Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a storage medium, and relates to the technical field of vehicles. The vehicle control method comprises the steps that whether a short-time collision risk exists in a target vehicle or not is judged based on first collision time between the target vehicle and a first vehicle; under the condition that the target vehicle has the short-time collision risk, whether the target vehicle meets an acceleration condition or not is determined; under the condition that the target vehicle meets the acceleration condition, the acceleration and the acceleration time of the target vehicle are determined, and the target vehicle is controlled to run in an accelerated mode based on the acceleration and the acceleration time. When the target vehicle has the short-time collision risk, the vehicle control safety can be improved through accelerated driving.

Description

Technical Field

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

[0002] Rear-end collisions are a common type of traffic accident during vehicle driving, usually caused by the driver of the following vehicle failing to slow down in time or maintain a safe distance. Rear-end collisions may cause serious casualties and vehicle damage.

[0003] In the related art, when the vehicle detects the risk of rear-end collision, the vehicle taillights can send a reminder to the following vehicle to make the driver of the following vehicle aware of the emergency situation so that the driver of the following vehicle can take deceleration measures in time to avoid rear-end collision.

[0004] However, in the related art, the vehicle can only rely on the deceleration of the following vehicle to avoid rear-end collision. This dependence means that when the driver of the following vehicle may not be able to react in time or take correct deceleration measures, the following vehicle may still collide with the vehicle, i.e., a rear-end collision may occur. Summary of the invention

[0005] The problem solved by the present invention is how to improve the safety of a vehicle during driving.

[0006] In order to solve the above problems, the present invention provides a vehicle control method, device, electronic device and storage medium.

[0007] In a first aspect, the present invention provides a vehicle control method, comprising:

[0008] Based on the first collision time between the target vehicle and the first vehicle, judging whether the target vehicle has a short-term collision risk, wherein the first vehicle is a vehicle traveling in a preset area behind the target vehicle, the first collision time is the time required for the target vehicle and the first vehicle to collide when both maintain the current driving state, and the short-term collision risk indicates that the vehicles will collide within the first preset time period;

[0009] In the case where the target vehicle has the short-term collision risk, determining whether the target vehicle meets the acceleration condition;

[0010] When the target vehicle satisfies the acceleration condition, the acceleration and acceleration time of the target vehicle are determined, and the target vehicle is controlled to accelerate based on the acceleration and the acceleration time.

[0011] Optionally, before judging whether the target vehicle has a short-time collision risk based on the first collision time between the target vehicle and the first vehicle, the vehicle control method further includes:

[0012] When the first vehicle is located in the preset rear area of ​​the target vehicle, obtaining first driving information collected by a target sensor disposed at the rear side of the target vehicle at the current moment, wherein the first driving information includes a relative speed and a relative distance between the first vehicle and the target vehicle;

[0013] The first collision time is determined based on the relative speed and the relative distance.

[0014] Optionally, determining whether the target vehicle meets the acceleration condition includes:

[0015] Determining whether there is a vehicle located in a preset area in front of the target vehicle;

[0016] In the case where it is determined that no vehicle is located in the front preset area, determining that the target vehicle meets the acceleration condition;

[0017] When it is determined that a vehicle is located in the preset area ahead, a second collision time between the target vehicle and a second vehicle is obtained, and whether the target vehicle satisfies the acceleration condition is determined based on the second collision time, wherein the second vehicle is a vehicle traveling in the preset area ahead, and the second collision time is the time required for a collision to occur when both the target vehicle and the second vehicle maintain the current driving state.

[0018] Optionally, judging whether the target vehicle has a short-time collision risk based on a first collision time between the target vehicle and the first vehicle includes: determining that the target vehicle has a short-time collision risk when the first collision time is less than a first preset time length;

[0019] Optionally, determining whether the target vehicle satisfies the acceleration condition based on the second collision time includes: when the second collision time is greater than a second preset time length, determining that the target vehicle satisfies the acceleration condition, wherein the second preset time length is greater than the first preset time length.

[0020] Optionally, when it is determined that a vehicle is located in the front preset area and the target vehicle meets the acceleration condition, determining the acceleration and acceleration time of the target vehicle includes:

[0021] Estimate the duration from the current moment to a third moment when the target vehicle accelerates according to the preset acceleration and the target vehicle and the first vehicle are free from the short-term collision risk, to obtain a first duration, wherein the third moment is a moment corresponding to when the collision time between the first vehicle and the target vehicle is extended to the first preset duration when the target vehicle accelerates according to the preset acceleration;

[0022] Estimate the duration from the current moment to a fourth moment at which a short-term collision risk occurs between the target vehicle and the second vehicle when the target vehicle accelerates according to the preset acceleration, to obtain a second duration, wherein the fourth moment is a moment corresponding to when the collision time between the second vehicle and the target vehicle is shortened to the second preset duration when the target vehicle accelerates according to the preset acceleration;

[0023] When the first duration is less than or equal to the second duration, the acceleration of the target vehicle is determined to be the preset acceleration, and the acceleration time of the target vehicle is determined to be the first duration.

[0024] Optionally, when it is determined that a vehicle is located in the front preset area and the target vehicle meets the acceleration condition, determining the acceleration and acceleration time of the target vehicle includes:

[0025] When the first duration is greater than the second duration, the acceleration of the target vehicle is determined to be a target acceleration, and the acceleration time of the target vehicle is determined to be a third duration, wherein the target acceleration is less than the preset acceleration, and / or the third duration is less than the second duration.

