Rear-end collision prevention control method, vehicle and product

Abstract

The invention provides a rear-end collision prevention control method, a vehicle and a product. The method comprises the steps that front vehicle information is acquired, and whether the front vehicle information contains a first large vehicle or not is judged; if yes, whether the target vehicle stops or not is judged; if the target vehicle stops, steering wheels of the target vehicle are rotated in the target direction; wherein the target direction is a direction away from the first large vehicle; if the target vehicle is collided by the rear vehicle, the target vehicle is controlled to move in the target direction; and if the target vehicle is not collided by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front. By means of the technical scheme, the target vehicle can be controlled to be adjusted to be in the rear-end collision prevention state when it is found that a large vehicle exists in front, that is, the steering wheel is rotated towards the target direction, and therefore the target vehicle can rapidly escape towards the target direction when rear-end collision happens to a rear vehicle. And front-and-back clamping or rear-end collision to the tail of the first large vehicle in front is avoided, and the safety protection effect is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an anti-rear-end collision control method, a vehicle and a product. Background Art

[0002] In congested roads or at traffic lights, passenger cars are often trapped by large trucks, especially when a passenger car gets stuck and crosses the vehicle's front energy absorption box, anti-collision beam and other energy absorption spaces. The passenger car windows and passengers inside the car directly hit the truck compartment, seriously endangering the safety of the people in the car.

[0003] In addition, when the vehicle is stopped, the driver's focus is not on the rear of the vehicle, and he cannot quickly avoid obstacles in the event of a rear-end collision. Moreover, when the vehicle is stopped, related functions such as active obstacle avoidance on the vehicle cannot intervene in time. Summary of the invention

[0004] The present application provides a rear-end collision prevention control method, a vehicle and a product.

[0005] According to a first aspect of the present application, a rear-end collision prevention control method is provided, the method comprising: obtaining vehicle information in front, and determining whether the vehicle information in front includes a first large vehicle; if the first large vehicle is included, determining whether a target vehicle has stopped; if the target vehicle has stopped, turning a steering wheel of the target vehicle in a target direction; wherein the target direction is a direction away from the first large vehicle; if the target vehicle is hit by a rear vehicle, controlling the target vehicle to move in the target direction; if the target vehicle is not hit by a rear vehicle, adjusting the steering wheel of the target vehicle back to the front.

[0006] In the above embodiment, in the present application, when the target vehicle stops, the direction of the steering wheel is adjusted in advance to face the target direction, which is the direction away from the first large vehicle. When the target vehicle is hit by a rear vehicle, the target vehicle can quickly move in the target direction under the impact force of the rear vehicle without the driver and / or the vehicle of the target vehicle making any operation, so that when the target vehicle is hit by a rear-end collision with the rear vehicle, it will no longer be rear-ended by the first large vehicle in front, thereby ensuring the safety of the occupants in the target vehicle.

[0007] According to at least one embodiment of the present application, a method for determining a target direction includes: obtaining environmental information on the left and right sides of the vehicle; based on the environmental information on the left and right sides, identifying whether there is a second large vehicle on the left and right sides of the target vehicle, and determining the distance between the vehicles on the left and right sides; and determining the target direction based on the identification results of the second large vehicle and the distance between the vehicles.

[0008] In the above implementation, in order to minimize the damage to the target vehicle after the target vehicle moves to the target direction, it is necessary to comprehensively consider the second large vehicles and the distance between vehicles on both sides, so that after the target vehicle reaches the target direction, it will not cause harm to the occupants on the vehicle, or reduce the damage to the occupants on the vehicle as much as possible.

[0009] According to at least one embodiment of the present application, the target direction is determined based on the recognition results of the second large vehicle and the vehicle distance, including: if there is no second large vehicle on both the left and right sides, or if there are second large vehicles on both the left and right sides, then the side with the larger vehicle distance is selected as the target direction; if there is a second large vehicle on only one side of the left and right sides, then the side without the second large vehicle is selected as the target direction.

[0010] In the above embodiment, when there are second large vehicles on both sides and a collision is unavoidable, the side with a larger distance between vehicles will be preferentially selected as the target direction, so as to provide a larger space for the target vehicle when the target vehicle collides with the second large vehicle, thereby reducing the collision force and contact area between the target vehicle and the second large vehicle. In the case where there are no second large vehicles on both sides, more options can be selected, for example, the side without vehicles can be selected as the target direction, or the side with a larger distance between vehicles can be selected as the target direction. This can minimize the damage to the target vehicle.

[0011] According to at least one embodiment of the present application, before the target vehicle stops, the method further includes: controlling the target vehicle to approach the lane line on the target direction side and not crossing the lane line on the target direction side.

[0012] In the above embodiment, when the target vehicle stops, it can choose to stop close to the lane line, and when the target vehicle is hit by a rear-end collision, it can quickly move to an adjacent lane. In other words, when the target vehicle is hit by a rear-end collision, the closer the target vehicle is to the lane line, the less damage to the target vehicle.

[0013] According to at least one embodiment of the present application, the steering wheel of the target vehicle is turned in the target direction, including: when the target vehicle has a wire-controlled steering system, after the target vehicle stops, the synchronization relationship between the steering wheel and the steering wheel is released; the steering wheel is turned in the target direction, and the steering wheel remains stationary.

[0014] In the above implementation, the direction of the steering wheel can be automatically controlled without the driver's awareness, which can effectively reduce the damage caused by the target vehicle being rear-ended and effectively improve the driver's driving experience.

[0015] According to at least one embodiment of the present application, if the target vehicle is not hit by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front, including: if it is detected that the rear vehicle has completely stopped, starting the countdown; if the rear vehicle remains stopped for longer than the countdown time, adjusting the steering wheel of the target vehicle back to the front.

[0016] In the above embodiment, when there is no risk of rear-end collision by the rear vehicle, the steering wheel of the target vehicle can be immediately turned back to the right position, and the target vehicle can continue to move forward at any time. That is, the steering wheel is turned back to the right position before the target vehicle needs to move forward, so as to avoid adverse effects of steering the steering wheel on the normal driving of the target vehicle.

