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

Abstract

The application provides a vehicle control method and device, electronic equipment and storage medium, and relates to the technical field of vehicles. The vehicle control method comprises the following steps: determining whether a target vehicle has a short-time collision risk based on a first collision time between the target vehicle and a first vehicle; in the case that the target vehicle has a short-time collision risk, determining whether the target vehicle meets an acceleration condition; in the case that the target vehicle meets the acceleration condition, determining the acceleration and acceleration time of the target vehicle, and controlling the target vehicle to accelerate and travel based on the acceleration and acceleration time. The application can improve the safety of vehicle control by accelerating and traveling when the target vehicle has a short-time collision risk.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a vehicle control method, device, electronic device, and storage medium. Background Technology

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

[0003] In related technologies, when a vehicle detects a risk of rear-end collision, it can use its taillights to warn following vehicles, alerting them to the emergency and enabling them to take timely measures to slow down and avoid a rear-end collision.

[0004] However, in the relevant technology, the vehicle can only rely on the vehicle behind to slow down to avoid a rear-end collision. This dependence means that if the driver of the vehicle behind cannot react in time or take the correct deceleration measures, a collision between the vehicle behind and the vehicle will still occur, i.e., a rear-end collision accident will happen. Summary of the Invention

[0005] The problem addressed by this invention is how to improve the safety of vehicles during operation.

[0006] To address 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] The determination of whether there is a short-term collision risk for the target vehicle is based on the first collision time between the target vehicle and the 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 both the target vehicle and the first vehicle are traveling in the current driving state, and the short-term collision risk means that a collision will occur within a first preset time period.

[0009] In the event that the target vehicle faces the short-term collision risk, it is determined whether the target vehicle meets the acceleration conditions.

[0010] If the target vehicle meets the acceleration conditions, determine the acceleration and acceleration time of the target vehicle, and control the target vehicle to accelerate based on the acceleration and acceleration time.

[0011] Optionally, before determining whether there is a short-term collision risk with the target vehicle 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 area behind the target vehicle, the first driving information collected by the target sensor located on the rear side of the target vehicle at the current time is obtained, wherein the first driving information includes the relative speed and relative distance between the first vehicle and the target vehicle.

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

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

[0015] Determine whether there are any vehicles located in the preset area in front of the target vehicle;

[0016] If it is determined that no vehicle is located in the preset area ahead, the target vehicle is determined to meet the acceleration condition;

[0017] If it is determined that a vehicle is located in the preset area ahead, the second collision time between the target vehicle and the second vehicle is obtained, and it is determined whether the target vehicle meets the acceleration condition based on the second collision time. 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 are traveling in their current driving state.

[0018] Optionally, determining whether the target vehicle has a short-term 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-term collision risk when the first collision time is less than a first preset duration;

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

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

[0021] The first duration is obtained by estimating the time from the current moment to the third moment when the target vehicle accelerates at the preset acceleration and the short-term collision risk between the target vehicle and the first vehicle is eliminated. 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 when the target vehicle accelerates at the preset acceleration.

[0022] The second duration is obtained by estimating the time from the current moment to the fourth moment when the target vehicle accelerates at the preset acceleration, from the current moment to the moment when the target vehicle and the second vehicle have a short-term collision risk. 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 target vehicle accelerates at the preset acceleration.

[0023] If 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 preset area ahead and the target vehicle meets the acceleration conditions, determining the acceleration and acceleration time of the target vehicle includes:

[0025] If the first duration is greater than the second duration, the acceleration of the target vehicle is determined as the target acceleration, and the acceleration time of the target vehicle is determined as the 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, the estimated time from the current moment until the third moment when the target vehicle accelerates at a preset acceleration and the risk of a short-term collision with the first vehicle is eliminated includes:

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

[0028] Determine the speed of the target vehicle at the current moment to obtain the 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] The judgment module is used to determine whether there is a short-term collision risk for the target vehicle based on the first collision time between the target vehicle and the first vehicle. 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 both the target vehicle and the first vehicle are traveling in the current driving state. The short-term collision risk means that a collision will occur within a first preset time period.

