Vehicle control method, electronic equipment and computer storage medium

Abstract

The invention discloses a vehicle control method, electronic equipment and a computer storage medium, and the method comprises the steps: obtaining a real-time first braking distance of a vehicle according to the pedal travel of a brake pedal; when the first braking distance is larger than the real-time distance between the vehicle and the front vehicle, the vehicle is controlled to conduct auxiliary braking and / or auxiliary steering based on the steering wheel pressure value. According to the technical scheme, the real-time braking distance of the vehicle is obtained according to the pedal travel of the braking pedal, and when the braking distance is larger than the real-time distance between the vehicle and the front vehicle, the vehicle is controlled to conduct auxiliary braking and / or auxiliary steering based on the steering wheel pressure value; the risk that the trampled brake pedal stroke cannot reach the safe brake distance due to the fact that a driver insufficiently senses the vehicle distance or the brake distance is reduced, and the driving safety is improved.

Description

Technical Field

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

[0002] As the functionality of vehicles increases, drivers have more requirements for the auxiliary braking and steering functions of vehicles. In response to the phenomenon of insufficient or lost braking force and untimely steering, there are two main auxiliary methods for insufficient braking force in related technologies: the first is to actively increase the pressure of the brake master cylinder through the vehicle ESC (Electronic Stability Control) system; the second is that the driver needs to manually pull up the EPB (Electrical Park Brake) switch, and then the ESC system completes the active pressure building action to achieve the purpose of auxiliary braking.

[0003] However, the first method mentioned above can only ensure the auxiliary braking effect when there is no leakage in the hydraulic circuit of the brake master cylinder or no wear on the brake disc. If there is leakage in the hydraulic circuit of the brake master cylinder or no wear on the brake disc, the braking effect of this method will be greatly reduced. The second method mentioned above requires the driver to react quickly and pull up the EPB switch at the moment of finding insufficient braking force, which is extremely demanding on the driver's psychological quality and driving habits. Once the driver fails to pull up the EPB switch in time, the purpose of auxiliary braking or steering cannot be achieved, endangering the driver's personal safety. Summary of the invention

[0004] The purpose of the present application is to provide a vehicle control method, an electronic device and a computer storage medium, so as to reduce the risk that the brake pedal stroke cannot reach the safe braking distance due to the driver's insufficient perception of the vehicle distance or braking distance, and improve driving safety.

[0005] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0006] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0007] Obtaining a first real-time braking distance of the vehicle according to a pedal travel of the brake pedal;

[0008] When the first braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, the vehicle is controlled to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value.

[0009] As one implementation manner, when the first braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value includes:

[0010] According to the steering wheel pressure value, obtaining a corresponding auxiliary pedal stroke;

[0011] acquiring a real-time second braking distance of the vehicle according to a pedal stroke of the brake pedal and a stroke of the auxiliary pedal;

[0012] The vehicle is controlled to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving status of surrounding vehicles.

[0013] As one implementation manner, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving status of surrounding vehicles includes:

[0014] When the second braking distance is less than the real-time distance between the vehicle and the preceding vehicle, the vehicle is controlled to perform auxiliary braking based on the steering wheel pressure value.

[0015] As one implementation manner, the driving state of the surrounding vehicles includes whether there are vehicles in front of or behind the variable lane of the vehicle, and the controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of the surrounding vehicles includes:

[0016] When the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, determining whether there are vehicles in front of or behind the variable lane of the vehicle;

[0017] If there are no vehicles in front or behind the variable lane, the vehicle is controlled to perform auxiliary steering.

[0018] As one implementation manner, the driving state of the surrounding vehicles further includes the speed of the rear vehicle of the variable lane, and when the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, after determining whether there are vehicles in front of or behind the variable lane of the vehicle, the controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of the surrounding vehicles further includes:

[0019] If there is a vehicle behind the variable lane and no vehicle in front, the speed of the vehicle behind is obtained;

[0020] When the speed of the rear vehicle is less than the speed of the vehicle, calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle;

[0021] When the real-time braking distance of the rear vehicle is less than the real-time distance between the rear vehicle and the vehicle, the vehicle is controlled to perform auxiliary steering.