[0017] According to at least one embodiment of the present application, if the target vehicle is not hit by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front, including: if it is detected that the rear vehicle has completely stopped, starting the countdown; if a departure signal from the driver is received before the countdown ends, the steering wheel of the target vehicle is adjusted back to the front and then moved, or the steering wheel of the target vehicle is moved while it is adjusted back to the front; or, if there is no rear vehicle and a departure signal from the driver is received, the steering wheel of the target vehicle is adjusted back to the front and then moved, or the steering wheel of the target vehicle is moved while it is adjusted back to the front.

[0018] In the above embodiment, when the driver needs to drive away, the steering wheel of the target vehicle can be turned back to the right position in time, and the target vehicle can continue to drive forward at any time. That is, before the target vehicle needs to drive forward, the steering wheel is turned back to the right position to avoid adverse effects on the normal driving of the target vehicle caused by the steering wheel.

[0019] According to at least one embodiment of the present application, if the target vehicle is not hit by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front, including: if it is detected that the rear vehicle has completely stopped, starting the countdown; if the first large vehicle is detected to leave before the countdown ends, the steering wheel of the target vehicle is adjusted back to the front; or, if there is no rear vehicle and the first large vehicle is detected to leave, the steering wheel of the target vehicle is adjusted back to the front.

[0020] In the above embodiment, when the first large vehicle is detected to be leaving, the steering wheel of the target vehicle can be immediately turned back to the right position, and the target vehicle can continue to move forward at any time. That is, before the target vehicle needs to move forward, the steering wheel is turned back to the right position to avoid adverse effects on the normal driving of the target vehicle caused by the steering wheel.

[0021] According to at least one embodiment of the present application, if the target vehicle is hit by a rear vehicle, the target vehicle is controlled to move toward a target direction, including: if the target vehicle is hit by a rear vehicle, the target vehicle brakes are released and / or forward acceleration is started; and the target vehicle moves toward the target direction by controlling the steering wheel to move toward the target direction.

[0022] In the above embodiment, in order to enable the target vehicle to escape from the danger zone more quickly, the target vehicle can release the parking brake function when it is rear-ended by the vehicle behind it. The brake release method may be, for example, releasing the electronic handbrake. In addition, forward acceleration may be started while releasing the brake, so that the target vehicle can escape from the danger zone more quickly when it is rear-ended, and the damage caused to the target vehicle by the vehicle behind it can be minimized.

[0023] According to at least one embodiment of the present application, before the target vehicle stops, it also includes: after the first large vehicle is identified, a safe distance is calculated based on the vehicle parameters of the target vehicle itself and the first distance between the target vehicle and the lane line on the side where the target direction is located; wherein the vehicle parameters include: at least one of the first distance from the rear axle of the target vehicle to the front end of the target vehicle, the wheelbase of the target vehicle, the body width of the target vehicle and the target steering angle of the steering wheel in the target direction.

[0024] In the above implementation, when calculating the safety distance, not only the impact of the target vehicle itself is taken into account, but also the distance d between the target vehicle and the lane line is taken into account. The smaller the distance d is, the faster the target vehicle can escape from the dangerous area.

[0025] According to at least one embodiment of the present application, after calculating the safety distance, the method further includes: after calculating the safety distance, determining a parking position corresponding to the vehicle spacing in a selected area that is greater than the safety distance, and controlling the target vehicle to park at the parking position; or, notifying the driver to park at the parking position.

[0026] In the above implementation, after the safety distance is calculated, the target vehicle stops at a position greater than the safety distance. When the target vehicle is hit by a rear vehicle, there is sufficient space to escape from the dangerous area between the first large vehicle and the rear vehicle, thereby improving the safety effect of the target vehicle in preventing rear-end collisions.

[0027] According to a second aspect of the present application, a vehicle is provided, comprising an on-board electronic device, wherein the on-board electronic device is used to implement the rear-end collision prevention control method as described in the first aspect.

[0028] According to a third aspect of the present application, a computer program product is provided. The computer program product includes a computer program signal. When the computer program signal is executed by a processor, it is used to implement at least the rear-end collision prevention control method described in the first aspect.

[0029] In the anti-rear-end collision control method, vehicle and product provided by the present application, when the target vehicle is waiting for the red light, or when the vehicle stops due to traffic congestion, it is necessary to first determine whether there is a large vehicle in front of the current target vehicle. If there is a large vehicle in front of the target vehicle, then when the target vehicle stops, keep a safe distance from the first large vehicle. In addition, the steering wheel of the target vehicle can also be turned toward the target direction, so that when the target vehicle suffers an uncontrollable collision with the rear vehicle, the target vehicle can quickly move along the target direction, thereby avoiding being hit and rear-ended to the rear of the first large vehicle in front. If the target vehicle is not hit by the rear vehicle, the steering wheel will be returned under appropriate conditions to continue to control the safe operation of the target vehicle. Through the above scheme, it is possible to control the target vehicle to adjust to a defensive state to prevent being rear-ended when a large vehicle is found in front, that is, the steering wheel of the target vehicle is turned toward the target direction, so that the target vehicle can quickly escape to the target direction when it is rear-ended by the rear vehicle. Avoid being clamped from front and back or being rear-ended to the rear of the first large vehicle in front, and improve the safety protection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0031] Figure 1 This is a schematic diagram of an anti-rear-end collision control system illustrated in this application.

[0032] Figure 2 A flowchart of an anti-rear-end collision control method provided in this application.

[0033] Figure 3 A schematic diagram of a collision scenario provided for this application.

[0034] Figure 4a , 4b 4c is a schematic diagram of the target vehicle side environment recognition scene provided in this application.

[0035] Figure 5 A schematic diagram of a target vehicle parking scenario provided in this application.

[0036] Figure 6 A schematic diagram of calculating a safety distance provided for this application.

[0037] Figure 7 A schematic structural diagram of a vehicle provided for this application. DETAILED DESCRIPTION

[0038] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is to be understood that the specific examples described herein are only used to explain the relevant content, rather than to limit the present application. It is also necessary to explain that, for ease of description, only the parts related to the present application are shown in the accompanying drawings.

