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

Abstract

The invention discloses a commercial vehicle control method and device, electronic equipment and a storage medium, and relates to the technical field of driving safety. The method comprises the following steps: acquiring a bus signal of a commercial vehicle and information of a target object detected from a forward blind area of the commercial vehicle; determining a current state of the commercial vehicle and a driving intention of a driver of the commercial vehicle according to the bus signal; and performing emergency braking control on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object. By analyzing the intention of the driver, the vehicle state and the target object in the forward blind area, the commercial vehicle is controlled to be braked emergently, collision between the commercial vehicle and the target object in the forward blind area is avoided, and the driving safety of the commercial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of driving safety technology, and in particular to a control method, device, electronic equipment and storage medium for a commercial vehicle. Background Art

[0002] In the current traffic environment, the cab height of commercial vehicles is usually high. This structural feature causes a certain blind spot in the driver's line of sight. Specifically, in the area directly in front of the vehicle, due to the obstruction of the cab, it is difficult for the driver to directly observe the area near the bottom of the front of the vehicle, forming the so-called forward blind spot of the vehicle. In this blind spot, when an object appears, the driver cannot detect it in time with the naked eye, which will cause serious traffic accidents. Therefore, it is urgent to develop a control method for commercial vehicles that can realize the forward blind spot emergency braking function to reduce traffic accidents caused by the forward blind spot. Summary of the invention

[0003] The invention provides a control method, device, electronic equipment and storage medium for a commercial vehicle.

[0004] According to one aspect of the present invention, there is provided a control method for a commercial vehicle, comprising:

[0005] Acquiring a bus signal of a commercial vehicle and information of a target object detected from a forward blind spot of the commercial vehicle;

[0006] Determining the current state of the commercial vehicle and the driving intention of the driver of the commercial vehicle according to the bus signal;

[0007] Emergency braking control is performed on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object.

[0008] In an optional implementation, the target object information is determined by 4D millimeter wave radar detection in the commercial vehicle, and the target object information includes at least whether the target object exists, the attributes, position, height, movement speed and direction of the target object.

[0009] In an optional implementation, determining the current state of the commercial vehicle according to the bus signal includes:

[0010] The current state of the commercial vehicle is determined according to the vehicle speed signal, the gear position signal of the commercial vehicle, and the engine state signal in the bus signal; wherein the current state includes a stationary state and a low-speed driving state.

[0011] In an optional implementation, determining the driving intention of the commercial vehicle driver according to the bus signal includes:

[0012] When the current state is a stationary state, the gear change information of the commercial vehicle is determined according to the bus signal; and according to the gear change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward.

[0013] In an optional implementation, determining the driving intention of the commercial vehicle driver according to the bus signal includes:

[0014] When the current state is a low-speed driving state, the throttle opening change information of the commercial vehicle is determined according to the bus signal; and according to the throttle opening change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate.

[0015] In an optional implementation, performing emergency braking control on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object includes:

[0016] When the current state of the commercial vehicle is a stationary state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward, if there is a target object in the forward blind spot of the commercial vehicle, emergency braking control is performed on the commercial vehicle.

[0017] In an optional implementation, performing emergency braking control on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object includes:

[0018] When the current state of the commercial vehicle is a low-speed driving state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate, if there is a target object in the forward blind spot of the commercial vehicle, the collision time between the commercial vehicle and the target object is estimated, and a collision warning is given to the commercial vehicle or emergency braking is performed on the commercial vehicle according to the collision time.

[0019] According to another aspect of the present invention, there is provided a control device for a commercial vehicle, comprising:

[0020] A data acquisition module, used to acquire bus signals of a commercial vehicle and information of a target object detected from a forward blind spot of the commercial vehicle;

[0021] A data analysis module, used to determine the current state of the commercial vehicle and the driving intention of the driver of the commercial vehicle according to the bus signal;

[0022] The control module is used to perform emergency braking control on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object.

[0023] In an optional implementation, the target object information is determined by 4D millimeter wave radar detection in the commercial vehicle, and the target object information includes at least whether the target object exists, the attributes, position, height, movement speed and direction of the target object.