[0026] Optionally, estimating the time from the current moment to the third moment when the target vehicle is accelerated according to the preset acceleration and the target vehicle and the first vehicle are free from the short-term collision risk includes:

[0027] Determine the driving speed and acceleration of the first vehicle at the current moment to obtain a first speed and a first acceleration;

[0028] Determine the driving speed of the target vehicle at the current moment to obtain a second speed;

[0029] The first duration is determined based on the first speed, the first acceleration, the second speed, and the relative distance between the first vehicle and the target vehicle at the current moment.

[0030] In a second aspect, the present invention provides a vehicle control device, comprising:

[0031] A judgment module, for judging whether the target vehicle has a short-time collision risk based on a first collision time between the target vehicle and a first vehicle, wherein the first vehicle is a vehicle traveling in a preset area behind the target vehicle, the first collision time is a time required for the target vehicle and the first vehicle to collide when both maintain the current driving state at the moment, and the short-time collision risk indicates that the vehicles will collide within a first preset time period;

[0032] A determination module, configured to determine whether the target vehicle satisfies an acceleration condition when the target vehicle has the short-term collision risk;

[0033] The control module is used to determine the acceleration and acceleration time of the target vehicle when the target vehicle meets the acceleration condition, and control the target vehicle to accelerate based on the acceleration and the acceleration time.

[0034] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0035] The memory is used to store computer programs;

[0036] The processor is used to implement the vehicle control method as described in the first aspect when executing the computer program.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the vehicle control method as described in the first aspect is implemented.

[0038] The vehicle control method, device, electronic device and storage medium of the present invention have the following beneficial effects: by determining the collision time (i.e., the first collision time) corresponding to the target vehicle and the first vehicle traveling in the preset area behind the target vehicle at the current moment, whether the target vehicle has a short-term collision risk, that is, whether the target vehicle has a risk of being rear-ended by the first vehicle in a short time (within the first preset time length); when there is a short-term collision risk, judging whether the acceleration condition is met to determine whether the target vehicle can safely accelerate; when the acceleration condition is met, controlling the target vehicle to accelerate by the determined acceleration and acceleration time; after the target vehicle accelerates, the collision time between the target vehicle and the first vehicle increases, thereby reducing the probability of the target vehicle colliding; compared with the related art, the present invention can eliminate the short-term collision risk of the target vehicle by actively accelerating the vehicle when there is a short-term collision risk (risk of being rear-ended), thereby reducing the reliance on the deceleration measures of the rear vehicle; even if the driver of the rear vehicle fails to decelerate in time or take correct deceleration measures, the target vehicle can reduce the risk of being rear-ended by the first vehicle to a certain extent by accelerating the vehicle, thereby improving the safety of the vehicle driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic flow chart of a vehicle control method according to an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the positional relationship between a target vehicle and a first vehicle according to an embodiment of the present invention;

[0041] Figure 3A schematic diagram of the positional relationship among a target vehicle, a first vehicle, and a second vehicle according to an embodiment of the present invention;

[0042] Figure 4 A schematic structural diagram of a vehicle control device according to an embodiment of the present invention;

[0043] Figure 5 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0045] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0046] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0047] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0048] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0049] This embodiment provides a vehicle control method, device, electronic device and storage medium.

[0050] like Figure 1 As shown, a vehicle control method provided by an embodiment of the present invention includes:

[0051] S100, judging whether the target vehicle has a short-time collision risk based on a first collision time between the target vehicle and a first vehicle, wherein the first vehicle is a vehicle traveling in a preset area behind the target vehicle, the first collision time is the time required for a collision to occur when the target vehicle and the first vehicle both maintain the current driving state at the moment, and the short-time collision risk indicates that the vehicles will collide within a first preset time period.

[0052] Specifically, Figure 2 As shown, the target vehicle and the first vehicle are traveling on the road. The target vehicle is the target to be controlled in this embodiment. The rear preset area is the detection area of ​​the sensor arranged at the rear side of the target vehicle. The sensor is used to detect the vehicle or obstacle behind the target vehicle and provide data for the safe driving of the target vehicle. For example, the rear preset area of ​​the target vehicle is as follows Figure 2 As shown, the rear preset area can be a rectangular area with a preset length and a preset width behind the target vehicle, the preset width is greater than the width of the target vehicle, and the preset length can be the farthest detection distance of the sensor set on the target vehicle.

[0053] Optionally, the first vehicle in a preset area behind the target vehicle can be expressed as a relative distance between the first vehicle and the target vehicle being less than the farthest measuring distance of the target sensor, and a lateral overlap ratio between the first vehicle and the target vehicle being greater than a preset overlap ratio, wherein the lateral overlap ratio of two vehicles refers to the degree of overlap between the two vehicles in the lateral direction (i.e., the vehicle width direction), and is used to describe the positional relationship between the two vehicles when traveling in the same lane to assess the potential risk of collision between them, and the lateral overlap ratio = the smaller value of the overlap width of the two vehicles / the width of the two vehicles.