[0039] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present application can be combined with each other. The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] In the prior art, when the target vehicle reaches a congested road section or a traffic light intersection, it will stop and wait. In some cases, there may be a large vehicle such as a large truck or a large bus in front of the target vehicle. If the vehicle behind the target vehicle fails to brake in time due to distracted driver attention or a malfunction in the brake system of the rear vehicle, the target vehicle will passively rear-end the rear of the large vehicle in front when it is hit by the rear vehicle. There may even be a situation of front and rear clamping, which has a great impact on personnel safety.

[0041] In addition, when the target vehicles are waiting for a red light or are queued due to congestion, the driver of the target vehicle is not paying attention to the vehicle behind it, so the target vehicle cannot take evasive action in time when it is hit by the rear-end collision of the rear vehicle. Therefore, a solution is needed to prevent passive rear-end collision of large vehicles in front.

[0042] like Figure 1 Schematic diagram of the anti-rear-end collision control system illustrated in this application. Figure 1 As can be seen in the figure, the system includes: a sensor 11, a processor 12, and a steering wheel 13. The sensor is used to obtain vehicle information in front of the target vehicle and environmental information on the left and right sides. After obtaining this information, it will further identify whether there is a first large vehicle in front of the target vehicle (the first large vehicle here refers to any large vehicle, such as trucks, large buses, cranes and other large vehicles).

[0043] After the sensor sends the detected front vehicle information and left and right environmental information to the processor, the processor identifies the front vehicle information and left and right environmental information respectively. It can identify whether there is a first large vehicle in front based on the front vehicle information, and identify whether there are large vehicles on the left and right sides based on the left and right environmental information, and determine the distance between the vehicles on the left and right sides, thereby providing a basis for the subsequent target vehicle to stop and the target direction to be determined.

[0044] If the first large vehicle is not identified in front of the target vehicle, the target vehicle does not need to make any adjustment action when it stops and waits. That is, it does not need to adjust the steering wheel to face the target direction, but keeps the direction consistent with the normal driving direction of the vehicle (for example, the steering wheel keeps straight ahead).

[0045] If a first large vehicle is identified in front of the target vehicle, the steering wheel direction needs to be defensively adjusted while the target vehicle is waiting. That is, the processor sends a control instruction to the execution unit to control the steering wheel to rotate toward the target direction, thereby adjusting the steering wheel to face the target direction.

[0046] Without the need to monitor the rear vehicle status, by adjusting the direction of the target vehicle's steering wheel in advance, when the target vehicle is hit by the rear vehicle, the target vehicle can move along the target direction pointed by the steering wheel. After the collision occurs, even without driver intervention or vehicle intervention, the target vehicle can move along the target direction and quickly escape from between the first large vehicle in front and the rear vehicle, which can prevent the target vehicle from being rear-ended by the first large vehicle in front, thereby ensuring the safety of the occupants in the target vehicle.

[0047] like Figure 2 The following is a flow chart of a rear-end collision prevention control method provided in this application. The method can be applied to a target vehicle. Figure 2 The steps of the specific anti-rear-end collision control method are as follows.

[0048] Step 201: Acquire the front vehicle information and determine whether the front vehicle information includes a first large vehicle.

[0049] The vehicle information ahead mentioned here can be understood as the information collected from the front of the vehicle through the sensors on the target vehicle. The collected content includes: the first large vehicle and the environmental information ahead (such as traffic lights, pedestrians, zebra crossings, etc.). After obtaining the vehicle information ahead, it is necessary to further identify the vehicle information ahead, for example, to identify whether the vehicle ahead is a large vehicle. If so, the recognition result is that there is a first large vehicle ahead. If it is found that there is no vehicle ahead, or the recognition result is that there is a small vehicle ahead, the target vehicle does not need to make defensive adjustments, that is, there is no need to adjust the steering wheel in the target direction.

[0050] Step 202: If the first large vehicle is included, determine whether the target vehicle is stopped.

[0051] When the first large vehicle is detected in the vehicle information ahead in the manner described above, it is necessary to further determine whether the target vehicle has stopped. If the target vehicle has not stopped, that is, the target vehicle is continuously moving. During the continuous movement of the target vehicle, the driver of the target vehicle has been paying attention to the surrounding conditions of the vehicle (including the left and right sides of the target vehicle and the rear of the vehicle). When the target vehicle is hit by the rear vehicle, the driver can control the vehicle to quickly escape (for example, the driver quickly turns the steering wheel to either the left or right direction).

[0052] Step 203: If the target vehicle stops, the steering wheel of the target vehicle is turned toward a target direction; wherein the target direction is a direction away from the first large vehicle.

[0053] If the target vehicle stops at this time, that is, the speed of the target vehicle drops to zero, the processor will control the steering wheel of the target vehicle to rotate in the target direction. In practical applications, the processor of the target vehicle can control the steering wheel of the target vehicle to rotate in the target direction. A prompt message for rotation can also be sent to the driver to tell the driver to turn the steering wheel in the target direction, thereby causing the steering wheel to rotate in the target direction.

[0054] The target direction mentioned here refers to the direction away from the first large vehicle, generally the left and right sides of the target vehicle. After the steering wheel of the first large vehicle is adjusted, the target vehicle can move along the current direction of the steering wheel. The determination method of the target direction and the size of the steering wheel rotation angle need to be set according to the actual situation. For details, please refer to the following embodiments, which will not be repeated here.

[0055] In addition, when the target vehicle stops, the selected stop position can be determined by the vehicle processor based on various information and the vehicle can be automatically controlled to stop. Alternatively, the vehicle processor can determine the stop position based on various information and send the stop information to the driver, who usually controls the vehicle to stop at the target position.