[0022] As one implementation manner, the driving state of the surrounding vehicles further includes the speed of the rear vehicle of the variable lane, and when the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, after determining whether there are vehicles in front of or behind the variable lane of the vehicle, the controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of the surrounding vehicles further includes:

[0023] If there are vehicles in front and behind the variable lane, the speed of the rear vehicle is obtained;

[0024] When the speed of the rear vehicle is less than the speed of the vehicle, calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle;

[0025] When the real-time braking distance of the rear vehicle is less than the real-time distance between the rear vehicle and the vehicle, obtaining a real-time third braking distance of the vehicle after changing lanes;

[0026] When the third braking distance is less than the real-time distance between the vehicle and the vehicle ahead, the vehicle is controlled to perform auxiliary steering.

[0027] As one implementation manner, when the speed of the rear vehicle is less than the speed of the vehicle, after calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the leading vehicle, and the driving status of surrounding vehicles further includes:

[0028] When the real-time braking distance of the rear vehicle is greater than the real-time distance between the rear vehicle and the vehicle, obtaining the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes based on a preset safety distance;

[0029] When the real-time braking distance of the rear vehicle is less than the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes, the vehicle is controlled to perform auxiliary acceleration and auxiliary steering.

[0030] As one implementation manner, when the speed of the rear vehicle is less than the speed of the vehicle, after calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the leading vehicle, and the driving status of surrounding vehicles further includes:

[0031] When the real-time braking distance of the rear vehicle is greater than the real-time distance between the rear vehicle and the vehicle, obtaining the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes based on a preset safety distance;

[0032] When the real-time braking distance of the rear vehicle is less than the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes, obtaining the real-time distance between the vehicle and the front vehicle after the vehicle accelerates and changes lanes;

[0033] Obtaining a fourth braking distance in real time after the vehicle accelerates and changes lanes;

[0034] When the fourth braking distance is less than the real-time distance between the vehicle and the vehicle in front after the vehicle accelerates and changes lanes, the vehicle is controlled to perform auxiliary acceleration and auxiliary steering.

[0035] As one implementation manner, the obtaining of the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes based on the preset safety distance includes:

[0036] According to the preset safety distance, obtaining the acceleration of the vehicle;

[0037] The real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes is calculated according to the acceleration of the vehicle.

[0038] In a second aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle control method described in the first aspect when executing the computer program.

[0039] In a third aspect, the present application provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method described in the first aspect are implemented.

[0040] The present application provides a vehicle control method, electronic device and computer storage medium, the method comprising: obtaining a first real-time braking distance of the vehicle according to the pedal stroke of the brake pedal; when the first braking distance is greater than the real-time distance between the vehicle and the vehicle ahead, controlling the vehicle to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value. The technical solution of the present application obtains the real-time braking distance of the vehicle according to the pedal stroke of the brake pedal, and when the braking distance is greater than the real-time distance between the vehicle and the vehicle ahead, controlling the vehicle to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value, thereby reducing the risk that the brake pedal stroke cannot reach the safe braking distance due to the driver's insufficient perception of the vehicle distance or braking distance, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the description of the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0045] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0046] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate the presence of the described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0047] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0048] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0049] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] See also Figure 1 , is a flow chart of a vehicle control method provided in an embodiment of the present application. Figure 1As shown, the vehicle control method of the present application includes the following steps:

[0051] Step S101: acquiring a first real-time braking distance of the vehicle according to a pedal travel of the brake pedal;

[0052] Step S102: When the first braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, the vehicle is controlled to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value.

[0053] Specifically, the vehicle is equipped with a brake assist controller, a steering assist controller, a pedal travel sensor for identifying the travel value of the driver's brake pedal, a steering wheel pressure sensor for identifying the pressure value of the driver's hands on the steering wheel, a vehicle speed sensor for identifying the current speed of the vehicle, and a radar sensor for acquiring radar signals. The pedal travel sensor, steering wheel pressure sensor, vehicle speed sensor and radar sensor are all connected to the brake assist controller and the steering assist controller, and the brake assist controller and the steering assist controller are connected to the vehicle's MCU (Motor Control Unit).