[0024] In an optional implementation, the data analysis module is further used to:

[0025] The current state of the commercial vehicle is determined according to the vehicle speed signal, the gear position signal of the commercial vehicle, and the engine state signal in the bus signal; wherein the current state includes a stationary state and a low-speed driving state.

[0026] In an optional implementation, the data analysis module is further used to:

[0027] When the current state is a stationary state, the gear change information of the commercial vehicle is determined according to the bus signal; and according to the gear change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward.

[0028] In an optional implementation, the data analysis module is further used to:

[0029] When the current state is a low-speed driving state, the throttle opening change information of the commercial vehicle is determined according to the bus signal; and according to the throttle opening change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate.

[0030] In an optional implementation, the control module is further configured to:

[0031] When the current state of the commercial vehicle is a stationary state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward, if there is a target object in the forward blind spot of the commercial vehicle, emergency braking control is performed on the commercial vehicle.

[0032] In an optional implementation, the control module is further configured to:

[0033] When the current state of the commercial vehicle is a low-speed driving state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate, if there is a target object in the forward blind spot of the commercial vehicle, the collision time between the commercial vehicle and the target object is estimated, and a collision warning is given to the commercial vehicle or emergency braking is performed on the commercial vehicle according to the collision time.

[0034] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0035] at least one processor; and

[0036] a memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method for a commercial vehicle according to an embodiment of the present invention.

[0038] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of a commercial vehicle according to an embodiment of the present invention when executed.

[0039] The technical solution of the embodiment of the present invention controls the commercial vehicle to perform emergency braking by analyzing the driver's intention, the vehicle status and the target object in the forward blind spot, thereby avoiding the commercial vehicle from colliding with the target object in the forward blind spot and improving the driving safety of the commercial vehicle.

[0040] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0042] Figure 1 is a flow chart of a control method for a commercial vehicle provided according to an embodiment of the present invention;

[0043] Figure 2 is a flow chart of a control method for a commercial vehicle provided according to an embodiment of the present invention;

[0044] Figure 3 is a schematic structural diagram of a control device for a commercial vehicle provided according to an embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the control method of a commercial vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0047] Embodiment 1

[0048] Figure 1 A flowchart of a control method for a commercial vehicle is provided for an embodiment of the present invention. This embodiment can be applied to a scenario in which a commercial vehicle is controlled to avoid a collision with a target object in a forward blind spot. The method can be executed by a control device of the commercial vehicle. The control device of the commercial vehicle can be implemented in the form of hardware and / or software. The control device of the commercial vehicle can be configured in an electronic device.

[0049] like Figure 1 As shown, the control method of the commercial vehicle includes:

[0050] S101: Acquire a bus signal of a commercial vehicle and information of a target object detected from a forward blind spot of the commercial vehicle.

[0051] In the embodiments of the present invention, a commercial vehicle refers to a car that is designed and technically characterized to transport people and goods, and can tow a trailer. Commercial vehicles can include two categories: passenger cars and trucks. Passenger cars can be further divided into different types such as city buses (such as buses), highway buses (for long-distance passenger transport), and tourist buses, which are mainly used for the transportation of people. Trucks are the type of vehicles mainly used for the transportation of goods, including light, medium and heavy trucks and other vehicles with different load specifications.

[0052] In the embodiment of the present invention, as long as the commercial vehicle is powered on, the commercial vehicle bus signal can be obtained in real time through the preset interface. The bus signal can be various signals on the commercial vehicle CAN bus. In addition, the model parameters of the commercial vehicle can also be obtained through the interface, wherein the model parameters can include the basic size parameters of the commercial vehicle (such as body size, wheelbase, etc.), weight parameters, power system parameters (such as engine parameters), function parameters, etc.

[0053] In an embodiment of the present invention, a 4D millimeter wave radar is pre-configured in a commercial vehicle, wherein the 4D millimeter wave radar can achieve the following functions: it can accurately measure the straight-line distance between the target object and the commercial vehicle where the radar is located; determine the relative speed of the target object relative to the commercial vehicle where the radar is located; can measure the horizontal angle (azimuth) and vertical angle (pitch angle) of the target object relative to the commercial vehicle where the radar is located; can measure the height information of the target object, so that the radar can more accurately locate the target object in three dimensions. Based on this, the information of the target object of the present invention is determined by detection of the 4D millimeter wave radar in the commercial vehicle, and the information of the target object at least includes whether the target object exists, the properties, position, height, movement speed and direction of the target object. Therefore, as long as the commercial vehicle is powered on, the information of the target object in the forward blind spot of the commercial vehicle can be obtained in real time.