[0056] It should be noted that the target vehicle's stopping position should maintain a certain safety distance from the first large vehicle in front, so that the target vehicle can have sufficient space to escape in the target direction when it is hit by the rear vehicle. In other words, when the target vehicle is hit by the rear vehicle, the target vehicle is pushed forward in the target direction and gradually approaches the first large vehicle in front. When the safety distance is large enough, the target vehicle moves to the safe area (that is, moves out of the front and rear vehicle collision area) before colliding with the first vehicle in front. Therefore, in addition to rotating the target vehicle's steering wheel in the target direction, the distance between the target vehicle's stopping position and the first large vehicle is also required to be greater than the safety distance.

[0057] Step 204: If the target vehicle is hit by the rear vehicle, the target vehicle is controlled to move toward the target direction.

[0058] The target vehicle behind the target vehicle can be a large vehicle or a small vehicle (such as a car or a small truck). In the case of a collision with a rear vehicle, the target vehicle needs to control the steering wheel to deflect in the target direction (the steering angle of the steering wheel can be adjusted as needed).

[0059] In actual applications, if the vehicle behind the target vehicle fails to brake, or the rear vehicle is distracted and fails to brake in time, the rear vehicle may collide with the target vehicle.

[0060] like Figure 3 A schematic diagram of a collision scenario provided for this application. Figure 3 As can be seen in , since the current steering wheel of the target vehicle is facing the target direction ( Figure 3 The left side of the center is the target direction). When the rear vehicle rear-ends the target vehicle, the target vehicle will move in the target direction pointed by the steering wheel. When a collision occurs, the driver does not need to perceive it in advance, nor does the driver need to take evasive action at the moment of collision. The target vehicle can escape in the target direction, which can effectively avoid or reduce the damage caused by the collision to the occupants of the target vehicle.

[0061] Step 205: If the target vehicle is not hit by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front.

[0062] As mentioned above, since there is a first large vehicle in front of the target vehicle, the target vehicle will turn the steering wheel toward the target direction after it stops. If the target vehicle is not hit by the rear vehicle, the steering wheel needs to be straightened before the target vehicle starts to drive, or gradually straightened when the target vehicle starts to drive (that is, the steering wheel is adjusted to face the front of the vehicle).

[0063] In actual applications, if the red light turns green, or the congestion is relieved, the target vehicle needs to continue to move forward. Therefore, when the start command is received (for example, the driver steps on the accelerator pedal or releases the handbrake), the steering wheel will be quickly returned to the center. Of course, it can also be gradually returned to the center while the target vehicle is moving forward.

[0064] Said steering wheel in this application generally refers to the wheel that can turn in the target vehicle, which is generally the front wheel of the vehicle. Of course, some target vehicles are rear-wheel steering or both front and rear wheels can turn, which is not specifically limited here.

[0065] Through the above embodiments, in the present application, when the target vehicle stops, the direction of the steering wheel is adjusted in advance to face the target direction, which is the direction away from the first large vehicle. When the target vehicle is hit by a rear vehicle, the target vehicle can quickly move in the target direction under the impact force of the rear vehicle without the driver and / or the vehicle of the target vehicle making any operation, so that when the target vehicle is hit by a rear-end collision with the rear vehicle, it will no longer be rear-ended by the first large vehicle in front, thereby ensuring the safety of the occupants in the target vehicle.

[0066] In one or more embodiments of the present application, a method for determining a target direction includes: obtaining environmental information on the left and right sides of the vehicle; based on the environmental information on the left and right sides, identifying whether there is a second large vehicle on the left and right sides of the target vehicle, and determining the distance between the vehicles on the left and right sides; and determining the target direction based on the identification results of the second large vehicle and the distance between the vehicles.

[0067] In actual applications, in order to avoid being sandwiched by the front and rear vehicles, the target vehicle needs to flee to the left or right when it is hit by the rear vehicle. Therefore, when choosing a suitable target direction, it is necessary to fully compare the environment on the left and right sides and comprehensively determine whether to choose the left or right side as the target direction.

[0068] The basic principle for determining the target direction is to choose the side with the least possible damage to the target vehicle and the largest space as the target direction. The damage to the target vehicle is ranked according to the hypothetical collision situation: cliff, second largest vehicle, high-strength metal guardrail, green belt.

[0069] In addition to considering the vehicle types and road environment on the left and right lanes, the distance between vehicles is also considered. The larger the distance between vehicles, the smaller the collision surface of the target vehicle when the target vehicle moves toward the target direction. Therefore, in order to minimize the damage to the target vehicle after the target vehicle moves to the target direction, it is necessary to comprehensively consider the second largest vehicle on both sides and the distance between vehicles, so that the target vehicle will not cause harm to the occupants of the vehicle after reaching the target direction, or minimize the harm to the occupants of the vehicle as much as possible.

[0070] In one or more embodiments of the present application, the target direction is determined based on the recognition results of the second large vehicle and the vehicle distance, including: if there is no second large vehicle on both the left and right sides, or if there are second large vehicles on both the left and right sides, then the side with the larger vehicle distance is selected as the target direction; if there is a second large vehicle on only one side of the left and right sides, then the side without the second large vehicle is selected as the target direction.

[0071] It should be noted that if there is a second large vehicle on both sides, it means that in the left and right lanes of the target vehicle, the vehicles in front and / or on the adjacent sides of the target vehicle are large vehicles. If there is a large vehicle behind the target vehicle in the left and right lanes of the target vehicle, it does not need to be considered, that is, the rear vehicle is not the second large vehicle. Because the target vehicle will move to the left front or right front of the target direction in the process of moving toward the target direction, that is, it will collide with the vehicles side by side in the left and right lanes, and the vehicles in front of the left and right lanes. To ensure that the target vehicle collides safely with the vehicles side by side in the left and right lanes, and the vehicles in front of the left and right lanes, it is necessary to try to avoid colliding with the second large vehicles in the left and right lanes. If it is really unavoidable, the damage caused by the collision will be reduced as much as possible, especially to avoid or reduce the damage to the occupants in the car. One way is to select the side with a larger distance between vehicles on the left and right sides as the target direction when there are second large vehicles in the left and right lanes.