[0054] When the driver steps on the brake pedal, the pedal travel sensor obtains the pedal travel value and sends the pedal travel value to the brake assist controller and / or the steering assist controller. The vehicle speed sensor obtains the vehicle speed signal and sends the vehicle speed signal to the brake assist controller and / or the steering assist controller. The radar sensor obtains the real-time distance between the vehicle and the vehicle in front and sends the real-time distance between the vehicle and the vehicle in front to the brake assist controller and / or the steering assist controller. The brake assist controller and / or the steering assist controller determine the real-time first braking distance S=V*V / 2gμ of the vehicle according to the current vehicle speed corresponding to the vehicle speed signal and the pedal travel value, where g is the acceleration of gravity and μ is the friction coefficient of the road surface. It should be noted that the first braking distance is the theoretical distance required for the vehicle to stop completely from the moment the driver steps on the brake pedal. During the braking process, the driver may step on the brake pedal to the bottom with one foot, or may step on the brake pedal slowly. In this case, the first braking distance of the vehicle will change with the change of the pedal travel value, so it is necessary to obtain the first braking distance of the vehicle in real time.

[0055] When the first braking distance is greater than the real-time distance between the vehicle and the vehicle in front, it means that the current brake pedal travel cannot meet the safe braking distance. It can be determined that the braking force obtained by the driver by simply stepping on the brake pedal is obviously insufficient based on the current vehicle speed. At this time, the brake assist controller and / or steering assist controller will confirm to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value. Further, the method for identifying the current vehicle speed can not only be achieved by a vehicle speed sensor, but also by a wheel speed sensor or other sensors and algorithms that can indirectly calculate the vehicle speed, which is not limited here.

[0056] The technical solution of the present application obtains the real-time braking distance of the vehicle according to the pedal travel of the brake pedal. When the braking distance is greater than the real-time distance between the vehicle and the vehicle in front, the vehicle is controlled to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value, thereby reducing the risk that the brake pedal travel cannot reach the safe braking distance due to the driver's insufficient perception of the vehicle distance or braking distance, thereby improving driving safety.

[0057] In one embodiment, when the first braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value includes:

[0058] According to the steering wheel pressure value, the corresponding auxiliary pedal travel is obtained;

[0059] Obtaining a real-time second braking distance of the vehicle according to a pedal stroke of the brake pedal and an auxiliary pedal stroke;

[0060] The vehicle is controlled to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the vehicle in front, and the driving status of surrounding vehicles.

[0061] Here, when the driver steps on the brake pedal, the steering wheel pressure sensor obtains the real-time steering wheel pressure value of the driver holding the steering wheel. According to the steering wheel pressure value, the corresponding auxiliary pedal stroke can be obtained, wherein the corresponding relationship between the steering wheel pressure value and the auxiliary pedal stroke can be calibrated in advance according to the actual application requirements. Then, the real-time second braking distance of the vehicle is obtained according to the pedal stroke of the brake pedal and the auxiliary pedal stroke corresponding to the steering wheel pressure value. The driving status of the surrounding vehicles is obtained through the vehicle body radar and the 360 ​​camera, and the vehicle is controlled to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the vehicle in front, and the driving status of the surrounding vehicles. It should be noted that during the braking process, the pressure value of the driver holding the steering wheel may change. In this case, the second braking distance of the vehicle will change with the change of the steering wheel pressure value, so it is necessary to obtain the second braking distance of the vehicle in real time.

[0062] In one embodiment, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of surrounding vehicles includes:

[0063] When the second braking distance is less than the real-time distance between the vehicle and the vehicle ahead, the vehicle is controlled to perform auxiliary braking based on the steering wheel pressure value.

[0064] Here, when the second braking distance is less than the real-time distance between the vehicle and the vehicle in front, it can be determined that the safe braking distance can be achieved based on the brake pedal stroke depressed by the driver plus the auxiliary pedal stroke corresponding to the steering wheel pressure value. At this time, the vehicle is controlled to perform auxiliary braking based on the steering wheel pressure value.

[0065] In one embodiment, the driving state of the surrounding vehicles includes whether there are vehicles in front of or behind the variable lane of the vehicle, and according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of the surrounding vehicles, controlling the vehicle to perform auxiliary braking and / or auxiliary steering includes:

[0066] When the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, determining whether there are vehicles in front of or behind the variable lane of the vehicle;

[0067] If there are no vehicles in front or behind the variable lane, the vehicle is controlled to perform auxiliary steering.