[0054] S102: Determine the current state of the commercial vehicle and the driving intention of the commercial vehicle driver according to the bus signal.

[0055] In an embodiment of the present invention, determining the current state of the commercial vehicle according to the bus signal includes: determining the current state of the commercial vehicle according to the vehicle speed signal, the current gear signal of the commercial vehicle, and the engine status signal in the bus signal; illustratively, if the current speed of the commercial vehicle is determined to be zero according to the vehicle speed signal, then the current state of the commercial vehicle is determined to be a stationary state; if the current gear signal of the commercial vehicle determines that the commercial vehicle is currently in a parking gear, then the current state is determined to be a stationary state; if the engine is determined to be in an idling state according to the engine status signal, then the current state is determined to be a stationary state. In this embodiment, the current state of the commercial vehicle is a stationary state as an example for explanation.

[0056] In the embodiment of the present invention, for the case where the current state of the commercial vehicle is a stationary state, determining the driving intention of the commercial vehicle driver based on the bus signal includes: first, determining the gear change information of the commercial vehicle based on the bus signal; that is, determining whether the gear of the commercial vehicle changes by acquiring the bus signal in real time; if there is a change (for example, from a parking gear to a forward gear), determining that the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward based on the gear change information.

[0057] S103: Perform emergency braking control on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object.

[0058] In the embodiment of the present invention, when the current state of the commercial vehicle is a stationary state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward, if there is a target object in the forward blind spot of the commercial vehicle, the commercial vehicle is subjected to emergency braking control to avoid collision with the target object in the forward blind spot after the commercial vehicle starts. In addition, when the current state of the commercial vehicle is a stationary state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward, the distance between the commercial vehicle and the target object can be determined first. If the distance is greater than the preset distance threshold, a collision warning is first performed to prompt the commercial vehicle driver that there is an obstacle in the forward blind spot, so that the driver can give up controlling the commercial vehicle to start; in addition, if the target object is identified as a pedestrian, and the distance between the commercial vehicle and the target object is greater than the preset threshold, the commercial vehicle can be controlled to sound a horn to warn the pedestrian to stay away, and then after the horn is sounded, it is determined whether to perform emergency braking on the commercial vehicle according to the target object information monitored in real time.

[0059] When the embodiment of the present invention determines that the current state of the commercial vehicle is a stationary state, emergency braking is performed on the commercial vehicle according to the determined driving intention of the driver and the information of the target object in the forward blind spot of the commercial vehicle, so as to avoid the collision between the commercial vehicle and the target object in the forward blind spot during the starting phase, thereby improving the driving safety of the commercial vehicle.

[0060] Embodiment 2

[0061] Figure 2 The present invention provides a flow chart of a control method for a commercial vehicle. This embodiment is mainly aimed at emergency braking control when the commercial vehicle is traveling at a low speed. Figure 2 , the method comprises the following steps:

[0062] S201: Acquire a bus signal of a commercial vehicle and information of a target object detected from a forward blind spot of the commercial vehicle.

[0063] The specific process can be found in the description of the above embodiment and will not be described again here.

[0064] S202: Determine that the current state of the commercial vehicle is a low-speed driving state according to the vehicle speed signal, the current gear position signal of the commercial vehicle, and the engine state signal in the bus signal.

[0065] In the embodiment of the present invention, if it is determined according to the vehicle speed signal that the current speed of the commercial vehicle is not zero and the speed is less than or equal to the preset low-speed threshold, the current state of the commercial vehicle is determined to be a low-speed driving state; if it is determined according to the current gear signal of the commercial vehicle that the commercial vehicle is currently in a low-speed gear, the current state is determined to be a low-speed driving state; if it is determined according to the engine state signal that the engine speed is less than the preset speed threshold, the current state is determined to be a low-speed driving state. In this embodiment, the commercial vehicle is described as being in a low-speed driving state as an example.

