Vehicle control method and device, equipment, storage medium and program product

Abstract

The invention discloses a vehicle control method, device and equipment, a storage medium and a program product, and belongs to the technical field of intelligent driving. The method comprises the steps that under the condition that it is detected that a forward collision risk exists in a vehicle, the vehicle taking-over capacity of a driver is obtained; acquiring target information of the vehicle under the condition that the driver has the capability of taking over the vehicle; wherein the target information comprises at least one of an environment state and a motion state of the vehicle; determining a target relationship between the target information and a steering condition of the vehicle; executing a collision avoidance strategy corresponding to the target relationship; wherein under the condition that the target relation is that the target information meets the steering condition, the collision avoidance strategy is to activate the automatic emergency steering function of the vehicle; under the condition that the target relation is that the target information does not meet the steering condition, the collision avoidance strategy is to activate the automatic emergency braking function of the vehicle. According to the invention, the autonomy and collision avoidance effect of emergency collision avoidance of the vehicle can be improved.

Description

Technical Field

[0001] The present application belongs to the field of intelligent driving technology, and in particular, relates to a vehicle control method, device, equipment, storage medium and program product. Background Art

[0002] Autonomous driving technology provides convenience for vehicle driving. It can ensure safe and reliable driving and avoid fatigue driving without affecting the driving journey.

[0003] In the process of autonomous driving, how to avoid the risk of collision caused by obstacles ahead is important for the safe and stable driving of the vehicle. The current autonomous driving assistance function still requires the driver to actively intervene for emergency collision avoidance when there is an obstacle in front of the lane, resulting in low autonomy in emergency collision avoidance. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method, device, equipment, storage medium and program product that can improve the autonomy of the vehicle in emergency collision avoidance.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0006] When it is detected that the vehicle has a forward collision risk, obtaining the driver's ability to take over the vehicle; wherein the takeover ability includes: the driver has the ability to take over the vehicle; or the driver does not have the ability to take over the vehicle;

[0007] When the driver has the ability to take over the vehicle, obtaining target information of the vehicle; wherein the target information includes at least one of an environmental state and a motion state of the vehicle;

[0008] determining a target relationship between the target information and a steering condition of the vehicle;

[0009] Execute a collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is that the target information satisfies the steering condition, the collision avoidance strategy is to activate an automatic emergency steering function of the vehicle; wherein, when the target relationship is that the target information does not satisfy the steering condition, the collision avoidance strategy is to activate an automatic emergency braking function of the vehicle.

[0010] In a second aspect, an embodiment of the present application provides a vehicle control device, the device comprising:

[0011] A first acquisition module is used to acquire the driver's ability to take over the vehicle when it is detected that the vehicle has a forward collision risk; wherein the takeover capability includes: the driver has the ability to take over the vehicle; or the driver does not have the ability to take over the vehicle;

[0012] A second acquisition module is used to acquire target information of the vehicle when the takeover capability indicates that the driver has the ability to take over the vehicle; wherein the target information includes at least one of an environmental state and a motion state of the vehicle;

[0013] a determination module, configured to determine a target relationship between the target information and a steering condition of the vehicle;

[0014] An execution module is used to execute a collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is that the target information satisfies the turning condition, the collision avoidance strategy is to activate the automatic emergency steering function of the vehicle; and when the target relationship is that the target information does not satisfy the turning condition, the collision avoidance strategy is to activate the automatic emergency braking function of the vehicle.

[0015] In a third aspect, an embodiment of the present application provides a vehicle control device, the device comprising:

[0016] a processor and a memory storing computer program instructions;

[0017] When the processor executes the computer program instructions, the vehicle control method as described in the first aspect is implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the vehicle control method as described in the first aspect is implemented.

[0019] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle control method as described in the first aspect.