[0032] The determination module is used to determine whether the target vehicle meets the acceleration conditions when the target vehicle has the short-term collision risk.

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

[0034] Thirdly, 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 configured to implement the vehicle control method as described in the first aspect when executing the computer program.

[0037] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle control method as described in the first aspect.

[0038] The beneficial effects of the vehicle control method, device, electronic device, and storage medium of the present invention are as follows: By determining the collision time (i.e., the first collision time) between the target vehicle and the first vehicle traveling in a 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 within a short period of time (within a first preset time). When a short-term collision risk exists, it is determined whether the acceleration conditions are met to determine whether the target vehicle can safely accelerate. When the acceleration conditions are met, the target vehicle is controlled to accelerate by a determined acceleration and acceleration time. After the target vehicle accelerates, the collision time between the target vehicle and the first vehicle increases, reducing the probability of the target vehicle colliding. Compared with related technologies, the present invention can eliminate the short-term collision risk of the target vehicle by actively accelerating the vehicle itself when there is a short-term collision risk (risk of being rear-ended), reducing the dependence on the deceleration measures of the following vehicle. Even if the driver of the following vehicle fails to decelerate in time or take the 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 itself, thereby improving the safety of the vehicle driving process. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating a vehicle control method according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram showing the positional relationship between the target vehicle and the first vehicle in an embodiment of the present invention;

[0041] Figure 3This is a schematic diagram showing the positional relationship between the target vehicle, the first vehicle, and the second vehicle in an embodiment of the present invention.

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

[0043] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0044] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only 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. Furthermore, 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 "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0047] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0048] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended 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, an embodiment of the present invention provides a vehicle control method, comprising:

[0051] S100, determine whether there is a short-term collision risk for the target vehicle based on the first collision time between the target vehicle and the 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 both the target vehicle and the first vehicle are traveling in the current driving state, and the short-term collision risk means that a collision will occur within a first preset time period.

[0052] Specifically, such as 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 preset area behind it is the detection area of ​​a sensor installed behind the target vehicle. This sensor is used to detect vehicles or obstacles located behind the target vehicle, providing data for the safe driving of the target vehicle. For example, the preset area behind the target vehicle is as follows: Figure 2 As shown, the preset area behind the target vehicle can be a rectangular area with a preset length and a preset width. 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 installed on the target vehicle.

[0053] Optionally, the preset area behind the target vehicle can be represented as the relative distance between the first vehicle and the target vehicle being less than the farthest measurement distance of the target sensor, and the lateral overlap rate between the first vehicle and the target vehicle being greater than a preset overlap rate. Here, the lateral overlap rate of the two vehicles refers to the degree of overlap between the two vehicles in the lateral direction (i.e., the vehicle width direction), which is used to describe the positional relationship between the two vehicles when they are driving in the same lane, in order to assess the potential collision risk between them. The lateral overlap rate is the smaller value between the overlap width of the two vehicles and the width of the two vehicles.

[0054] The lateral overlap rate can be used to determine the lateral positional relationship between two vehicles. If the lateral overlap rate is 0, it means that the two vehicles do not overlap and are traveling in different lanes; a collision will not occur if neither vehicle turns. 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 to the left rear of the target vehicle, and a collision is possible. 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 a collision is possible.

[0055] The vehicle currently traveling in the preset area behind the target vehicle is designated as the first vehicle. Assuming that the first vehicle and the target vehicle maintain their current driving state (i.e., both vehicles travel at their current speed and direction without accelerating, decelerating, or turning), the first vehicle and the target vehicle will collide after a certain period of time. The duration of this period is the first collision time (TTC), which is the time required for the target vehicle and the first vehicle to collide while maintaining their current driving state.