[0054] The lateral position relationship between the two vehicles can be determined based on the lateral overlap rate. If the lateral overlap rate is 0, it means that there is no overlap between the two vehicles, they are driving in different lanes, and the two vehicles will not collide when neither vehicle is turning; if the lateral overlap rate is greater than 0 and less than 1, it means that the two vehicles partially overlap in the lateral direction, for example, the first vehicle is behind the left of the target vehicle, and there may be a collision; if the lateral overlap rate is equal to 1, it means that the two vehicles completely overlap, for example, the first vehicle is directly behind the target vehicle, and there may be a collision.

[0055] The vehicle currently traveling in the preset area behind the target vehicle is recorded as the first vehicle. Assuming that the first vehicle and the target vehicle always maintain the current driving status, that is, the first vehicle and the target vehicle both travel at the current speed and direction, without accelerating, decelerating or turning, the first vehicle and the target vehicle will collide after a period of time. The duration of this period of time is the first collision time (TTC, Time to Collision), that is, the time required for the target vehicle to collide with the first vehicle while maintaining the current driving status.

[0056] Based on the first collision time, it can be determined whether there is a short-term collision risk between the first vehicle and the target vehicle. If the first collision time is short, the two vehicles will soon collide under the current driving state, that is, the two vehicles will collide within the first preset time, and there is a short-term collision risk; if the first collision time is long, it means that the target vehicle and the first vehicle are unlikely to collide soon in a short period of time under the current driving state, that is, the two vehicles will not collide within the first preset time, and there is no short-term collision risk.

[0057] It should be noted that the short-term collision risk referred to in this embodiment is that a first vehicle located in the rear area of ​​the target vehicle will collide with the target vehicle within a first preset time period, that is, the target vehicle is at risk of being rear-ended.

[0058] S200, when the target vehicle has the short-term collision risk, determining whether the target vehicle meets the acceleration condition;

[0059] Specifically, before determining the acceleration and acceleration time of the target vehicle, it is necessary to first determine whether the target vehicle meets the acceleration condition. Meeting the acceleration condition means that the target vehicle can drive safely after acceleration. If the acceleration condition is met, it is determined that the target vehicle can accelerate, and if the acceleration condition is not met, the target vehicle cannot accelerate.

[0060] S300, when the target vehicle meets the acceleration condition, determine the acceleration and acceleration time of the target vehicle, and control the target vehicle to accelerate based on the acceleration and the acceleration time.

[0061] Specifically, when the acceleration conditions are met, it is determined that the target vehicle can accelerate. At this time, the acceleration and acceleration time of the target vehicle are determined, and the target vehicle is controlled based on the acceleration and acceleration time. The vehicle's driving speed can be adjusted to accelerate the target vehicle, thereby extending the collision time between the target vehicle and the first vehicle and reducing the short-term collision risk of the target vehicle.

[0062] In this embodiment, by using the collision time (i.e., the first collision time) corresponding to the target vehicle and the first vehicle traveling in the preset area behind the target vehicle at the current moment, it is determined whether the target vehicle has a short-term collision risk, that is, whether the target vehicle has a risk of being rear-ended by the first vehicle in a short time (within the first preset time period). When there is a short-term collision risk, it is determined whether the acceleration condition is met to determine whether the target vehicle can safely accelerate. When the acceleration condition is met, the target vehicle is controlled to accelerate by the determined acceleration and acceleration time. After the target vehicle accelerates, the collision time between the target vehicle and the first vehicle increases, thereby reducing the probability of a collision between the target vehicle and the target vehicle. Compared with the related art, the present invention can eliminate the short-term collision risk of the target vehicle by actively accelerating the vehicle when there is a short-term collision risk, thereby reducing the reliance on the deceleration measures of the rear vehicle. Even if the driver of the rear vehicle fails to decelerate in time or take correct deceleration measures, the target vehicle can reduce the risk of being rear-ended by the first vehicle to a certain extent by accelerating the vehicle, thereby improving the safety of the vehicle driving process.

[0063] Optionally, before judging whether the target vehicle has a short-term collision risk based on the first collision time between the target vehicle and the first vehicle, the vehicle control method also includes: when the first vehicle is located in the preset area behind the target vehicle, obtaining first driving information collected by a target sensor arranged on the rear side of the target vehicle at the current moment, wherein the first driving information includes a relative speed and a relative distance between the first vehicle and the target vehicle; and determining the first collision time based on the relative speed and the relative distance.

[0064] Specifically, the first vehicle and the target vehicle are traveling in the same direction. Before judging whether the target vehicle has a short-term collision risk based on the first collision time, it is necessary to first determine the specific value of the first collision time. The collision time of the two vehicles is determined by the relative speed and relative distance of the two vehicles. The relative speed of the first vehicle and the target vehicle is the speed of the first vehicle relative to the target vehicle. If the relative speed is greater than zero, it means that the driving speed of the first vehicle is greater than the driving speed of the target vehicle. When the relative speed is less than zero, the driving speed of the first vehicle is less than the driving speed of the target vehicle. When the relative speed is equal to zero, the driving speed of the first vehicle is equal to the driving speed of the target vehicle.