[0020] In the embodiment of the present application, when it is detected that the vehicle has a forward collision risk, the driver's ability to take over the vehicle can be first obtained. When the driver has the ability to take over the vehicle, it can be further determined whether the vehicle's turning conditions are met according to the vehicle's target information, and then the corresponding collision avoidance strategy is executed. Specifically, if it is determined that the turning conditions are met according to the vehicle's target information, the vehicle's automatic emergency steering function can be activated for emergency collision avoidance; if it is determined that the turning conditions are not met according to the vehicle's target information, the vehicle's automatic emergency braking function can be activated for emergency collision avoidance. It can be seen that in the embodiment of the present application, the vehicle can autonomously determine the collision avoidance strategy for emergency collision avoidance based on the driver's ability to take over the vehicle and the target information, so that the autonomy of the vehicle's emergency collision avoidance can be improved. In addition, when the driver has the ability to take over the vehicle and determines that the turning conditions are met based on the vehicle's target information, the vehicle's automatic emergency steering function is activated for emergency collision avoidance, and in other cases, the vehicle's automatic emergency braking function is activated for emergency collision avoidance. In this way, the driving experience can be greatly improved under the premise of ensuring safety, reducing the discomfort caused by emergency collision avoidance to the driver and the probability of causing harm to the driver and the passenger, and improving the collision avoidance effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 It is one of the flow charts of the vehicle control method provided in the embodiment of the present application;

[0023] Figure 2 This is the second flow chart of the vehicle control method provided in the embodiment of the present application;

[0024] Figure 3 is a structural diagram of a vehicle control device provided in an embodiment of the present application;

[0025] Figure 4 It is a structural diagram of a vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0028] The embodiments of the present application can be applied to vehicles equipped with an automatic emergency braking (AEB) system and an automatic emergency steering (AES) system. The AEB function of the AEB system can realize automatic emergency braking of the vehicle, and the AEB function of the AES system can realize automatic emergency steering of the vehicle.

[0029] The vehicle control method provided in the embodiment of the present application is described in detail below through some embodiments and their application scenarios in combination with the accompanying drawings.

[0030] See also Figure 1 , Figure 1 This is one of the flow charts of the vehicle control method provided in the embodiment of the present application. Figure 1 As shown, the vehicle control method may include the following steps:

[0031] Step 101: when it is detected that the vehicle has a risk of forward collision, obtaining the driver's ability to take over the vehicle; wherein the takeover capability includes: the driver has the ability to take over the vehicle; or the driver does not have the ability to take over the vehicle.

[0032] The embodiments of the present application do not limit the detection method of the forward collision risk. In some embodiments, the vehicle can predict the driving area of ​​the vehicle in the future period through its own vehicle motion data. If the sensor recognizes that there is an obstacle in the above-mentioned driving area, it can be determined that the vehicle is at risk of forward collision.

[0033] In the embodiment of the present application, when the vehicle is at risk of a forward collision, emergency collision avoidance can be performed by activating the AEB function of the AEB system or the AES function of the AES system to improve the autonomy of emergency collision avoidance. That is, the embodiment of the present application provides a collision avoidance strategy for activating the AEB function and a collision avoidance strategy for activating the AES function. In the embodiment of the present application, the collision avoidance strategy can be selected in combination with driving safety and driving experience to maximize the driving experience of the occupants while ensuring safety, reduce the discomfort caused by emergency collision avoidance to the occupants and the probability of causing harm to the occupants, and improve the collision avoidance effect.

[0034] In specific implementation, the driver's ability to take over the vehicle may be obtained first. The driver's ability to take over the vehicle may indicate whether the driver has the ability to take over the vehicle, which may be specifically expressed as: the driver has the ability to take over the vehicle, or the driver does not have the ability to take over the vehicle.

[0035] The driver has the ability to take over the vehicle, which means that the driver has the intention to take over actively and can take over control of the vehicle. At this time, the driver can control the vehicle's driving simultaneously with the vehicle's automatic driving system, and the vehicle can enter an in-loop state or a human-machine co-driving state, thereby improving driving safety and driving experience.

[0036] The driver does not have the ability to take over the vehicle, which means that the driver has no intention to take over actively and cannot take over control of the vehicle.

[0037] In some embodiments, the above-mentioned takeover capability can be further manifested as direction takeover capability, that is, the ability to control emergency steering. The driver has the ability to take over the direction of the vehicle, that is, the driver has the ability to take over the emergency steering of the vehicle, which means that the driver can take over the direction control of the vehicle. The driver does not have the ability to take over the vehicle, that is, the driver does not have the ability to take over the emergency steering of the vehicle, which means that the driver cannot take over the direction control of the vehicle.