[0072] If there is no second large vehicle on either side, you can choose based on the distance between vehicles. That is, the side with the larger distance between vehicles is preferred as the target direction. Specifically, when there are small vehicles on both sides, the distance between the small vehicles on the left and right sides is compared, and the side with the larger distance between vehicles is selected as the target direction. If there is no vehicle on one or both sides, it can be considered that the distance between vehicles has reached the maximum value. In this case, the side without vehicles can be selected as the target direction.

[0073] If there is a second large vehicle on only one of the left and right sides, the side without the second large vehicle is used as the target direction, so as to avoid the target vehicle from rear-ending the second large vehicle when moving toward the target direction when the target vehicle is rear-ended by the rear vehicle.

[0074] like Figure 4a , 4b 4c is a schematic diagram of the target vehicle side environment recognition scene provided in this application.

[0075] in, Figure 4a There are second largest vehicles in the lanes on both sides of the target vehicle. Figure 4aThere are 6 vehicles in total, namely, vehicle a1, vehicle a2, vehicle a3, vehicle a4, vehicle a5, and vehicle a6. Among them, vehicle a1 and vehicle a2 are located in front of the target vehicle in the left and right lanes of the target vehicle, respectively. Vehicle a3 and vehicle a4 are located side by side in the left and right lanes of the target vehicle, respectively. Vehicle a5 and vehicle a6 are located behind the target vehicle in the left and right lanes of the target vehicle, respectively. When identifying the environmental information on the left and right sides, the four vehicles a1, vehicle a2, vehicle a3, and vehicle a4 are marked as the second largest vehicle. Vehicle a5 and vehicle a6 do not need to be marked because the target vehicle will not collide with a5 and vehicle a6.

[0076] Next, it is necessary to compare the first inter-vehicle distance a13 between vehicles a1 and a3 and the second inter-vehicle distance a24 between vehicles a2 and a4. If the first inter-vehicle distance a13 is greater than the second inter-vehicle distance a24, the side of a13 will be selected as the target direction. On the contrary, if the first inter-vehicle distance a13 is less than the second inter-vehicle distance a24, the side of a23 will be selected as the target direction.

[0077] Based on the above implementation mode, it can be known that when there are second large vehicles on both the left and right sides and the collision cannot be avoided, the side with a larger vehicle distance will be preferentially selected as the target direction, so that when the target vehicle collides with the second large vehicle, a larger space can be provided for the target vehicle, thereby reducing the collision force and contact area between the target vehicle and the second large vehicle.

[0078] Figure 4b There is no second large vehicle in the lanes on the left and right sides of the target vehicle. Figure 4b It is shown that there are multiple cars on the left road, namely, car b1, car b2, and car b3, and there is no car in the right lane. Then, the third vehicle distance b12 between car b1 and car b2 in the left lane can be further determined. Since there is no car in the right lane, it can be known that the vehicle distance in the right lane is greater than the third vehicle distance b12. The right side of the target vehicle will be selected as the target direction.

[0079] Based on the above implementation, it can be known that when there is no second large vehicle on both sides, more options can be selected, for example, the side without a vehicle can be selected as the target direction, or the side with a large distance between vehicles can be selected as the target direction, so as to minimize the damage to the target vehicle.

[0080] Figure 4c There is a second larger vehicle to the side of the target vehicle. Figure 4cIt is shown that there are multiple cars on the left road, namely, vehicles c1, c2, and c3, and there is a second large vehicle on the right lane, namely, vehicle c4. Then, the side without the second large vehicle will be selected as the target direction, that is, the side where vehicle c1 is located will be selected as the target direction. After the target vehicle suffers a rear-end collision, it moves toward the target direction and collides with vehicle c1, and will not be rear-ended by the second large vehicle c4. It can avoid being sandwiched by the front and rear vehicles, or being rear-ended by the first large vehicle, thereby minimizing the damage to the target vehicle and its occupants.

[0081] In one or more embodiments of the present application, before the target vehicle stops, it also includes: controlling the target vehicle to approach the lane line on the target direction side and not crossing the lane line on the target direction side.

[0082] The area between the first large vehicle and the rear vehicle can be called the danger zone, and the left and right sides can be called the safe zone. When the target vehicle is hit by a rear-end collision with a rear vehicle, the faster the target vehicle leaves the danger zone, the less damage to the target vehicle. Therefore, when the target vehicle stops, it can choose to stop close to the lane line, and when the target vehicle is hit by a rear-end collision with a rear vehicle, it can quickly move to the adjacent lane. In other words, when the target vehicle is hit by a rear-end collision with a rear vehicle, the closer the target vehicle is to the lane line, the less damage to the target vehicle.

[0083] like Figure 5 A schematic diagram of a target vehicle parking scene provided in this application. Figure 5 As can be seen in the figure, when the target vehicle is driving normally, it drives along the center of the lane. When the target vehicle starts to slow down, the driver can be notified to slow down in the target direction and gradually approach the lane line. Alternatively, the vehicle automatically controls to approach the lane line on the target direction. When stopping, it can stop on the side close to the lane line and turn the steering wheel towards the target direction. This allows the target vehicle to quickly move to the adjacent lane when it is rear-ended by the vehicle behind it, and the damage to the target vehicle is reduced.

[0084] In one or more embodiments of the present application, turning the steering wheel of the target vehicle in the target direction includes: when the target vehicle has a wire-controlled steering system, after the target vehicle stops, releasing the synchronization relationship between the steering wheel and the steering wheel; turning the steering wheel in the target direction, and keeping the steering wheel stationary.

[0085] In practical applications, if the target vehicle supports a wire-controlled steering system, that is, after the synchronization relationship between the steering wheel and the steering wheel is released, the direction of the steering wheel can be turned without the driver's perception. In other words, the vehicle can automatically adjust the direction of the steering wheel without the need for driver intervention. Specifically, when the vehicle stops, the vehicle releases the synchronization relationship between the steering wheel and the steering wheel, and then controls the steering wheel to turn in the target direction, and the steering wheel does not need to be turned (for example, it can remain stationary). When the target vehicle is ready to continue driving, the steering wheel can be controlled to return to the positive direction, and then the synchronization relationship between the steering wheel and the steering wheel is established.