[0066] In the embodiment of the present invention, in the case where the current state of the commercial vehicle is a low-speed driving state, the process of determining the driving intention of the driver of the commercial vehicle according to the bus signal can refer to step S203.

[0067] S203. When the current state is a low-speed driving state, determine the throttle opening change information of the commercial vehicle according to the bus signal; and determine, according to the throttle opening change information, that the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate.

[0068] In an embodiment of the present invention, a commercial vehicle generally converts the accelerator pedal opening information into an electrical signal through an accelerator pedal position sensor and transmits it through a bus. Therefore, the throttle opening change information of the commercial vehicle can be determined from the bus signal obtained in real time. Then, based on the throttle opening change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate. For example, it is determined that the throttle opening gradually increases based on the throttle opening change information, and then it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate. It is understandable that when the commercial vehicle is driving at a low speed, the reason for acceleration may be that the road conditions ahead allow it, and the driver wants to increase the speed for smoother driving. For example, when entering the main road at the end of the road in the community, the driver will gradually increase the accelerator pedal opening.

[0069] S204: performing emergency braking control on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object.

[0070] In an embodiment of the present invention, when the current state of the commercial vehicle is a low-speed driving state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate, if there is a target object in the forward blind spot of the commercial vehicle, the collision time between the commercial vehicle and the target object is estimated, and a collision warning or emergency braking is performed on the commercial vehicle according to the collision time. Exemplarily, if the collision time is greater than the preset safety time threshold, a collision warning is performed to prompt the driver to actively control the commercial vehicle to avoid a collision; if the collision time is less than or equal to the safety time threshold, the commercial vehicle is directly emergency braked to avoid a collision.

[0071] It is understandable that the safety time threshold can be dynamically adjusted according to the current road scene and road conditions of the commercial vehicle, as well as the current weather conditions. Among them, the weather conditions can be sunny, rainy, snowy, etc.; the road scene can be urban roads, highways, intersections, school areas, etc.; the road conditions can be dry, slippery, icy, etc. The specific adjustment process can be: if the weather is snowy, the road scene is an urban road, and the road condition is icy, then the safety time threshold needs to be increased, so as to ensure timely braking control of the commercial vehicle to avoid collision with the target object in the blind spot on the side of the vehicle.

[0072] In an embodiment of the present invention, when a commercial vehicle is traveling at a low speed, emergency braking can be performed on the commercial vehicle based on the identified driver's intention and the target object in the forward blind spot to prevent the commercial vehicle from running over the target object in the forward blind spot.

[0073] Embodiment 3

[0074] Figure 3 The structure diagram of a control device for a commercial vehicle provided by an embodiment of the present invention is shown in FIG. This embodiment can be applied to control a commercial vehicle to avoid collision with a target object in a forward blind spot. Figure 3 As shown, the device comprises:

[0075] A data acquisition module 301 is used to acquire a bus signal of a commercial vehicle and information of a target object detected from a forward blind spot of the commercial vehicle;

[0076] A data analysis module 302, for determining the current state of the commercial vehicle and the driving intention of the driver of the commercial vehicle according to the bus signal;

[0077] The control module 303 is used to perform emergency braking control on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object.

[0078] In an optional implementation, the target object information is determined by 4D millimeter wave radar detection in the commercial vehicle, and the target object information includes at least whether the target object exists, the attributes, position, height, movement speed and direction of the target object.

[0079] In an optional implementation, the data analysis module is further used to:

[0080] The current state of the commercial vehicle is determined according to the vehicle speed signal, the gear position signal of the commercial vehicle, and the engine state signal in the bus signal; wherein the current state includes a stationary state and a low-speed driving state.

[0081] In an optional implementation, the data analysis module is further used to:

[0082] When the current state is a stationary state, the gear change information of the commercial vehicle is determined according to the bus signal; and according to the gear change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward.

[0083] In an optional implementation, the data analysis module is further used to:

[0084] When the current state is a low-speed driving state, the throttle opening change information of the commercial vehicle is determined according to the bus signal; and according to the throttle opening change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate.