[0038] It is understandable that if the emergency steering occurs in a scenario where the driver has the intention to take over actively, the driver can take over the vehicle in time for auxiliary control during the emergency steering, thereby improving driving safety and driving experience. Therefore, when the driver has the ability to take over the vehicle, the collision avoidance strategy of activating the AEB function and the collision avoidance strategy of activating the AES function can be used as candidate collision avoidance strategies, and then the collision avoidance strategy is selected through steps 102 to 104.

[0039] If the emergency steering occurs when the driver has no intention to take over, the vehicle is prone to loss of control during the emergency steering, resulting in a high probability of injury to the driver and passengers. Therefore, in some embodiments, after obtaining the driver's ability to take over the vehicle, the method further includes:

[0040] In a case where the driver is unable to take over the vehicle, an automatic emergency braking function of the vehicle is activated.

[0041] In these embodiments, considering that the driver has no intention to take over actively, the AEB function can be directly activated as a collision avoidance strategy, which can improve driving safety and driving experience.

[0042] In other embodiments, when the takeover capability indicates that the driver does not have the ability to take over the vehicle, it may be further considered whether activating the AEB function will bring about a rear collision risk. If activating the AEB function will bring about a rear collision risk, and there are avoidance paths in the left and right lanes of the vehicle's driving road, that is, there are movement paths that can avoid collisions, the AES function may be activated to avoid rear collisions, thereby improving driving safety. If activating the AEB function will not bring about a rear collision risk, the AEB function may be activated to improve driving safety and driving experience. Avoidance path.

[0043] Step 102: When the driver is capable of taking over the vehicle, obtain target information of the vehicle; wherein the target information includes at least one of the environmental state and the motion state of the vehicle.

[0044] If the driver has the ability to take over the vehicle, the vehicle's environmental state and motion state can be used to determine whether the vehicle has the conditions for turning, and then a collision avoidance strategy can be selected.

[0045] In specific implementation, whether the vehicle has the turning condition can be determined by judging whether the environmental state of the vehicle is bad and judging whether the operating state of the vehicle meets the operating conditions of the AES system. It should be noted that the embodiment of the present application does not limit the execution order of the above two judgments, which can be determined based on actual needs.

[0046] If the environmental condition of the vehicle is bad, emergency steering at this time may easily cause the vehicle to lose control or bring other collision risks. Therefore, it can be determined that the vehicle does not have the conditions for turning. If the vehicle's motion state does not meet the operating conditions of the AES system, the AES system cannot be operated at this time, and it can be determined that the vehicle does not have the conditions for turning. Based on this, it can be understood that only when the environmental condition of the vehicle is not bad and the operating state of the vehicle meets the operating conditions of the AES system, it is determined that the vehicle meets the turning conditions. On the contrary, that is, as long as it is determined that the environmental condition of the vehicle is bad, or the operating state of the vehicle does not meet the operating conditions of the AES system, it can be determined that the vehicle does not have the conditions for turning. Therefore, for the execution of the above two judgments, if it can be determined that the vehicle does not have the conditions for turning based on the judgment result of the first judgment, it can be chosen not to execute the second judgment to reduce the operating burden.

[0047] In some embodiments, whether the environmental state is bad can be evaluated by weather visibility and / or road conditions. In these embodiments, the environmental state may include weather visibility and / or road conditions. Further, the road conditions may include the slippery road surface condition and / or the left and right lane conditions of the vehicle's driving road.

[0048] In some embodiments, whether the operating state of the vehicle meets the operating conditions of the AES system can be evaluated by parameters such as vehicle speed and electronic speed controller (ESC). In these embodiments, the operating state includes parameters such as vehicle speed and ESC.

[0049] It should be noted that the embodiments of the present application do not limit the method for obtaining the parameters in the environmental state and operating state of the vehicle. Any method that can be used to obtain these parameters can fall within the protection scope of the embodiments of the present application. For details, please refer to the relevant technology and will not be described here.

