, a first increase ratio is determined according to the gear level; the higher the gear level is, the greater the first increase ratio is; According to the first increase ratio, the current following distance of the vehicle is increased.

5. The method according to any one of claims 2 to 4, characterized in that: Increase the current following distance of the vehicle, including: Determining a second increase ratio according to current environment data of the vehicle; the current environment data indicates that the more the current environment interferes with the vehicle-mounted vision of the vehicle, the greater the second increase ratio; According to the second increase ratio, the current following distance of the vehicle is increased.

6. The method according to claim 1, characterized in that According to the outline integrity and the outline clarity of the target ahead, the target visibility level of the vehicle is obtained, including: Obtaining a first visual distance level according to the completeness of the outline of the target ahead; According to the outline clarity of the target ahead, a second visual distance level is obtained; A target visibility distance level of the vehicle is obtained according to the first visibility distance level and the second visibility distance level.

7. The method according to claim 6, characterized in that Obtaining a target visibility distance level of the vehicle according to the first visibility distance level and the second visibility distance level includes: Obtaining a first confidence level according to the confidence level of the completeness of the contour of the forward target; Obtaining a second confidence level according to the confidence level of the front target contour clarity; Determining a first weight and a second weight according to a relative size between the first confidence level and the second confidence level; The first visibility distance level and the second visibility distance level are weightedly summed according to the first weight and the second weight to obtain a target visibility distance level of the vehicle.

8. A device for adjusting the following distance, characterized in that: The device comprises: The contour processing module is used to obtain the completeness and clarity of the contour of the front target according to the front image of the vehicle; A visibility distance level determination module, used to obtain the target visibility distance level of the vehicle according to the front target outline completeness and the front target outline clarity; A target following gear position determination module is used to determine the target following gear position to which the target visual distance level belongs; The following distance adjustment module is used to adjust the current following distance of the vehicle according to the target following gear position and the current following gear position of the vehicle.

9. A vehicle-mounted computing device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The vehicle includes the on-board computing device of claim 9.

Images