[0065] Determining the collision time between the first vehicle and the target vehicle at the current moment based on the relative speed and relative distance between the first vehicle and the target vehicle at the current moment, that is, determining the first collision time, specifically includes:

[0066] When the relative speed is greater than zero, since the driving speed of the first vehicle is greater than the driving speed of the target vehicle, if both vehicles maintain their current driving state, the first vehicle will catch up with the target vehicle at a certain moment in the future, that is, a collision will occur. The time between the moment of the collision and the current moment is the first collision time. At this time, the first collision time is the ratio of the relative distance to the relative speed.

[0067] When the relative speed is less than zero, since the driving speed of the first vehicle is less than or equal to the driving speed of the target vehicle, if both vehicles maintain their current driving state, the first vehicle and the target vehicle will always maintain a certain distance and will not collide. At this time, the first collision time is determined to be infinite.

[0068] It should be noted that a target sensor is provided on the target vehicle, and the target sensor is provided on the rear side of the target vehicle, and is used to determine the relative speed and relative distance between the first vehicle and the target vehicle. Specifically, the target sensor is a radar operating in the millimeter wave band, which generates electromagnetic waves with a specific modulation frequency, and sends electromagnetic waves to the target (i.e., the first vehicle) through an antenna and receives electromagnetic waves sent back from the target. Based on the Doppler effect, the frequency of the electromagnetic waves sent by the target sensor is different from that of the electromagnetic waves received. The relative speed and relative distance between the target sensor and the first vehicle are determined based on the frequency difference between the sent electromagnetic waves and the received electromagnetic waves. Since the target sensor is provided on the target vehicle, the target vehicle and the target sensor remain relatively stationary. Therefore, the relative speed and relative distance between the target sensor and the first vehicle are the relative speed and relative distance between the target vehicle and the first vehicle.

[0069] It should be noted that the target sensor is a rear-angle millimeter-wave radar or a rearward radar.

[0070] Optionally, determining whether the target vehicle satisfies the acceleration condition includes: determining whether there is a vehicle located in a preset area in front of the target vehicle; if it is determined that no vehicle is located in the preset area in front, determining that the target vehicle satisfies the acceleration condition; if it is determined that a vehicle is located in the preset area in front, obtaining a second collision time between the target vehicle and a second vehicle, and determining whether the target vehicle satisfies the acceleration condition based on the second collision time, wherein the second vehicle is a vehicle traveling in the preset area in front, and the second collision time is the time required for a collision to occur when the target vehicle and the second vehicle both maintain the current driving state.

[0071] Specifically, when judging whether the target vehicle meets the acceleration condition, it is first determined whether there is a vehicle in the preset area in front of the target vehicle's driving direction. If there is no vehicle in the preset area in front, it means that there is enough space in front of the target vehicle and the target vehicle can accelerate, that is, the target vehicle meets the acceleration condition.

[0072] There is a vehicle in the preset area ahead. Figure 3 As shown, if there is a vehicle (referred to as the second vehicle) in the preset area ahead, if the target vehicle is very close to the second vehicle, accelerating the target vehicle may cause the target vehicle to collide with the second vehicle, resulting in another rear-end collision. Therefore, when there is a second vehicle in the preset area ahead, the collision time between the second vehicle and the target vehicle at the current moment is determined, i.e., the second collision time. According to the second collision time, it can be determined whether the target vehicle meets the acceleration condition.

[0073] In this embodiment, before determining the acceleration and acceleration time of the target vehicle, it is judged whether the target vehicle meets the acceleration conditions to avoid blindly accelerating the target vehicle when there is a short-term collision risk, causing the target vehicle to collide with the vehicle in front of the driving direction.

[0074] Optionally, judging whether the target vehicle has a short-time collision risk based on a first collision time between the target vehicle and the first vehicle includes: determining that the target vehicle has a short-time collision risk when the first collision time is less than a first preset time length;

[0075] Specifically, when the first collision time is less than the first preset time, it means that the two vehicles will soon collide under the current driving state, that is, there is a short-term collision risk. On the contrary, when the first collision time is greater than or equal to the first preset time, it means that the two vehicles will not collide in a short time under the current driving state, that is, there is no short-term collision risk for the target vehicle.

[0076] Optionally, it may also be determined that the target vehicle has a short-term collision risk when the first collision time is less than a first preset time length and the relative speed between the target vehicle and the first vehicle is greater than a speed threshold.

[0077] Optionally, determining whether the target vehicle satisfies the acceleration condition based on the second collision time includes: when the second collision time is greater than a second preset time length, determining that the target vehicle satisfies the acceleration condition, wherein the second preset time length is greater than the first preset time length.

[0078] Specifically, the second collision time represents the current collision time between the second vehicle and the target vehicle. If the target vehicle meets the acceleration conditions, firstly, there must be no short-term collision risk between the second vehicle and the target vehicle, that is, the second collision time must be greater than the first preset time. In addition, if the target vehicle chooses to accelerate, the collision time between the second vehicle and the target vehicle will be shortened after acceleration, that is, there may be a short-term collision risk between the target vehicle and the second vehicle after acceleration. In order to avoid this situation, a second preset time length is set, and the second preset time length is greater than the first preset time length. When the second collision time is greater than the second preset time length, the second collision time must be greater than the first preset time length, that is, there is no short-term collision risk between the second vehicle and the target vehicle at the current moment, and because the second collision time is greater than the second preset time length, at this time, it is chosen to accelerate the target vehicle to avoid the short-term collision risk between the first vehicle and the target vehicle. Although the collision time between the second vehicle and the target vehicle will be shortened, since the second preset time length is greater than the first preset time length, a certain shortening space is provided for the collision time between the second vehicle and the target vehicle, and appropriate acceleration will not shorten the collision time between the second vehicle and the target vehicle to below the first preset time length, that is, there will be no short-term collision risk between the second vehicle and the target vehicle.