[0050] Step 103: Determine a target relationship between the target information and the steering condition of the vehicle.

[0051] Determine the target relationship between the target information and the turning condition of the vehicle, that is, determine whether the target information satisfies the turning condition of the vehicle. The target relationship may be: the target information satisfies the turning condition of the vehicle, or the target information does not satisfy the turning condition of the vehicle.

[0052] In some embodiments, the vehicle may pre-store the environmental state and / or motion state corresponding to the vehicle having the turning condition, and the environmental state and / or motion state corresponding to the vehicle not having the turning condition. It can be understood that the environmental state corresponding to the vehicle having the turning condition is a non-harsh environmental state, and the motion state corresponding to the vehicle having the turning condition is a motion state that meets the operating conditions of the AES system; the environmental state corresponding to the vehicle not having the turning condition is a harsh environmental state, and the motion state corresponding to the vehicle not having the turning condition is a motion state that does not meet the operating conditions of the AES system.

[0053] In these embodiments, the acquired target information, i.e., the current environmental state and / or motion state of the vehicle, can be matched with the pre-stored environmental state and / or motion state to determine whether the target information satisfies the turning condition. Specifically, if the current environmental state and / or motion state of the vehicle corresponds to the environmental state and / or motion state corresponding to the vehicle having the turning condition, the target relationship can be determined as: the target information satisfies the turning condition of the vehicle. If the current environmental state and / or motion state of the vehicle corresponds to the environmental state and / or motion state corresponding to the vehicle not having the turning condition, the target relationship can be determined as: the target information does not satisfy the turning condition of the vehicle.

[0054] In other embodiments, the environmental state includes weather visibility and road state; the road state includes a slippery road state of the road on which the vehicle is traveling, and a state of a left lane and a right lane of the road; and determining a target relationship between the target information and the steering condition of the vehicle may include:

[0055] In the case where the target information satisfies the first condition, determining the target relationship as the target information satisfying the steering condition;

[0056] In a case where the target information does not satisfy the first condition, determining the target relationship as the target information not satisfying the steering condition;

[0057] Among them, the first condition includes: the weather visibility is greater than the visibility threshold, the slippery road state is that the road slippery coefficient is greater than the slippery coefficient threshold, the left and right lane states are that there is an avoidance path, and the motion state meets the operating conditions of the vehicle's automatic emergency steering system.

[0058] In these embodiments, corresponding conditions may be set for the environment state and the motion state, respectively, and then whether the target information satisfies the turning condition is determined by judging whether the target information satisfies the corresponding conditions.

[0059] Specifically, for the weather visibility in the environmental state, the visibility threshold can be set in advance; for the slippery road state in the environmental state, the slippery coefficient threshold can be set in advance; for the left and right lane states in the environmental state, the avoidance conditions can be set in advance; for the motion state, the operating conditions of the AES system can be set in advance.

[0060] After obtaining the target information, you can perform the following judgment operations to determine whether the target information meets the steering conditions:

[0061] Determine whether the weather visibility in the target information is less than the visibility threshold;

[0062] Determining whether a road surface slippery coefficient in the target information is less than a slippery coefficient threshold;

[0063] Determine whether the left and right lane states in the target information meet the avoidance conditions;

[0064] It is determined whether the motion state in the target information meets the operating conditions of the AES system of the vehicle.

[0065] If the weather visibility in the target information is less than the visibility threshold, it means that the weather visibility is low, and it can be determined that the environmental conditions are bad, and then it is determined that the target information does not meet the turning conditions.

[0066] If the road surface slippery coefficient in the target information is less than the slippery coefficient threshold, it means that the road is slippery. At this time, emergency steering may easily cause the vehicle to lose control. It can be determined that the environmental conditions are severe, and then it is determined that the target information does not meet the steering conditions.

[0067] If the left and right lane conditions in the target information do not meet the avoidance conditions, that is, there is no avoidance path in the left and right lanes, an emergency turn at this time may easily bring other collision risks. It can be determined that the environmental conditions are severe, and then it is determined that the target information does not meet the turning conditions.