[0086] Through the above scheme, the direction of the steering wheel can be automatically controlled without the driver's perception, which can effectively reduce the damage caused by the target vehicle being rear-ended and effectively improve the driver's driving experience.

[0087] When the target vehicle is not rear-ended by the vehicle behind, the target vehicle needs to return the steering wheel to the correct position in time so that the target vehicle can continue to drive forward. When the steering wheel is returned to the correct position, the impact on the driver's normal driving is reduced as much as possible. The following will describe the method of returning the steering wheel to the correct position through a specific embodiment.

[0088] In one or more embodiments of the present application, if the target vehicle is not hit by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front, including: if it is detected that the rear vehicle has completely stopped, starting the countdown; if the rear vehicle remains stopped for longer than the countdown time, adjusting the steering wheel of the target vehicle back to the front.

[0089] In actual application, when a rear vehicle is detected, it will be identified whether the rear vehicle has stopped. If the rear vehicle has stopped, it means that the risk of the target vehicle being rear-ended by the rear vehicle is significantly reduced. After determining that the rear vehicle has stopped, a countdown will be started (the countdown can be 5 seconds or 8 seconds). When the countdown ends, if the rear vehicle still does not move forward, it can be known that the rear vehicle has stopped stably and there is no risk of rear-ending the target vehicle. In this case, the steering wheel of the target vehicle can be turned back to the front, that is, the steering wheel of the target vehicle can be adjusted to face the front of the vehicle.

[0090] Through the above implementation, when there is no risk of rear-end collision by the rear vehicle, the steering wheel of the target vehicle can be straightened in time, and the target vehicle can continue to move forward at any time. That is, the steering wheel is straightened before the target vehicle needs to move forward, so as to avoid the adverse effect of the steering wheel turning on the normal driving of the target vehicle.

[0091] In one or more embodiments of the present application, if the target vehicle is not hit by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front, including: if the rear vehicle is detected to be completely stopped, the countdown is started; if the driver's departure signal is received before the countdown ends, the steering wheel of the target vehicle is adjusted back to the front and then moved, or the steering wheel of the target vehicle is adjusted back to the front and then moved. Alternatively, if there is no rear vehicle and the driver's departure signal is received, the steering wheel of the target vehicle is adjusted back to the front and then moved, or the steering wheel of the target vehicle is adjusted back to the front and then moved.

[0092] In actual applications, when the target vehicle detects that the vehicle behind it has stopped, the countdown can be started. Before the countdown ends, the driver sends a signal to leave, for example, the driver steps on the accelerator pedal, or the driver releases the electronic parking brake; it means that the driver has the need to control the vehicle to leave. Move after the steering wheel of the target vehicle is adjusted back to the front, or move while the steering wheel of the target vehicle is adjusted back to the front. If the driver sends a signal to leave after the countdown ends, the steering wheel of the target vehicle will return to the center after the countdown ends, and there is no need to wait for the driver to send a signal to leave.

[0093] Of course, if the target vehicle does not detect the vehicle behind it, it is not necessary to start the countdown. Although the target vehicle does not detect the vehicle behind it, it is still necessary to control the steering wheel of the target vehicle to turn in the target direction to prevent a rear-end collision caused by a sudden rear-end vehicle behind it. Without starting the countdown, the driver sends a departure message, for example, the driver steps on the accelerator pedal, or the driver releases the electronic handbrake; it means that the driver has the need to control the vehicle to drive away. Move after turning the steering wheel of the target vehicle back to the front, or move while turning the steering wheel of the target vehicle back to the front.

[0094] It should be noted that when the target vehicle needs to travel, the steering wheel needs to be straightened as soon as possible. The way of straightening can be to quickly straighten the wheel before the vehicle travels, or to straighten the wheel during the vehicle travels.

[0095] Based on the above embodiment, when the driver has a need to drive away, the steering wheel of the target vehicle can be turned back to the right position in time, and the target vehicle can continue to drive forward at any time. That is, before the target vehicle has a need to drive forward, the steering wheel is turned back to the right position to avoid adverse effects on the normal driving of the target vehicle caused by the steering wheel.

[0096] In one or more embodiments of the present application, if the target vehicle is not hit by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front, including: if the rear vehicle is detected to be completely stopped, a countdown is started; if the first large vehicle is detected to leave before the countdown ends, the steering wheel of the target vehicle is adjusted back to the front. Alternatively, if there is no rear vehicle and the first large vehicle is detected to leave, the steering wheel of the target vehicle is adjusted back to the front.

[0097] In actual application, if it is detected that the rear vehicle has stopped, the countdown is started. If before the countdown ends, it is detected that the first large vehicle in front has left (for example, the traffic light changes from red to green), it can be known that the target vehicle needs to follow the first large vehicle to leave, so the steering wheel of the target vehicle can be immediately returned to the front. Of course, it may not be the front, but the direction specified by the driver's current steering wheel (for example, the left front). Generally speaking, it is returned to the direction or angle to which the steering wheel pointed before the target vehicle stopped. If the first large vehicle in front leaves after the countdown ends, the steering wheel of the target vehicle will be returned after the countdown ends, and there is no need to wait for the first large vehicle to leave.

[0098] If the target vehicle stops and no vehicle behind is detected, the countdown will not be started. Although the target vehicle does not detect the vehicle behind, it is still necessary to control the steering wheel of the target vehicle to turn in the target direction to prevent a rear-end collision caused by a sudden rear-end vehicle behind. If the first large vehicle is detected to leave without starting the countdown, it means that the target vehicle has a need to follow the first large vehicle. Therefore, the steering wheel of the target vehicle can be immediately returned to the front. Of course, it can also be not the front, but the direction specified by the driver's current steering wheel (for example, the left front). Generally speaking, return to the direction or angle that the steering wheel pointed to before the target vehicle stopped.

[0099] In one or more embodiments of the present application, if the target vehicle is collided by a rear vehicle, the target vehicle is controlled to move in a target direction, including: if the target vehicle is collided by a rear vehicle, the target vehicle brakes are released and / or forward acceleration is started; and the target vehicle is moved in the target direction by controlling the steering wheel to move in the target direction.