[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, that is, the two vehicles will collide soon under the current driving conditions, that is, the two vehicles will collide within the first preset time period, 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 under the current driving conditions, that is, the two vehicles will not collide within the first preset time period, and there is no short-term collision risk.

[0057] It should be noted that, in this embodiment, the short-term collision risk refers to the risk that the first vehicle located in the area behind 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, if the target vehicle has the short-term collision risk, determine whether the target vehicle meets the acceleration conditions;

[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 conditions. Meeting the acceleration conditions means that the target vehicle can drive safely after acceleration. If the acceleration conditions are met, the target vehicle can accelerate; if the acceleration conditions are not met, the target vehicle cannot accelerate.

[0060] S300, if the target vehicle meets the acceleration conditions, determine the acceleration and acceleration time of the target vehicle, and control the target vehicle to accelerate based on the acceleration and 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 driving of the target vehicle is controlled based on the acceleration and acceleration time. The driving speed of the vehicle can be adjusted to make the target vehicle accelerate, thereby prolonging 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, the collision time (i.e., the first collision time) between the target vehicle and the first vehicle traveling in a preset area behind the target vehicle at the current moment is used to determine 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 within a short period of time (within a first preset time). When a short-term collision risk exists, it is determined whether the acceleration conditions are met to determine whether the target vehicle can safely accelerate. When the acceleration conditions are met, the target vehicle is controlled to accelerate by a determined acceleration and acceleration time. After the target vehicle accelerates, the collision time between the target vehicle and the first vehicle increases, reducing the probability of a collision between the target vehicle and the first vehicle. Compared with related technologies, this invention can eliminate the short-term collision risk of the target vehicle by actively accelerating the vehicle itself when there is a short-term collision risk, reducing the reliance on the deceleration measures of the following vehicle. Even if the driver of the following vehicle fails to decelerate in time or take the 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 itself, thereby improving the safety of the vehicle driving process.

[0063] Optionally, before determining whether there is a short-term collision risk with the target vehicle 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 area behind the target vehicle, acquiring first driving information collected by a target sensor located 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.

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

[0065] The collision time between the first vehicle and the target vehicle at the current moment is determined based on their relative speed and relative distance. This determination, i.e., the first collision time, specifically includes:

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

[0067] When the relative speed is less than zero, since the speed of the first vehicle is less than or equal to the 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. In this case, the first collision time is set to infinity.

[0068] It should be noted that a target sensor is installed on the target vehicle, positioned at its rear, to determine the relative speed and distance between the first vehicle and the target vehicle. Specifically, the target sensor is a radar operating in the millimeter-wave band, generating electromagnetic waves with a specific modulation frequency. It transmits these electromagnetic waves to the target (i.e., the first vehicle) and receives the electromagnetic waves transmitted back from the target via an antenna. Based on the Doppler effect, the frequencies of the electromagnetic waves transmitted and received by the target sensor are different. The relative speed and distance between the target sensor and the first vehicle are determined based on the frequency difference between the transmitted and received electromagnetic waves. Since the target sensor is installed on the target vehicle, and the target vehicle and the target sensor remain relatively stationary, the relative speed and distance between the target sensor and the first vehicle are the same as the relative speed and 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 meets 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 meets 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 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 both the target vehicle and the second vehicle are traveling in their current driving state.

[0071] Specifically, when determining whether a target vehicle meets the acceleration conditions, first determine whether there are vehicles in a preset area in front of the target vehicle's direction of travel. If there are no vehicles 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 conditions.

[0072] There are vehicles in the pre-defined area ahead. Figure 3 As shown, if there is a vehicle (referred to as the second vehicle) in the preset area ahead, and 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. Based on the second collision time, it can be determined whether the target vehicle meets the acceleration conditions.