[0068] If the motion state in the target information does not meet the operating conditions of the AES system, the AES system cannot be operated at this time, and it can be determined that the target information does not meet the turning conditions. Further, in some implementations, whether the motion state meets the operating conditions of the AES system can be determined by the following judgments: judging whether the vehicle speed is less than the vehicle speed threshold, and judging whether the ESC is in a normal operating state. If the vehicle speed is less than the vehicle speed threshold, and the ESC is in a normal operating state, it can be determined that the motion state meets the operating conditions of the AES system, otherwise, it can be determined that the motion state does not meet the operating conditions of the AES system.

[0069] Based on this, when the target information satisfies the first condition, it can be determined that the target information satisfies the turning condition; when the target information does not satisfy the first condition, it can be determined that the target information satisfies the turning condition.

[0070] It should be noted that the embodiments of the present application do not limit the execution order of the above-mentioned judgment operations, which can be set according to actual needs. In addition, if it is determined based on the judgment result of one of the judgment operations that the target information does not meet the steering condition, the subsequent judgment operation may not be executed.

[0071] In these embodiments, by judging whether the target information satisfies the first condition, whether the target information satisfies the turning condition can be judged, so that the accuracy of judging whether the vehicle has the turning condition can be improved, thereby improving the collision avoidance effect.

[0072] Step 104, executing a collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is that the target information satisfies the turning condition, the collision avoidance strategy is to activate an automatic emergency steering function of the vehicle; when the target relationship is that the target information does not satisfy the turning condition, the collision avoidance strategy is to activate an automatic emergency braking function of the vehicle.

[0073] In the embodiment of the present application, a collision avoidance rule may be pre-set, in which:

[0074] For situations where the vehicle's steering conditions are met, taking into account the driving experience of emergency steering and emergency braking, emergency steering is preferred for emergency collision avoidance, and the corresponding collision avoidance strategy can be set to activate the AES function;

[0075] For situations where the vehicle's turning conditions are not met, considering that emergency steering is less safe in this situation, emergency braking is preferred for emergency collision avoidance, and the corresponding collision avoidance strategy can be set to activate the AEB function.

[0076] After obtaining the target relationship of step 103, the corresponding collision avoidance strategy can be found by searching the above-mentioned collision avoidance rules and executing the corresponding collision avoidance strategy. In this way, the driving experience can be greatly improved while ensuring safety, the discomfort caused by emergency collision avoidance to the driver and passengers and the probability of injury to the driver and passengers can be reduced, and the collision avoidance effect can be improved.

[0077] In some embodiments, after executing the collision avoidance strategy, the currently executed collision avoidance strategy may be broadcasted to surrounding road users, so as to facilitate surrounding road users to take timely measures to avoid the collision, thereby improving safety.

[0078] The vehicle control method of this embodiment can first obtain the driver's ability to take over the vehicle when it is detected that the vehicle has a forward collision risk. When the driver has the ability to take over the vehicle, it can further determine whether the vehicle's turning conditions are met according to the vehicle's target information, and then execute the corresponding collision avoidance strategy. Specifically, if it is determined that the turning conditions are met according to the vehicle's target information, the vehicle's automatic emergency steering function can be activated for emergency collision avoidance; if it is determined that the turning conditions are not met according to the vehicle's target information, the vehicle's automatic emergency braking function can be activated for emergency collision avoidance. It can be seen that in the embodiment of the present application, the vehicle can autonomously determine the collision avoidance strategy for emergency collision avoidance based on the driver's ability to take over the vehicle and the target information, so that the autonomy of the vehicle's emergency collision avoidance can be improved. In addition, when the driver has the ability to take over the vehicle and determines that the turning conditions are met based on the vehicle's target information, the vehicle's automatic emergency steering function is activated for emergency collision avoidance, and in other cases, the vehicle's automatic emergency braking function is activated for emergency collision avoidance. In this way, the driving experience can be greatly improved under the premise of ensuring safety, and the discomfort caused by emergency collision avoidance to the driver and passengers and the probability of causing harm to the driver and passengers can be reduced.

[0079] The embodiment of the present application does not limit the method of obtaining the driver's ability to take over the vehicle. In some embodiments, the driver's ability to take over the vehicle can be indicated by the driver and the passenger.