[0100] In actual applications, if the target vehicle is hit by a vehicle behind it, it is necessary to control the steering wheel of the target vehicle to maintain a certain steering angle, so that the target vehicle moves in the target direction under the impact force of the vehicle behind it. Generally speaking, when the target vehicle is stationary, the parking (brake) function will be automatically or manually turned on to prevent the vehicle from sliding down the slope.

[0101] In order to enable the target vehicle to escape from the danger zone more quickly, the target vehicle can release the parking brake function when it is rear-ended by a vehicle behind it. The brake release method may be, for example, releasing the electronic handbrake.

[0102] In addition, forward acceleration can be initiated while the brakes are released, so that the target vehicle can escape from the danger zone more quickly when it is rear-ended, minimizing the damage caused to the target vehicle by the rear vehicle.

[0103] In one or more embodiments of the present application, before the target vehicle stops, it also includes: after identifying the first large vehicle, based on the vehicle parameters of the target vehicle itself and the first distance between the target vehicle and the lane line on the side of the target direction, the safety distance is calculated; wherein the vehicle parameters include: the first distance from the rear axle of the target vehicle to the front end of the target vehicle, the wheelbase of the target vehicle, the body width of the target vehicle, and at least one of the target steering angle of the steering wheel in the target direction. After calculating the safety distance, it also includes: after calculating the safety distance, determining a parking position corresponding to the vehicle spacing in a selected area greater than the safety distance, and controlling the target vehicle to stop at the parking position; or, notifying the driver to stop at the parking position.

[0104] like Figure 6 A schematic diagram of calculating a safe distance provided by this application. Figure 6 It can be seen that there is a large vehicle in front of the target vehicle. When the target vehicle stops, it is necessary to fully consider whether there is a large enough safety distance. Therefore, before the target vehicle stops, the safety distance needs to be calculated in advance. When the target vehicle stops automatically or notifies the driver to stop, the distance between the parking position and the first large vehicle in front must be greater than the safety distance. The specific calculation process of the safety distance is as follows.

[0105] Among them, x: the distance between the front end of the passenger car and the rear end of the truck or bus; y: the distance between the point where the front wheel axis of the passenger car exits the lane line and the front end of the passenger car; θ: the steering angle of the front wheel of the passenger car; a: the wheelbase of the passenger car; b: the width of the passenger car; c: the distance from the rear axle of the passenger car to the front end of the passenger car; d: the distance between the vehicle body at the exit end and the lane line. When calculating the safety distance, not only the impact of the target vehicle itself is taken into account, but also the distance d between the target vehicle and the lane line. The smaller the distance d, the faster the target vehicle can escape from the danger zone.

[0106] After the safety distance is calculated in the above manner, the target vehicle stops at a position greater than the safety distance. When the target vehicle is hit by a rear vehicle, it has sufficient space to escape from the dangerous area between the first large vehicle and the rear vehicle, thereby improving the safety effect of the target vehicle in preventing rear-end collisions.

[0107] Figure 7 A schematic diagram of the structure of a vehicle provided in this application, such as Figure 7 As shown, the vehicle is equipped with on-board electronic equipment, which includes: a memory 701 and a processor 702 .

[0108] The memory 701 is used to store computer programs and can be configured to store various other data to support operations on the vehicle-mounted electronic device. Examples of such data include instructions for any application or method operating on the vehicle-mounted electronic device, contact data, phone book data, messages, pictures, videos, etc.

[0109] Among them, the memory 701 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0110] The processor 702 is coupled to the memory 701 and is used to execute the computer program in the memory 701 to obtain the vehicle information in front and determine whether the vehicle information in front includes the first large vehicle; if the first large vehicle is included, determine whether the target vehicle is stopped; if the target vehicle is stopped, turn the steering wheel of the target vehicle in the target direction; wherein the target direction is the direction away from the first large vehicle; if the target vehicle is hit by the rear vehicle, control the target vehicle to move in the target direction; if the target vehicle is not hit by the rear vehicle, adjust the steering wheel of the target vehicle back to the front.

[0111] Processor 702 is used to obtain environmental information on the left and right sides of the vehicle; based on the environmental information on the left and right sides, identify whether there is a second large vehicle on the left and right sides of the target vehicle, and determine the distance between the vehicles on the left and right sides; based on the identification results of the second large vehicle and the distance between the vehicles, determine the target direction.

[0112] Processor 702 is used to select the side with a larger vehicle distance as the target direction if there is no second large vehicle on both sides, or if there are second large vehicles on both sides; if there is a second large vehicle on only one side, then select the side without the second large vehicle as the target direction.

[0113] Processor 702 is used to control the target vehicle to approach the lane line on the target direction side and not to cross the lane line on the target direction side.

[0114] Processor 702 is used for releasing the synchronization relationship between the steering wheel and the steering wheel after the target vehicle stops when the target vehicle has a wire-controlled steering system; turning the steering wheel in the target direction while keeping the steering wheel stationary.

[0115] Processor 702 is used to start the countdown if it is detected that the rear vehicle has completely stopped; if the rear vehicle remains stopped for a period exceeding the countdown period, the steering wheel of the target vehicle is adjusted back to the front.

[0116] Processor 702 is used to start the countdown if it is detected that the rear vehicle has completely stopped; if a departure signal from the driver is received before the countdown ends, the target vehicle's steering wheel is returned to the front and then moved, or the target vehicle's steering wheel is returned to the front and then moved; or, if there is no rear vehicle and a departure signal from the driver is received, the target vehicle's steering wheel is returned to the front and then moved, or the target vehicle's steering wheel is returned to the front and then moved.

[0117] Processor 702 is used to start the countdown if it is detected that the rear vehicle has completely stopped; if the first large vehicle is detected to have left before the countdown ends, adjust the steering wheel of the target vehicle back to the front; or if there is no rear vehicle and the first large vehicle is detected to have left, adjust the steering wheel of the target vehicle back to the front.

[0118] Processor 702 is used to release the brakes of the target vehicle and / or start forward acceleration if the target vehicle is hit by a rear vehicle; and control the steering wheel to move toward the target direction so that the target vehicle moves toward the target direction.