[0079] In this embodiment, a second preset time length greater than the first preset time length is used as a standard. When the second collision time is greater than the second preset time length, it is determined that the target vehicle meets the acceleration condition, thereby improving the safety of the target vehicle during driving.

[0080] Optionally, when it is determined that a vehicle is located in the front preset area and the target vehicle meets the acceleration condition, determining the acceleration and acceleration time of the target vehicle includes:

[0081] Estimate the duration from the current moment to the third moment when the target vehicle accelerates according to the preset acceleration, and obtain a first duration, wherein the third moment is the moment corresponding to when the target vehicle accelerates according to the preset acceleration and the collision time between the first vehicle and the target vehicle is extended to the first preset duration; estimate the duration from the current moment to the fourth moment when the target vehicle accelerates according to the preset acceleration and the short-term collision risk between the target vehicle and the second vehicle is present, and obtain a second duration, wherein the fourth moment is the moment corresponding to when the target vehicle accelerates according to the preset acceleration and the collision time between the second vehicle and the target vehicle is shortened to the second preset duration; when the first duration is less than or equal to the second duration, determine the acceleration of the target vehicle to be the preset acceleration, and determine the acceleration time of the target vehicle to be the first duration.

[0082] Specifically, the preset acceleration is the highest acceleration supported by the target vehicle. When determining the acceleration and acceleration time of the target vehicle, it is first assumed that the target vehicle quickly accelerates according to the preset acceleration, reduces the relative speed of the target vehicle and the first vehicle, and increases the relative distance between the target vehicle and the first vehicle. During the acceleration of the target vehicle, the collision time between the target vehicle and the first vehicle gradually increases, and the moment when the collision time gradually increases to the first preset duration is recorded as the third moment. At this time, the target vehicle and the first vehicle are free from the short-term collision risk; in this process, the target vehicle accelerates at the preset acceleration, and the acceleration duration is the duration from the current moment to the third moment, that is, the first duration.

[0083] When there is no vehicle in the preset area ahead, the preset acceleration is directly used as the acceleration of the target vehicle, and the first duration is used as the acceleration time, thereby controlling the acceleration of the target vehicle.

[0084] When there is a vehicle in the preset area ahead, it is first assumed that the target vehicle accelerates quickly according to the preset acceleration, reducing the relative speed of the target vehicle and the first vehicle and increasing the relative distance between the target vehicle and the first vehicle. During the acceleration process of the target vehicle, the collision time between the target vehicle and the second vehicle ahead is gradually shortened, and the moment when the collision time is gradually shortened to the second preset time length (or the first preset time length) is recorded as the fourth moment. At this time, the target vehicle will begin to have a short-term collision risk with the second vehicle again, and it is necessary to stop accelerating at this time. During this process, the target vehicle accelerates at the preset acceleration, and the acceleration duration is the duration from the current moment to the fourth moment, that is, the second duration.

[0085] When the first duration is less than or equal to the second duration, if the target vehicle accelerates according to the preset acceleration, after the acceleration time is the first duration, the target vehicle will eliminate the short-term collision risk with the first vehicle, and the collision time between the target vehicle and the second vehicle in the preset area in front has not been reduced to less than the second preset time, that is, the collision time between the target vehicle and the second vehicle is still greater than the second preset time, and the target vehicle can maintain a safe driving state with the second vehicle without collision. Therefore, when the first duration is less than or equal to the second duration, the acceleration of the target vehicle is controlled to be the preset acceleration, and the acceleration time is the first duration, so as to eliminate the short-term collision risk between the first vehicle and the target vehicle by accelerating the target vehicle.

[0086] Optionally, when it is determined that a vehicle is located in the preset area in front and the target vehicle meets the acceleration condition, determining the acceleration and acceleration time of the target vehicle also includes: when the first time length is greater than the second time length, determining the acceleration of the target vehicle as the target acceleration, and determining the acceleration time of the target vehicle as the third time length, wherein the target acceleration is less than the preset acceleration, and / or the third time length is less than the second time length.

[0087] Specifically, when the first duration is greater than the second duration, if the target vehicle accelerates according to the preset acceleration, after the acceleration time is the first duration, the target vehicle will eliminate the short-time collision risk with the first vehicle. However, before the target vehicle eliminates the short-time collision risk with the first vehicle (after the acceleration time reaches the second duration), the collision time between the target vehicle and the second vehicle will be shortened to the second preset duration. If the acceleration continues at this time, the target vehicle will no longer meet the acceleration conditions and cannot continue to accelerate. It is selected to determine the acceleration of the target vehicle as a target acceleration less than the preset acceleration and the acceleration time as a third duration less than or equal to the second duration, or to determine the acceleration of the target vehicle as the preset acceleration and the acceleration time as the third duration less than or equal to the second duration, or to determine the acceleration of the target vehicle as a target acceleration less than the preset acceleration and the acceleration time as the second duration.