[0080] In some other embodiments, obtaining the driver's ability to take over the vehicle includes:

[0081] Acquiring the driver's sight direction and the steering wheel holding state of the vehicle;

[0082] The driver's ability to take over the vehicle is determined based on the line of sight direction and the steering wheel holding state.

[0083] The embodiments of the present application do not limit the direction of the driver's line of sight and the method of obtaining the steering wheel holding state. In some embodiments, the driver's line of sight direction can be determined by collecting the driver's image and then obtaining the driver's eye sight features. In some embodiments, the driver's holding state of the vehicle's steering wheel can be detected by a Hands Off Detection (HOD) sensor on the vehicle's steering wheel. If the HOD sensor detects pressure, it can be determined that the steering wheel holding state is held; if the HOD sensor does not detect pressure, it can be determined that the steering wheel holding state is not held.

[0084] In these embodiments, the vehicle can determine whether the driver has the ability to take over the vehicle by obtaining the driver's status. In this way, the driver's autonomy in determining the ability to take over the vehicle can be improved, and the autonomy of vehicle control can be further improved.

[0085] Further, determining the driver's ability to take over the vehicle according to the line of sight direction and the steering wheel holding state may include:

[0086] When the sight line direction and the steering wheel holding state satisfy a second condition, determining that the driver has the ability to take over the vehicle is that the driver has the ability to take over the vehicle;

[0087] When the sight line direction and the steering wheel holding state do not satisfy the second condition, determining that the driver's ability to take over the vehicle is that the driver does not have the ability to take over the vehicle;

[0088] The second condition includes: the sight line direction is the front of the vehicle, and the steering wheel holding state is holding.

[0089] In this embodiment, whether the driver has the ability to take over the vehicle can be determined by judging whether the driver's line of sight is in front of the vehicle and whether the steering wheel is held.

[0090] If the driver's line of sight is not forward, it means that the driver is not paying attention to the road ahead and has no intention of actively taking over. It can be determined that the driver does not have the ability to take over the vehicle.

[0091] If the steering wheel holding state is not held, it means that the driver does not hold the steering wheel with his hands and has no intention of actively taking over. It can be determined that the driver does not have the ability to take over the vehicle.

[0092] If the driver's line of sight is facing forward and the steering wheel is in a held state, it means that the driver has the intention to take over actively, and it can be determined that the driver has the ability to take over the vehicle.

[0093] It should be noted that the embodiment of the present application does not limit the execution order of the above-mentioned judgment operations, which can be set according to actual needs. In addition, if it is determined based on the judgment result of one of the judgment operations that the driver does not have the ability to take over the vehicle, subsequent judgment operations may not be performed.

[0094] In the above method, whether the driver has the ability to take over the vehicle is determined by judging whether the driver's line of sight is in front of the vehicle and whether the steering wheel is held. This can improve the accuracy of the driver's ability to take over the vehicle, thereby improving the accuracy of collision avoidance strategy selection and further improving collision avoidance effects.

[0095] In some embodiments, the method further comprises:

[0096] When the sight line direction is not in the front direction of the vehicle, outputting a first prompt message; wherein the first prompt message is used to prompt the driver to take over the vehicle;

[0097] When the steering wheel holding state is non-holding, a second prompt message is output; wherein the second prompt message is used to prompt the driver that the vehicle will enter an emergency braking state.

[0098] In these embodiments, if the driver's line of sight is not forward, the vehicle can output a first prompt message to prompt the driver to take over the vehicle in time and enter an in-the-loop state or a human-machine co-driving state to improve driving safety and driving experience.

[0099] In the case of holding the steering wheel, the vehicle can choose to activate the AEB function for emergency collision avoidance and can output a second prompt message to remind the driver and passengers that they are about to enter the emergency braking state so that they can adjust their posture, thereby reducing the damage caused to the driver and passengers by emergency braking and improving driving safety and driving experience.

[0100] The embodiments of the present application do not limit the presentation method of the prompt information. In actual applications, the prompt information may be sound prompt information, visual prompt information, tactile prompt information, or any combination of the three, and may be set according to actual needs.