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

[0074] Optionally, determining whether the target vehicle has a short-term 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-term collision risk when the first collision time is less than a first preset duration;

[0075] Specifically, if the first collision time is less than the first preset duration, it means that the two vehicles will collide soon under the current driving conditions, i.e. there is a short-term collision risk. Conversely, if the first collision time is greater than or equal to the first preset duration, it means that the two vehicles will not collide in a short period of time under the current driving conditions, i.e. there is no short-term collision risk for the target vehicle.

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

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

[0078] Specifically, the second collision time refers to the collision time between the second vehicle and the target vehicle. If the target vehicle meets the acceleration condition, 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. To avoid this situation, a second preset duration is set, which is longer than the first preset duration. When the second collision time is longer than the second preset duration, the second collision time will inevitably be longer than the first preset duration. That is, at the current moment, there is no short-term collision risk between the second vehicle and the target vehicle. Since the second collision time is longer than the second preset duration, the target vehicle is accelerated 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, the second preset duration is longer than the first preset duration, providing some room for shortening the collision time between the second vehicle and the target vehicle. Appropriate acceleration will not shorten the collision time between the second vehicle and the target vehicle to below the first preset duration, 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, which is longer than the first preset time, is used as the standard. When the second collision time is longer than the second preset time, it is determined that the target vehicle meets the acceleration conditions, thereby improving the safety of the target vehicle during its driving process.

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

[0081] A first duration is obtained by estimating the time from the current moment to the third moment when the target vehicle accelerates at a preset acceleration and the short-term collision risk between the target vehicle and the first vehicle is eliminated, 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 when the target vehicle accelerates at the preset acceleration. A second duration is obtained by estimating the time from the current moment to the fourth moment when the short-term collision risk between the target vehicle and the second vehicle occurs when the target vehicle accelerates at the preset acceleration, 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 target vehicle accelerates at the preset acceleration. If 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.

[0082] Specifically, the preset acceleration is the maximum 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 accelerates rapidly according to the preset acceleration, reducing the relative speed between the target vehicle and the first vehicle and increasing the relative distance between the target vehicle and the first vehicle. During the acceleration process, the collision time between the target vehicle and the first vehicle gradually increases. The moment when the collision time gradually increases to the first preset duration is recorded as the third moment. At this time, the short-term collision risk between the target vehicle and the first vehicle is eliminated. During this process, the target vehicle accelerates at the preset acceleration, and the acceleration time is the time from the current moment to the third moment, i.e., the first duration.

[0083] When there are no vehicles in the preset area ahead, the target vehicle's acceleration is directly set to the preset acceleration, and the acceleration time is set to the first duration, 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 rapidly at a preset acceleration, reducing the relative speed between the target vehicle and the first vehicle and increasing the relative distance between the target vehicle and the first vehicle. During the acceleration process, the collision time between the target vehicle and the second vehicle in front gradually shortens. The moment when the collision time gradually shortens to the second preset duration (or the first preset duration) is recorded as the fourth moment. At this time, the target vehicle will again have a short-term collision risk with the second vehicle, and acceleration needs to be stopped. During this process, the target vehicle accelerates at a preset acceleration, and the acceleration duration is the time from the current moment to the fourth moment, i.e., the second duration.

[0085] If the target vehicle accelerates at a preset acceleration rate when the first duration is less than or equal to the second duration, and the acceleration time is the first duration, the target vehicle will eliminate the short-term collision risk with the first vehicle. Furthermore, the collision time between the target vehicle and the second vehicle in the preset area ahead has not yet decreased to below the second preset duration (i.e., the collision time between the target vehicle and the second vehicle is still greater than the second preset duration). Therefore, the target vehicle can maintain a safe driving state with the second vehicle and will not collide. Thus, when the first duration is less than or equal to the second duration, controlling the target vehicle's acceleration to the preset acceleration rate for the first duration achieves the goal of eliminating the short-term collision risk between the first and target vehicles by accelerating the target vehicle.