[0088] In this embodiment, the target vehicle is accelerated based on the target acceleration and the third duration. After accelerating for the third duration according to the target acceleration from the current moment, although the risk between the target vehicle and the first vehicle is not completely eliminated, the collision time between the target vehicle and the first vehicle is constantly increasing, which increases a certain amount of time for the driver of the following vehicle to slow down and avoid rear-ending the target vehicle, thereby ensuring that the target vehicle will not have a short-term collision risk with the second vehicle and reducing the short-term collision risk between the target vehicle and the first vehicle to a certain extent.

[0089] Optionally, estimating the duration from the current moment to the third moment when the target vehicle accelerates according to a preset acceleration and the target vehicle is free from the risk of short-term collision with the first vehicle includes: determining the driving speed and acceleration of the first vehicle at the current moment to obtain a first speed and a first acceleration; determining the driving speed of the target vehicle at the current moment to obtain a second speed; determining the first duration based on the first speed, the first acceleration, the second speed and the relative distance between the first vehicle and the target vehicle at the current moment.

[0090] Specifically, the driving speed and acceleration corresponding to the target vehicle and the first vehicle at the current moment are obtained, the driving speed of the target vehicle is the second speed, the acceleration of the first vehicle is the first acceleration, and the driving speed of the first vehicle at the current moment is the first speed.

[0091] When it is estimated that the target vehicle accelerates according to the preset acceleration, the driving state of the first vehicle remains unchanged during the acceleration of the target vehicle, that is, the acceleration of the first vehicle is kept unchanged. When the first acceleration is zero, the first vehicle maintains the first speed and travels at a constant speed.

[0092] Assuming that the time from the current moment to the third moment when the target vehicle and the first vehicle are free from the short-term collision risk is t, the target vehicle accelerates according to the preset acceleration.

[0093] After the target vehicle travels at the preset acceleration for a time period t, the speed (third speed) of the first vehicle can be expressed as:

[0094] V′1=V1+a1t

[0095] After the target vehicle travels at the preset acceleration for a period of time t, the speed of the target vehicle (the fourth speed) can be expressed as

[0096] V′2=V2+a0t

[0097] After the target vehicle travels at the preset acceleration for a time period t, the relative distance (first distance) between the first vehicle and the target vehicle is expressed as:

[0098]

[0099] After the target vehicle travels at the preset acceleration for a time period t, the collision time between the target vehicle and the first vehicle is a first preset time period, which is specifically expressed as:

[0100]

[0101] Among them, V1 is the first speed, V′1 is the third speed, a1 is the first acceleration; V2 is the second speed, V′2 is the fourth speed, a0 is the preset acceleration, S is the relative distance between the first vehicle and the target vehicle at the current moment, S′ is the first distance, and th1 is the first preset duration.

[0102] It should be noted that the value of t, that is, the first duration, can be determined by combining the above four formulas.

[0103] Optionally, when controlling the target vehicle to accelerate, the driving speed of the target vehicle cannot exceed the maximum speed set for the target vehicle, and the target vehicle is estimated to accelerate according to the preset acceleration, and the time from the current moment to the fifth moment when it accelerates to the maximum speed is obtained to obtain a fourth time duration; when the fourth time duration is less than the first time duration, and the fourth time duration is less than the second time duration, the acceleration time of the target vehicle is determined to be the fourth time duration, and the acceleration is the preset acceleration, so as to avoid the target vehicle from running too fast and causing the vehicle to lose control.

[0104] Optionally, in the above embodiments, acceleration of the target vehicle is performed when the target vehicle is in automatic driving, for example, the target vehicle turns on NOA (Navigate on Autopilot) function and ICC (Intelligent Cruise Control) function, etc. When it is not automatic driving, in order to avoid vehicle loss of control, the vehicle acceleration is not controlled by the control method in the above embodiments. During automatic driving, when the target vehicle is accelerated according to the first acceleration instruction output by the control method, if a braking instruction or a second acceleration instruction sent by a brake pad or a throttle pad is received, the braking instruction or the second acceleration instruction is executed, and the execution of the first acceleration instruction is stopped.

[0105] like Figure 4 As shown, a vehicle control device 400 provided in an embodiment of the present invention includes:

[0106] A judgment module 410 is used to judge whether the target vehicle has a short-time collision risk based on a first collision time between the target vehicle and a first vehicle, wherein the first vehicle is a vehicle traveling in a preset area behind the target vehicle, the first collision time is the time required for the target vehicle and the first vehicle to collide when both maintain the current driving state at the moment, and the short-time collision risk indicates that the vehicles will collide within a first preset time period;

[0107] A determination module 420, configured to determine whether the target vehicle meets an acceleration condition when the target vehicle has the short-term collision risk;

[0108] The control module 430 is used to determine the acceleration and acceleration time of the target vehicle when the target vehicle meets the acceleration condition, and control the target vehicle to accelerate based on the acceleration and the acceleration time.

[0109] Optionally, the above-mentioned vehicle control device is also used to, before judging whether the target vehicle has a short-term collision risk based on the first collision time between the target vehicle and the first vehicle, the vehicle control method also includes: when the first vehicle is located in the preset area behind the target vehicle, obtaining the first driving information collected by the target sensor arranged on the rear side of the target vehicle at the current moment, wherein the first driving information includes the relative speed and relative distance between the first vehicle and the target vehicle; and determining the first collision time based on the relative speed and the relative distance.