[0101] It should be noted that the various optional implementation modes introduced in the embodiments of the present application can be implemented in combination with each other or separately if they do not conflict with each other, and the embodiments of the present application are not limited to this.

[0102] For ease of understanding, a specific embodiment is used as an example for illustration:

[0103] like Figure 2 As shown, the vehicle control method of the embodiment of the present application may include the following steps:

[0104] Step 201, determining that there is a collision risk ahead of the vehicle trajectory.

[0105] When the vehicle is driving, the sensor recognizes that there is a risk target in front of it on the vehicle's driving trajectory. If no measures are taken, the vehicle will collide with the risk target.

[0106] Step 202, determining whether the driver is looking at the road.

[0107] In specific implementation, it is possible to determine whether the driver is looking at the road by determining whether the driver's sight line is in front of the vehicle. It is understandable that if the driver's sight line is in front of the front, it can be determined that the driver is looking at the road, otherwise, it can be determined that the driver is not looking at the road.

[0108] If the driver is watching the road, step 203 may be executed; if the driver is not watching the road, step 209 may be executed.

[0109] When there is a risk of collision ahead, the sensor monitors whether the driver is looking at the road. If the driver is not looking at the road, a collision warning will be issued at an earlier time.

[0110] Step 203: Determine whether the driver has taken his hands off the steering wheel.

[0111] That is, it is determined whether the steering wheel holding state is not holding. If the driver takes his hands off the steering wheel, that is, the steering wheel holding state is not holding, step 204 can be executed; otherwise, step 210 can be executed first, and then step 208 can be executed.

[0112] Step 204, determine whether the weather and road conditions are bad.

[0113] Before triggering the emergency steering assist, the weather and road conditions are judged. If the weather visibility is low or the road is slippery, the automatic emergency braking function will be triggered first.

[0114] If yes, execute step 205; otherwise, execute step 208.

[0115] Step 205, determine whether there is an avoidance path between the left and right lanes.

[0116] Before the automatic emergency steering function is triggered, the surrounding road conditions are judged. If there is no motion trajectory path that can avoid collision, the automatic emergency braking function is triggered.

[0117] If yes, execute step 206 ; otherwise, execute step 208 .

[0118] Step 206: Determine whether the vehicle's motion state satisfies the emergency avoidance condition.

[0119] The emergency avoidance condition is to meet the operating condition (ODD) of the AES system. When there is an avoidance path, the vehicle's motion state, such as vehicle speed, ESC and other parameter states, should be judged to ensure that the ODD of the automatic emergency steering function is met.

[0120] If yes, execute step 207; otherwise, execute step 208.

[0121] Step 207: Activate the AES function.

[0122] The vehicle chooses to activate the emergency steering function to complete the avoidance action.

[0123] Step 208 , activating the AEB function.

[0124] The vehicle chooses to activate the emergency braking function to complete the avoidance action.

[0125] Step 209: output the first prompt information.

[0126] Step 210: output second prompt information.

[0127] In the above embodiment, the current driver status is taken into consideration. By judging whether the driver is looking at the road or not, whether the driver has taken the hands off the wheel is fully considered before the function is triggered. In this way, it can be ensured that the driver is in the loop when the emergency steering assistance is activated, ensuring the safety of the function. In addition, the current road environment is also taken into consideration, and a collision avoidance strategy arbitration strategy is proposed that combines weather and road conditions.

[0128] It can be seen that the above embodiments fully consider the driver's state, surrounding environment and driving experience, and have the characteristics of being more comfortable and safer. On the premise of ensuring the personal safety of the driver and the safety of the vehicle, the driving experience is greatly improved.

[0129] Based on the vehicle control method provided in the above embodiment, the present application also provides a specific implementation of a vehicle control device. Please refer to the following embodiment.