[0119] Processor 702 is used to calculate a safe distance based on the vehicle parameters of the target vehicle itself and the first distance between the target vehicle and the lane line on the side where the target direction is located after the first large vehicle is identified; wherein the vehicle parameters include: a first distance from the rear axle of the target vehicle to the front end of the target vehicle, the wheelbase of the target vehicle, the body width of the target vehicle and at least one of the target steering angle of the steering wheel in the target direction.

[0120] Processor 702 is used to determine a parking position corresponding to the vehicle spacing in a candidate area greater than the safety distance after calculating the safety distance, and control the target vehicle to park at the parking position; or notify the driver to park at the parking position.

[0121] Accordingly, the present application also provides a readable storage medium, in which a computer program is stored, and the computer program is used to implement the above method when executed by a processor. "Readable storage medium" can be any device that can contain, store, communicate, propagate or transmit a program for use in an instruction execution system, device or equipment or in combination with these instruction execution systems, devices or equipment. More specific examples of readable storage media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM), etc.

[0122] The present application also provides a computer program product. The method of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed, the process or function of the present application is executed in whole or in part.

[0123] The computer program or instructions may be stored in a readable storage medium or transmitted from one readable storage medium to another readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The readable storage medium may be any available medium that can be accessed or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; it may also be a semiconductor medium, such as a solid state drive. The computer readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0124] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0125] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0126] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0128] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0129] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present application, and are not intended to limit the scope of the present application. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present application.

Claims

1. A rear-end collision prevention control method, characterized in that: Applied to a target vehicle, the method comprises: Acquire the front vehicle information, and determine whether the front vehicle information includes the first large vehicle; If the first large vehicle is included, determining whether the target vehicle is stopped; If the target vehicle stops, turning the steering wheel of the target vehicle in a target direction; wherein the target direction is a direction away from the first large vehicle; If the target vehicle is hit by a rear vehicle, controlling the target vehicle to move toward the target direction; If the target vehicle is not hit by the rear vehicle, the steering wheel of the target vehicle is adjusted back to the front.

2. The method according to claim 1, characterized in that The method for determining the target direction includes: Get the environment information on the left and right sides of the vehicle; Based on the left and right environmental information, identifying whether there is a second large vehicle on the left and right sides of the target vehicle, and determining the distance between the vehicles on the left and right sides; The target direction is determined based on the recognition result of the distance between the second large vehicle and the vehicle.

3. The method according to claim 2, characterized in that The determining the target direction based on the recognition result of the distance between the second large vehicle and the vehicle comprises: If there is no second large vehicle on both the left and right sides, or if there is a second large vehicle on both the left and right sides, then the side with the larger vehicle distance is selected as the target direction; If only one of the left and right sides has the second large vehicle, the side without the second large vehicle is selected as the target direction.

4. The method according to claim 2, characterized in that: Before the target vehicle stops, the method further includes: The target vehicle is controlled to approach the lane line on the side where the target direction is located, and not to cross the lane line on the side where the target direction is located.

5. The method according to claim 1, characterized in that Turning the steering wheel of the target vehicle toward a target direction includes: When the target vehicle has a wire-controlled steering system, after the target vehicle stops, the synchronization relationship between the steering wheel and the steering wheel is released; The steering wheel is turned toward the target direction, and the steering wheel remains stationary.

6. The method according to claim 1, characterized in that If the target vehicle is not collided with by the rear vehicle, adjusting the steering wheel of the target vehicle back to the front comprises: If it is detected that the rear vehicle has completely stopped, the countdown is started; If the rear vehicle remains stopped for a period longer than the countdown time, the steering wheel of the target vehicle is adjusted back to the front.

7. The method according to claim 1, characterized in that If the target vehicle is not collided with by the rear vehicle, adjusting the steering wheel of the target vehicle back to the front comprises: If it is detected that the rear vehicle has completely stopped, a countdown is started; if a departure signal from the driver is received before the countdown ends, the target vehicle is moved after the steering wheel is turned back to the front, or the target vehicle is moved while the steering wheel is turned back to the front; or, If there is no rear vehicle and a departure signal from the driver is received, the target vehicle moves after the steering wheel is turned back to the front, or moves while the steering wheel of the target vehicle is turned back to the front.

8. The method according to claim 1, characterized in that: If the target vehicle is not collided with by the rear vehicle, adjusting the steering wheel of the target vehicle back to the front comprises: If it is detected that the rear vehicle has completely stopped, a countdown is started; if it is detected that the first large vehicle has left before the countdown ends, the steering wheel of the target vehicle is turned back to the front; or, If there is no rear vehicle and it is detected that the first large vehicle has left, the steering wheel of the target vehicle is turned back to the front.

9. The method according to claim 1, characterized in that: If the target vehicle is collided with by a rear vehicle, controlling the target vehicle to move toward the target direction comprises: If the target vehicle is hit by a rear vehicle, releasing the brakes of the target vehicle and / or initiating forward acceleration; The target vehicle is moved toward the target direction by controlling the steering wheel to move toward the target direction.

10. The method according to claim 4, characterized in that Before the target vehicle stops, the method further includes: After the first large vehicle is identified, a safety distance is calculated based on the vehicle parameters of the target vehicle itself and the first distance between the target vehicle and the lane line on the side where the target direction is located; wherein the vehicle parameters include: a first distance from the rear axle of the target vehicle to the front end of the target vehicle, the wheelbase of the target vehicle, the body width of the target vehicle and at least one of the target steering angle of the steering wheel toward the target direction.

11. The method according to claim 10, characterized in that After calculating the safety distance, it also includes: After the safety distance is calculated, a parking position corresponding to the vehicle distance is determined in a to-be-selected area greater than the safety distance, and the target vehicle is controlled to park at the parking position; or, the driver is notified to park at the parking position.

12. A vehicle, characterized in that: include: An on-vehicle electronic device, wherein the on-vehicle electronic device is used to implement the method according to any one of claims 1 to 11.

13. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program is used to implement at least the method according to any one of claims 1 to 11.

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