[0110] Optionally, the above-mentioned vehicle control device is also used, and the above-mentioned judgment module is also used to determine whether the target vehicle meets the acceleration condition in the following manner: determine whether there is a vehicle located in a preset area in front of the target vehicle; when it is determined that no vehicle is located in the preset area in front, determine that the target vehicle meets the acceleration condition; when it is determined that a vehicle is located in the preset area in front, obtain a second collision time between the target vehicle and a second vehicle, and determine whether the target vehicle meets the acceleration condition based on the second collision time, wherein the second vehicle is a vehicle traveling in the preset area in front, and the second collision time is the time required for a collision to occur when the target vehicle and the second vehicle both maintain the current driving state.

[0111] Optionally, the judgment module is further used to judge whether the target vehicle has a short-time collision risk based on a first collision time between the target vehicle and the first vehicle in the following manner: when the first collision time is less than a first preset time length, determining that the target vehicle has a short-time collision risk;

[0112] Optionally, the above-mentioned vehicle control device also determines whether the target vehicle meets the acceleration condition according to the second collision time in the following manner: when the second collision time is greater than a second preset time length, it is determined that the target vehicle meets the acceleration condition, wherein the second preset time length is greater than the first preset time length.

[0113] Optionally, when it is determined that a vehicle is located in the preset area in front and the target vehicle meets the acceleration condition, the above-mentioned determination module is also used to determine the acceleration and acceleration time of the target vehicle in the following manner: estimate the time from the current moment to the third moment when the target vehicle and the first vehicle are free from the short-term collision risk when the target vehicle accelerates according to the preset acceleration, and obtain a first duration, wherein the third moment is the moment when the collision time between the first vehicle and the target vehicle is extended to the first preset duration; estimate the time from the current moment to the fourth moment when the target vehicle and the second vehicle have a short-term collision risk when the target vehicle accelerates according to the preset acceleration, and obtain a second duration, wherein the fourth moment is the moment when the collision time between the second vehicle and the target vehicle is shortened to the second preset duration; when the first duration is less than or equal to the second duration, determine the acceleration of the target vehicle to be the preset acceleration, and determine the acceleration time of the target vehicle to be the first duration.

[0114] Optionally, when it is determined that a vehicle is located in the preset area ahead and the target vehicle meets the acceleration condition, the determination module is also used to determine the acceleration and acceleration time of the target vehicle in the following manner: when the first duration is greater than the second duration, the acceleration of the target vehicle is determined to be the target acceleration, and the acceleration time of the target vehicle is determined to be the third duration, wherein the target acceleration is less than the preset acceleration, and / or the third duration is less than the second duration.

[0115] Optionally, the above-mentioned determination module is also used to estimate the duration from the current moment to the third moment when the target vehicle accelerates according to the preset acceleration and the target vehicle is free from the short-term collision risk with the first vehicle in the following manner, including: determining the driving speed and acceleration of the first vehicle at the current moment to obtain a first speed and a first acceleration; determining the driving speed of the target vehicle at the current moment to obtain a second speed; determining the first duration based on the first speed, the first acceleration, the second speed and the relative distance between the first vehicle and the target vehicle at the current moment.

[0116] The vehicle control device of this embodiment is used to implement the vehicle control method as described above. Its advantages over the prior art are the same as the advantages of the above-mentioned vehicle control method over the prior art, and will not be repeated here.

[0117] like Figure 5 As shown, an electronic device 500 provided by an embodiment of the present invention includes a memory 510 and a processor 520; the memory 510 is used to store a computer program; the processor 520 is used to implement the vehicle control method as described above when executing the computer program.

[0118] In other words, an electronic device 500 includes a memory 510 and a processor 520 coupled to the memory 510; the memory 510 is configured to store a computer program; and the processor 520 is configured to perform the following operations when executing the computer program:

[0119] Based on the first collision time between the target vehicle and the first vehicle, judging whether the target vehicle has a short-term collision risk, wherein the first vehicle is a vehicle traveling in a preset area behind the target vehicle, the first collision time is the time required for the target vehicle and the first vehicle to collide when both maintain the current driving state, and the short-term collision risk indicates that the vehicles will collide within the first preset time period;

[0120] In the case where the target vehicle has the short-term collision risk, determining whether the target vehicle meets the acceleration condition;

[0121] When the target vehicle satisfies the acceleration condition, the acceleration and acceleration time of the target vehicle are determined, and the target vehicle is controlled to accelerate based on the acceleration and the acceleration time.

[0122] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0123] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0124] Based on the first collision time between the target vehicle and the first vehicle, judging whether the target vehicle has a short-term collision risk, wherein the first vehicle is a vehicle traveling in a preset area behind the target vehicle, the first collision time is the time required for the target vehicle and the first vehicle to collide when both maintain the current driving state, and the short-term collision risk indicates that the vehicles will collide within the first preset time period;

[0125] In the case where the target vehicle has the short-term collision risk, determining whether the target vehicle meets the acceleration condition;

[0126] When the target vehicle satisfies the acceleration condition, the acceleration and acceleration time of the target vehicle are determined, and the target vehicle is controlled to accelerate based on the acceleration and the acceleration time.