[0085] In an optional implementation, the control module is further configured to:

[0086] When the current state of the commercial vehicle is a stationary state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward, if there is a target object in the forward blind spot of the commercial vehicle, emergency braking control is performed on the commercial vehicle.

[0087] In an optional implementation, the control module is further configured to:

[0088] When the current state of the commercial vehicle is a low-speed driving state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate, if there is a target object in the forward blind spot of the commercial vehicle, the collision time between the commercial vehicle and the target object is estimated, and a collision warning is given to the commercial vehicle or emergency braking is performed on the commercial vehicle according to the collision time.

[0089] The control device for a commercial vehicle provided in an embodiment of the present invention can execute the control method for a commercial vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0090] Embodiment 4

[0091] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to be a controller device in a new energy vehicle. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0092] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0093] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0094] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as executing a control method for a commercial vehicle.

[0095] In some embodiments, the control method of the commercial vehicle may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the commercial vehicle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the control method of the commercial vehicle in any other appropriate manner (e.g., by means of firmware).

[0096] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable commercial vehicle control device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0098] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0099] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0100] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0101] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0102] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0103] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for a commercial vehicle, characterized in that: include: Acquiring a bus signal of a commercial vehicle and information of a target object detected from a forward blind spot of the commercial vehicle; Determining the current state of the commercial vehicle and the driving intention of the driver of the commercial vehicle according to the bus signal; Emergency braking control is performed on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object.

2. The method according to claim 1, characterized in that The target object information is determined by 4D millimeter wave radar detection in the commercial vehicle, and the target object information at least includes whether the target object exists, the attributes, position, height, movement speed and direction of the target object.

3. The method according to claim 1, characterized in that Determining the current state of the commercial vehicle according to the bus signal includes: The current state of the commercial vehicle is determined according to the vehicle speed signal, the gear position signal of the commercial vehicle, and the engine state signal in the bus signal; wherein the current state includes a stationary state and a low-speed driving state.

4. The method according to claim 3, characterized in that The determining the driving intention of the commercial vehicle driver according to the bus signal includes: When the current state is a stationary state, the gear change information of the commercial vehicle is determined according to the bus signal; and according to the gear change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward.

5. The method according to claim 3, characterized in that: Determining the driving intention of the commercial vehicle driver according to the bus signal includes: When the current state is a low-speed driving state, the throttle opening change information of the commercial vehicle is determined according to the bus signal; and according to the throttle opening change information, it is determined that the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate.

6. The method according to claim 4, characterized in that The emergency braking control of the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object includes: When the current state of the commercial vehicle is a stationary state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to move forward, if there is a target object in the forward blind spot of the commercial vehicle, emergency braking control is performed on the commercial vehicle.

7. The method according to claim 5, characterized in that The emergency braking control of the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object includes: When the current state of the commercial vehicle is a low-speed driving state and the driving intention of the commercial vehicle driver is to control the commercial vehicle to accelerate, if there is a target object in the forward blind spot of the commercial vehicle, the collision time between the commercial vehicle and the target object is estimated, and a collision warning is given to the commercial vehicle or emergency braking is performed on the commercial vehicle according to the collision time.

8. A control device for a commercial vehicle, characterized in that: include: A data acquisition module, used to acquire bus signals of a commercial vehicle and information of a target object detected from a forward blind spot of the commercial vehicle; A data analysis module, used to determine the current state of the commercial vehicle and the driving intention of the driver of the commercial vehicle according to the bus signal; The control module is used to perform emergency braking control on the commercial vehicle according to the current state of the commercial vehicle, the driving intention of the commercial vehicle driver and the information of the target object.

9. The device according to claim 8, characterized in that The target object information is determined by 4D millimeter wave radar detection in the commercial vehicle, and the target object information at least includes whether the target object exists, the attributes, position, height, movement speed and direction of the target object.

10. The device according to claim 8, characterized in that The data analysis module is also used for: The current state of the commercial vehicle is determined according to the vehicle speed signal, the gear position signal of the commercial vehicle, and the engine state signal in the bus signal; wherein the current state includes a stationary state and a low-speed driving state.

11. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to any one of claims 1 to 7.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 7 when executed.

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