[0068] Here, when the second braking distance is greater than the real-time distance between the vehicle and the vehicle in front, it can be determined that the auxiliary pedal stroke corresponding to the brake pedal stroke pressed by the driver plus the steering wheel pressure value cannot reach the safe braking distance, and it is necessary to further determine whether the vehicle can perform assisted steering. If the vehicle body radar and 360 camera confirm that there are no vehicles in front and behind the variable lane of the vehicle within the preset safe distance, the vehicle can be controlled to perform assisted steering, where the variable lane can be the left lane or the right lane of the vehicle. In this way, when the auxiliary braking cannot safely brake the vehicle, the vehicle is controlled to perform assisted steering, which improves driving safety.

[0069] In one embodiment, the driving state of the surrounding vehicles further includes the speed of the rear vehicle in the variable lane. When the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, after determining whether there are vehicles in front of or behind the variable lane of the vehicle, according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of the surrounding vehicles, controlling the vehicle to perform auxiliary braking and / or auxiliary steering further includes:

[0070] If there is a vehicle behind the variable lane and no vehicle in front, obtain the speed of the vehicle behind;

[0071] When the speed of the rear vehicle is lower than the speed of the vehicle, the real-time braking distance of the rear vehicle is calculated according to the speed of the rear vehicle;

[0072] When the real-time braking distance of the rear vehicle is less than the real-time distance between the rear vehicle and the vehicle, the vehicle is controlled to perform auxiliary steering.

[0073] In one embodiment, when the speed of the rear vehicle is less than the speed of the vehicle, after calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the front vehicle, and the driving state of surrounding vehicles further includes:

[0074] When the real-time braking distance of the rear vehicle is greater than the real-time distance between the rear vehicle and the vehicle, the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes is obtained based on the preset safety distance;

[0075] When the real-time braking distance of the rear vehicle is less than the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes, the vehicle is controlled to perform auxiliary acceleration and auxiliary steering.

[0076] Here, if the vehicle body radar and 360 camera confirm that there is a vehicle behind the vehicle in the changeable lane and there is no vehicle in front, the speed of the rear vehicle and the vehicle are compared. If the speed of the rear vehicle is less than the speed of the vehicle, it is further determined whether the rear vehicle has sufficient safe braking distance after the vehicle changes lanes. The real-time braking distance of the rear vehicle is calculated according to the speed of the rear vehicle, and the real-time distance between the rear vehicle and the vehicle is obtained through the body radar. When the real-time braking distance of the rear vehicle is less than the real-time distance between the rear vehicle and the vehicle, the vehicle is controlled to perform auxiliary steering. When the real-time braking distance of the rear vehicle is greater than the real-time distance between the rear vehicle and the vehicle, the acceleration of the vehicle is calculated based on the real-time distance between the rear vehicle and the vehicle and the preset safety distance, and the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes is obtained. When the real-time braking distance of the rear vehicle is less than the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes, the vehicle is controlled to perform auxiliary acceleration and auxiliary steering, which further improves driving safety.

[0077] In one embodiment, the driving state of the surrounding vehicles further includes the speed of the rear vehicle in the variable lane. When the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, after determining whether there are vehicles in front of or behind the variable lane of the vehicle, according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of the surrounding vehicles, controlling the vehicle to perform auxiliary braking and / or auxiliary steering further includes:

[0078] If there are vehicles in front and behind the variable lane, obtain the speed of the rear vehicle;

[0079] When the speed of the rear vehicle is lower than the speed of the vehicle, the real-time braking distance of the rear vehicle is calculated according to the speed of the rear vehicle;

[0080] When the real-time braking distance of the rear vehicle is less than the real-time distance between the rear vehicle and the vehicle, obtaining the real-time third braking distance after the vehicle changes lanes;

[0081] When the third braking distance is less than the real-time distance between the vehicle and the vehicle in front, the vehicle is controlled to perform auxiliary steering.

[0082] In one embodiment, when the speed of the rear vehicle is less than the speed of the vehicle, after calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the front vehicle, and the driving state of surrounding vehicles further includes:

[0083] When the real-time braking distance of the rear vehicle is greater than the real-time distance between the rear vehicle and the vehicle, the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes is obtained based on the preset safety distance;

[0084] When the real-time braking distance of the rear vehicle is less than the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes, the real-time distance between the vehicle and the front vehicle after the vehicle accelerates and changes lanes is obtained;

[0085] Obtaining the fourth braking distance in real time after the vehicle accelerates and changes lanes;

[0086] When the fourth braking distance is less than the real-time distance between the vehicle and the vehicle in front after the vehicle accelerates and changes lanes, the vehicle is controlled to perform auxiliary acceleration and auxiliary steering.