[0127] An electronic device 500 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 500 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 500 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present invention described and / or required herein.

[0128] The electronic device 500 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0129] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0130] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Based on the first collision time between the target vehicle and the first vehicle, judging whether the target vehicle has a short-term collision risk, wherein the first vehicle is a vehicle traveling in a preset area behind the target vehicle, the first collision time is the time required for the target vehicle and the first vehicle to collide when both maintain the current driving state, and the short-term collision risk indicates that the vehicles will collide within the first preset time period; In the case where the target vehicle has the short-term collision risk, determining whether the target vehicle meets the acceleration condition; When the target vehicle satisfies the acceleration condition, the acceleration and acceleration time of the target vehicle are determined, and the target vehicle is controlled to accelerate based on the acceleration and the acceleration time.

2. The vehicle control method according to claim 1, characterized in that: Before determining whether the target vehicle has a short-time collision risk based on the first collision time between the target vehicle and the first vehicle, the vehicle control method further includes: When the first vehicle is located in the preset rear area of ​​the target vehicle, obtaining first driving information collected by a target sensor disposed at the rear side of the target vehicle at the current moment, wherein the first driving information includes a relative speed and a relative distance between the first vehicle and the target vehicle; The first collision time is determined based on the relative speed and the relative distance.

3. The vehicle control method according to claim 1, characterized in that: The determining whether the target vehicle meets the acceleration condition comprises: Determining whether there is a vehicle located in a preset area in front of the target vehicle; In the case where it is determined that no vehicle is located in the front preset area, determining that the target vehicle meets the acceleration condition; When it is determined that a vehicle is located in the preset area ahead, a second collision time between the target vehicle and a second vehicle is obtained, and whether the target vehicle satisfies the acceleration condition is determined based on the second collision time, wherein the second vehicle is a vehicle traveling in the preset area ahead, and the second collision time is the time required for a collision to occur when both the target vehicle and the second vehicle maintain the current driving state.

4. The vehicle control method according to claim 3, characterized in that: The determining whether the target vehicle has a short-time collision risk based on the first collision time between the target vehicle and the first vehicle includes: determining that the target vehicle has a short-time collision risk when the first collision time is less than the first preset time length; And / or, determining whether the target vehicle satisfies the acceleration condition based on the second collision time includes: when the second collision time is greater than a second preset time length, determining that the target vehicle satisfies the acceleration condition, wherein the second preset time length is greater than the first preset time length.

5. The vehicle control method according to claim 4, characterized in that: When it is determined that a vehicle is located in the front preset area and the target vehicle meets the acceleration condition, determining the acceleration and acceleration time of the target vehicle includes: Estimate the duration from the current moment to a third moment when the target vehicle accelerates according to the preset acceleration and the target vehicle and the first vehicle are free from the short-term collision risk, to obtain a first duration, wherein the third moment is a moment corresponding to when the collision time between the first vehicle and the target vehicle is extended to the first preset duration when the target vehicle accelerates according to the preset acceleration; Estimate the duration from the current moment to a fourth moment at which a short-term collision risk occurs between the target vehicle and the second vehicle when the target vehicle accelerates according to the preset acceleration, to obtain a second duration, wherein the fourth moment is a moment corresponding to when the collision time between the second vehicle and the target vehicle is shortened to the second preset duration when the target vehicle accelerates according to the preset acceleration; When the first duration is less than or equal to the second duration, the acceleration of the target vehicle is determined to be the preset acceleration, and the acceleration time of the target vehicle is determined to be the first duration.

6. The vehicle control method according to claim 5, characterized in that: When it is determined that a vehicle is located in the front preset area and the target vehicle meets the acceleration condition, determining the acceleration and acceleration time of the target vehicle includes: When the first duration is greater than the second duration, the acceleration of the target vehicle is determined to be a target acceleration, and the acceleration time of the target vehicle is determined to be a third duration, wherein the target acceleration is less than the preset acceleration, and / or the third duration is less than the second duration.

7. The vehicle control method according to claim 5, characterized in that: The estimating of the time duration from the current moment to the third moment when the target vehicle is accelerated according to the preset acceleration and the target vehicle and the first vehicle are free from the short-term collision risk comprises: Determine the driving speed and acceleration of the first vehicle at the current moment to obtain a first speed and a first acceleration; Determine the driving speed of the target vehicle at the current moment to obtain a second speed; The first duration is determined based on the first speed, the first acceleration, the second speed, and the relative distance between the first vehicle and the target vehicle at the current moment.

8. A vehicle control device, characterized in that: include: A judgment module, for judging whether the target vehicle has a short-time collision risk based on a first collision time between the target vehicle and a first vehicle, wherein the first vehicle is a vehicle traveling in a preset area behind the target vehicle, the first collision time is a time required for the target vehicle and the first vehicle to collide when both maintain the current driving state at the moment, and the short-time collision risk indicates that the vehicles will collide within a first preset time period; A determination module, configured to determine whether the target vehicle satisfies an acceleration condition when the target vehicle has the short-term collision risk; The control module is used to determine the acceleration and acceleration time of the target vehicle when the target vehicle meets the acceleration condition, and control the target vehicle to accelerate based on the acceleration and the acceleration time.

9. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the vehicle control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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