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

[0087] Specifically, when the first duration is longer than the second duration, if the target vehicle accelerates according to the preset acceleration, after the acceleration time reaches the first duration, the target vehicle will eliminate the short-term collision risk with the first vehicle. However, before the target vehicle eliminates the short-term 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 acceleration continues at this time, the target vehicle will no longer meet the acceleration conditions and cannot continue to accelerate. The options are: determine the target vehicle's acceleration as a target acceleration less than the preset acceleration and determine the acceleration time as a third duration less than or equal to the second duration; or determine the target vehicle's acceleration as the preset acceleration and determine the acceleration time as a third duration less than or equal to the second duration; or determine the target vehicle's acceleration as a target acceleration less than the preset acceleration and determine 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 continuously increasing. This gives the driver of the following vehicle a certain amount of time to decelerate and avoid rear-ending the target vehicle. This ensures that the target vehicle will not have a short-term collision risk with the second vehicle, and also reduces the short-term collision risk between the target vehicle and the first vehicle to a certain extent.

[0089] Optionally, estimating the time from the current moment when the target vehicle accelerates at a preset acceleration to the third moment when the short-term collision risk between the target vehicle and the first vehicle is eliminated 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; and determining the first time 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 current speed and acceleration of the target vehicle and the first vehicle are obtained respectively, with the target vehicle's speed being the second speed, the first vehicle's acceleration being the first acceleration, and the first vehicle's current speed being the first speed.

[0091] When the target vehicle is expected to accelerate at a 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 remains unchanged. When the first acceleration is zero, the first vehicle maintains the first speed and travels at a constant speed.

[0092] Assume 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, and the target vehicle accelerates according to a preset acceleration.

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

[0094] V′1=V1+a1t

[0095] After the target vehicle has traveled at the preset acceleration for a time t, the target vehicle's speed (fourth speed) can be expressed as:

[0096] V′2=V2+a0t

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

[0098]

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

[0100]

[0101] Wherein, 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 by combining the above four formulas, the value of t, i.e. the first duration, can be determined.

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

[0104] Optionally, the acceleration of the target vehicle in the above embodiments is performed when the target vehicle is in autonomous driving mode, such as when the target vehicle has NOA (Navigate on Autopilot) and ICC (Intelligent Cruise Control) functions activated. When not in autonomous driving mode, in order to avoid loss of vehicle control, the vehicle acceleration is not controlled by the control methods in the above embodiments. During the autonomous driving process, when accelerating the target vehicle according to the first acceleration command output by the control method, if a braking command or a second acceleration command is received from the brake pads or accelerator pads, the braking command or the second acceleration command is executed, and the execution of the first acceleration command is stopped.

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

[0106] The judgment module 410 is used to determine whether there is a short-term collision risk for the target vehicle based on the first collision time between the target vehicle and the first vehicle. 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 both the target vehicle and the first vehicle are traveling in the current driving state. The short-term collision risk means that a collision will occur within a first preset time period.

[0107] The determining module 420 is used to determine whether the target vehicle meets the acceleration conditions 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 conditions, and to control the target vehicle to accelerate based on the acceleration and acceleration time.

[0109] Optionally, the vehicle control device is further configured to, before determining whether there is a short-term collision risk with the target vehicle based on the first collision time between the target vehicle and the first vehicle, further include: when the first vehicle is located in the preset area behind the target vehicle, acquiring first driving information collected at the current moment by a target sensor located on the rear side of the target vehicle, 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 vehicle control device is further configured such that the determination module is further configured to determine whether the target vehicle meets the acceleration condition by: determining whether there is a vehicle located in a preset area in front of the target vehicle; if it is determined that there is no vehicle located in the preset area in front, determining that the target vehicle meets the acceleration condition; if it is determined that there is a vehicle 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 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 both the target vehicle and the second vehicle are traveling in their current driving state.