[0087] Here, if the vehicle body radar and 360 camera confirm that there are vehicles in front and behind the vehicle's changeable lane, the speed of the rear vehicle is compared with that of the vehicle. If the speed of the rear vehicle is less than that of the vehicle, it is further determined whether the rear vehicle has sufficient safe braking distance after the vehicle changes lanes. The real-time braking distance of the rear vehicle is calculated based on the speed of the rear vehicle, and the real-time distance between the rear vehicle and the vehicle is obtained through the body radar. When the real-time braking distance of the rear vehicle is less than the real-time distance between the rear vehicle and the vehicle, it is further determined whether there is sufficient safe braking distance between the vehicle and the front vehicle after the vehicle changes lanes. The real-time braking distance of the vehicle is calculated based on the speed of the vehicle, and the real-time distance between the front vehicle and the vehicle is obtained through the body radar. When the real-time braking distance of the vehicle is less than the real-time distance between the front vehicle and the vehicle, the vehicle is controlled to perform auxiliary steering. When the real-time braking distance of the rear vehicle is greater than the real-time distance between the rear vehicle and the vehicle, the acceleration of the vehicle is calculated based on the real-time distance between the rear vehicle and the vehicle and the preset safety distance, and the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes is obtained; when the real-time braking distance of the rear vehicle is less than the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes, the real-time distance between the vehicle and the front vehicle after the vehicle accelerates and changes lanes is continued to be obtained, and the real-time fourth braking distance of the vehicle after the vehicle accelerates and changes lanes is calculated based on the vehicle speed after the vehicle accelerates and changes lanes; when the fourth braking distance is less than the real-time distance between the vehicle and the front vehicle after the vehicle accelerates and changes lanes, the vehicle is controlled to perform auxiliary acceleration and auxiliary steering, further improving driving safety.

[0088] In one embodiment, based on a preset safety distance, obtaining a real-time distance between the vehicle and the vehicle behind after the vehicle accelerates and changes lanes includes:

[0089] Obtain the acceleration of the vehicle according to the preset safety distance;

[0090] According to the acceleration of the vehicle, the real-time distance between the vehicle and the vehicle behind it after the vehicle accelerates and changes lanes is calculated.

[0091] Here, the preset safety distance can be set according to the vehicle speed. For example, when the vehicle speed reaches 60km / h, the preset safety distance needs to be greater than 60m; when the vehicle speed reaches 80km / h, the preset safety distance needs to be greater than 80m; when the vehicle speed reaches 100km / h, the preset safety distance needs to be greater than 100m. In this way, the acceleration of the vehicle can be calculated based on the current vehicle speed and the preset safety distance, and then the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes can be calculated based on the acceleration.

[0092] Based on the same inventive concept as the above embodiments, the present application embodiment provides an electronic device, such as Figure 2 As shown, the electronic device includes: a processor 110 and a memory 111 for storing a computer program that can be run on the processor 110; wherein, Figure 2 The processor 110 shown in the figure is not used to indicate that the number of the processor 110 is one, but is only used to indicate the positional relationship of the processor 110 relative to other devices. In actual applications, the number of the processor 110 may be one or more; similarly, Figure 2 The memory 111 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 111 relative to other devices. In practical applications, the number of memories 111 can be one or more. When the processor 110 is used to run a computer program, the above vehicle control method is implemented.

[0093] The electronic device may also include: at least one network interface 112. The various components in the electronic device are coupled together via a bus system 113. It is understood that the bus system 113 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 113 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in Figure 2 Various buses are labeled as bus system 113 .

[0094] The memory 111 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 111 described in the embodiments of the present application is intended to include but is not limited to these and any other suitable types of memories.

[0095] The memory 111 in the embodiment of the present application is used to store various types of data to support the operation of the electronic device. Examples of these data include: any computer program used to operate on the electronic device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and handle hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., for implementing various application services. Here, the program that implements the method of the embodiment of the present application may be included in the application program.

[0096] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it may also be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the above-mentioned vehicle control method is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0097] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0099] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtaining a first real-time braking distance of the vehicle according to a pedal travel of the brake pedal; When the first braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, the vehicle is controlled to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value.