[0111] Optionally, the above-mentioned judgment module is further used to determine whether the target vehicle has a short-term collision risk based on the first collision time between the target vehicle and the first vehicle in the following way: when the first collision time is less than a first preset duration, it is determined that the target vehicle has a short-term collision risk;

[0112] Optionally, the vehicle control device may further determine whether the target vehicle meets the acceleration condition based on the second collision time in the following manner: when the second collision time is greater than a second preset duration, the target vehicle is determined to meet the acceleration condition, wherein the second preset duration is greater than the first preset duration.

[0113] Optionally, when it is determined that a vehicle is located in the preset area ahead and the target vehicle meets the acceleration condition, the determining module is further configured to determine the acceleration and acceleration time of the target vehicle in the following ways: estimating the time from the current moment to the third moment when the target vehicle and the first vehicle are no longer at risk of a short-term collision, thus obtaining 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; estimating the time from the current moment to the fourth moment when the target vehicle and the second vehicle are at risk of a short-term collision, thus obtaining 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; and determining the acceleration of the target vehicle as the preset acceleration and the acceleration time of the target vehicle as the first duration when the first duration is less than or equal to the second 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 determining module is further configured to determine the acceleration and acceleration time of the target vehicle in the following ways: when the first duration is greater than the second duration, the acceleration of the target vehicle is determined as the target acceleration, and the acceleration time of the target vehicle is determined as 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 aforementioned determining module is further configured to estimate the duration from the current moment to the third moment when the target vehicle accelerates at a preset acceleration, and the short-term collision risk between the target vehicle and the first vehicle is eliminated, by means of: 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; and 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 described above. Its advantages over the prior art are the same as the advantages of the vehicle control method described above over the prior art, and will not be repeated here.

[0117] like Figure 5 As shown, an electronic device 500 provided in this embodiment of the 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 the computer program is executed.

[0118] Alternatively, 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 the computer program is executed:

[0119] The determination of whether there is a short-term collision risk for the target vehicle is based on the first collision time between the target vehicle and the 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 both the target vehicle and the first vehicle are traveling in the current driving state, and the short-term collision risk means that a collision will occur within a first preset time period.

[0120] In the event that the target vehicle faces the short-term collision risk, it is determined whether the target vehicle meets the acceleration conditions.

[0121] If the target vehicle meets the acceleration conditions, determine the acceleration and acceleration time of the target vehicle, and control the target vehicle to accelerate based on the acceleration and acceleration time.

[0122] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the vehicle control method described above.

[0123] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations:

[0124] The determination of whether there is a short-term collision risk for the target vehicle is based on the first collision time between the target vehicle and the 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 both the target vehicle and the first vehicle are traveling in the current driving state, and the short-term collision risk means that a collision will occur within a first preset time period.

[0125] In the event that the target vehicle faces the short-term collision risk, it is determined whether the target vehicle meets the acceleration conditions.

[0126] If the target vehicle meets the acceleration conditions, determine the acceleration and acceleration time of the target vehicle, and control the target vehicle to accelerate based on the acceleration and acceleration time.

[0127] Electronic device 500, which can serve as a server or client of the present invention, is described below as an example of a hardware device applicable to various aspects of the present invention. Electronic device 500 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 500 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0128] Electronic device 500 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0129] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0130] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A vehicle control method characterized by, The vehicle control method comprises: determining 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 while maintaining a current driving state, and the short-time collision risk indicates that the vehicles will collide within a first preset time period; in the case that the target vehicle has the short-time collision risk, determining whether the target vehicle meets an acceleration condition; in the case that the target vehicle meets the acceleration condition, determining an acceleration and an acceleration time of the target vehicle, and controlling the target vehicle to accelerate based on the acceleration and the acceleration time; the determination of whether the target vehicle meets the acceleration condition comprises: determining whether there is a vehicle in a preset area in front of the target vehicle; in the case that it is determined that there is no vehicle in the preset area in front of the target vehicle, determining that the target vehicle meets the acceleration condition; in the case that it is determined that there is a vehicle in the preset area in front of the target vehicle, obtaining a second collision time between the target vehicle and a second vehicle, and in the case that the second collision time is greater than a second preset time period, determining that the target vehicle meets the acceleration condition, wherein the second preset time period is greater than the first preset time period, the second vehicle is a vehicle traveling in the preset area in front of the target vehicle, and the second collision time is a time required for the target vehicle and the second vehicle to collide while maintaining a current driving state.

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

3. The vehicle control method according to claim 1, wherein the determination of whether the target vehicle has a short-time collision risk based on a first collision time between the target vehicle and a first vehicle comprises: in the case that the first collision time is less than the first preset time period, determining that the target vehicle has a short-time collision risk.

4. The vehicle control method according to claim 3, characterized by in the case that it is determined that there is a vehicle in the preset area in front of the target vehicle and the target vehicle meets the acceleration condition, the determination of the acceleration and the acceleration time of the target vehicle comprises: estimating a first time period from the current time to a third time when the target vehicle and the first vehicle are out of the short-time collision risk, while the target vehicle accelerates at a preset acceleration, wherein the third time is a time corresponding to the case that the collision time of the first vehicle and the target vehicle is extended to the first preset time period while the target vehicle accelerates at the preset acceleration. estimate a second time length from the current time to a fourth time when the target vehicle and the second vehicle have a short-time collision risk, when the target vehicle accelerates at a preset acceleration, wherein the fourth time is a time when the target vehicle accelerates at the preset acceleration, and a collision time of the second vehicle and the target vehicle is shortened to the second preset time length; in a case where the first time length is less than or equal to the second time length, determine that the acceleration of the target vehicle is the preset acceleration, and determine that the acceleration time of the target vehicle is the first time length.

5. The vehicle control method according to claim 4, characterized by In a case where it is determined that there is a vehicle in the front preset area of the target vehicle and the target vehicle meets the acceleration condition, the determination of the acceleration and the acceleration time of the target vehicle comprises: in a case where the first time length is greater than the second time length, determine that the acceleration of the target vehicle is a target acceleration, and determine that the acceleration time of the target vehicle is a 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.

6. The vehicle control method according to claim 5, characterized by estimate a second time length from the current time to a fourth time when the target vehicle and the second vehicle have a short-time collision risk, when the target vehicle accelerates at a preset acceleration, wherein the fourth time is a time when the target vehicle accelerates at the preset acceleration, and a collision time of the second vehicle and the target vehicle is shortened to the second preset time length; determine the driving speed and acceleration of the first vehicle at the current time to obtain a first speed and a first acceleration; determine the driving speed of the target vehicle at the current time to obtain a second speed; determine the first time length 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 time.

7. A vehicle control device characterized by comprising: comprise: a judgment module configured 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 driving 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 while maintaining the driving state at the current time, and the short-time collision risk indicates that the vehicles will collide within a first preset time length; a determination module configured to determine whether the target vehicle meets an acceleration condition in a case where the target vehicle has the short-time collision risk; a control module configured to determine the acceleration and the acceleration time of the target vehicle in a case where the target vehicle meets the acceleration condition, and control the target vehicle to accelerate based on the acceleration and the acceleration time; the determination of whether the target vehicle meets the acceleration condition comprises: determine whether there is a vehicle in a front preset area of the target vehicle; in a case where it is determined that there is no vehicle in the front preset area, determine that the target vehicle meets the acceleration condition; In a case where it is determined that a vehicle is located in the front preset area, a second collision time between the target vehicle and a second vehicle is obtained, and in a case where the second collision time is greater than a second preset time length, it is determined that the target vehicle satisfies the acceleration condition, wherein the second preset time length is greater than the first preset time length, the second vehicle is a vehicle driving in the front preset area, and the second collision time is a time required for the target vehicle and the second vehicle to collide while driving in a driving state of the target vehicle and the second vehicle at a current time.

8. An electronic device, comprising: comprising a memory and a processor; the memory, configured to store a computer program; the processor, configured to implement the vehicle control method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

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