2. The vehicle control method according to claim 1, characterized in that: When the first braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering based on the steering wheel pressure value includes: According to the steering wheel pressure value, obtaining a corresponding auxiliary pedal stroke; acquiring a real-time second braking distance of the vehicle according to a pedal stroke of the brake pedal and a stroke of the auxiliary pedal; The vehicle is controlled to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving status of surrounding vehicles.

3. The vehicle control method according to claim 2, characterized in that: The controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving status of surrounding vehicles includes: When the second braking distance is less than the real-time distance between the vehicle and the preceding vehicle, the vehicle is controlled to perform auxiliary braking based on the steering wheel pressure value.

4. The vehicle control method according to claim 2, characterized in that: The driving state of the surrounding vehicles includes whether there are vehicles in front of or behind the variable lane of the vehicle, and controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of the surrounding vehicles includes: When the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, determining whether there are vehicles in front of or behind the variable lane of the vehicle; If there are no vehicles in front or behind the variable lane, the vehicle is controlled to perform auxiliary steering.

5. The vehicle control method according to claim 4, characterized in that: The driving state of surrounding vehicles also includes the speed of the rear vehicle of the variable lane. When the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, after determining whether there are vehicles in front of or behind the variable lane of the vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of surrounding vehicles further includes: If there is a vehicle behind the variable lane and no vehicle in front, the speed of the vehicle behind is obtained; When the speed of the rear vehicle is less than the speed of the vehicle, calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle; When the real-time braking distance of the rear vehicle is less than the real-time distance between the rear vehicle and the vehicle, the vehicle is controlled to perform auxiliary steering.

6. The vehicle control method according to claim 4, characterized in that: The driving state of surrounding vehicles also includes the speed of the rear vehicle of the variable lane. When the second braking distance is greater than the real-time distance between the vehicle and the preceding vehicle, after determining whether there are vehicles in front of or behind the variable lane of the vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the preceding vehicle, and the driving state of surrounding vehicles further includes: If there are vehicles in front and behind the variable lane, the speed of the rear vehicle is obtained; When the speed of the rear vehicle is less than the speed of the vehicle, calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle; When the real-time braking distance of the rear vehicle is less than the real-time distance between the rear vehicle and the vehicle, obtaining a real-time third braking distance of the vehicle after changing lanes; When the third braking distance is less than the real-time distance between the vehicle and the vehicle ahead, the vehicle is controlled to perform auxiliary steering.

7. The vehicle control method according to claim 5, characterized in that: When the speed of the rear vehicle is less than the speed of the vehicle, after calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the leading vehicle, and the driving state of surrounding vehicles further includes: When the real-time braking distance of the rear vehicle is greater than the real-time distance between the rear vehicle and the vehicle, obtaining the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes based on a preset safety distance; When the real-time braking distance of the rear vehicle is less than the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes, the vehicle is controlled to perform auxiliary acceleration and auxiliary steering.

8. The vehicle control method according to claim 6, characterized in that: When the speed of the rear vehicle is less than the speed of the vehicle, after calculating the real-time braking distance of the rear vehicle according to the speed of the rear vehicle, controlling the vehicle to perform auxiliary braking and / or auxiliary steering according to the second braking distance, the real-time distance between the vehicle and the leading vehicle, and the driving state of surrounding vehicles further includes: When the real-time braking distance of the rear vehicle is greater than the real-time distance between the rear vehicle and the vehicle, obtaining the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes based on a preset safety distance; When the real-time braking distance of the rear vehicle is less than the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes, obtaining the real-time distance between the vehicle and the front vehicle after the vehicle accelerates and changes lanes; Obtaining a fourth braking distance in real time after the vehicle accelerates and changes lanes; When the fourth braking distance is less than the real-time distance between the vehicle and the vehicle in front after the vehicle accelerates and changes lanes, the vehicle is controlled to perform auxiliary acceleration and auxiliary steering.

9. The vehicle control method according to claim 7 or 8, characterized in that: The obtaining, based on the preset safety distance, the real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes comprises: According to the preset safety distance, obtaining the acceleration of the vehicle; The real-time distance between the vehicle and the rear vehicle after the vehicle accelerates and changes lanes is calculated according to the acceleration of the vehicle.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the vehicle control method according to any one of claims 1 to 9 are implemented.

11. A computer storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 9 are implemented.

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