[0130] See also Figure 3 , the vehicle control device provided in the embodiment of the present application may include:

[0131] The first acquisition module 301 is used to acquire the driver's ability to take over the vehicle when it is detected that the vehicle has a forward collision risk; wherein the takeover capability includes: the driver has the ability to take over the vehicle; or the driver does not have the ability to take over the vehicle;

[0132] A second acquisition module 302 is used to acquire target information of the vehicle when the takeover capability indicates that the driver has the ability to take over the vehicle; wherein the target information includes at least one of an environmental state and a motion state of the vehicle;

[0133] A determination module 303, for determining a target relationship between the target information and the steering condition of the vehicle;

[0134] The execution module 304 is used to execute the collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is that the target information satisfies the turning condition, the collision avoidance strategy is to activate the automatic emergency steering function of the vehicle; when the target relationship is that the target information does not satisfy the turning condition, the collision avoidance strategy is to activate the automatic emergency braking function of the vehicle.

[0135] The vehicle control device provided in the embodiment of the present application can implement each process implemented by the vehicle control device in the method embodiment, and will not be described again here to avoid repetition.

[0136] Figure 4 A schematic diagram of the hardware structure of the vehicle control provided in an embodiment of the present application is shown.

[0137] The vehicle control device may include a processor 401 and a memory 402 storing computer program instructions.

[0138] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0139] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside of an integrated gateway disaster recovery device. In a specific embodiment, memory 402 is a non-volatile solid-state memory.

[0140] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present disclosure.

[0141] The processor 401 implements any one of the vehicle control methods in the above embodiments by reading and executing computer program instructions stored in the memory 402 .

[0142] In one example, the vehicle control device may further include a communication interface 404 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 404 are connected via a bus 410 and communicate with each other.

[0143] The communication interface 404 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0144] Bus 410 includes hardware, software or both, coupling the components of the vehicle control device to each other. By way of example and not limitation, the bus may include an accelerated graphics port or other graphics bus, an enhanced industrial standard architecture bus, a front-end bus, a hypertransport interconnect, an industrial standard architecture bus, an infinite bandwidth interconnect, a low pin count bus, a memory bus, a microchannel architecture bus, a peripheral component interconnect bus, a serial advanced technology attachment bus, a video electronics standard association local bus or other suitable bus or a combination of two or more of these. Where appropriate, bus 410 may include one or more buses. Although the present application embodiment describes and illustrates a specific bus, the present application contemplates any suitable bus or interconnect.

[0145] In addition, in combination with the vehicle control method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the vehicle control methods in the above embodiment is implemented.

[0146] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0147] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an ASIC, a suitable firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM, floppy disks, optical disks, hard disks, optical fiber media, radio frequency links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0148] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0149] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0150] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A vehicle control method, characterized in that: include: When it is detected that the vehicle has a forward collision risk, obtaining the driver's ability to take over the vehicle; wherein the takeover ability includes: the driver has the ability to take over the vehicle; or the driver does not have the ability to take over the vehicle; When the driver has the ability to take over the vehicle, obtaining target information of the vehicle; wherein the target information includes at least one of an environmental state and a motion state of the vehicle; determining a target relationship between the target information and a steering condition of the vehicle; Execute a collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is that the target information satisfies the steering condition, the collision avoidance strategy is to activate an automatic emergency steering function of the vehicle; wherein, when the target relationship is that the target information does not satisfy the steering condition, the collision avoidance strategy is to activate an automatic emergency braking function of the vehicle.

2. The method according to claim 1, characterized in that The environmental conditions include weather visibility and road conditions; the road conditions include a slippery road surface condition of the road on which the vehicle is traveling, and conditions of left and right lanes of the road; The determining of the target relationship between the target information and the steering condition of the vehicle includes: In the case where the target information satisfies the first condition, determining the target relationship as the target information satisfying the steering condition; In a case where the target information does not satisfy the first condition, determining the target relationship as the target information not satisfying the steering condition; Among them, the first condition includes: the weather visibility is greater than the visibility threshold, the slippery road state is that the road slippery coefficient is greater than the slippery coefficient threshold, the left and right lane states are that there is an avoidance path, and the motion state meets the operating conditions of the vehicle's automatic emergency steering system.

3. The method according to claim 1, characterized in that After obtaining the driver's ability to take over the vehicle, the method further includes: In a case where the driver is unable to take over the vehicle, an automatic emergency braking function of the vehicle is activated.

4. The method according to any one of claims 1 to 3, characterized in that The obtaining of the driver's ability to take over the vehicle includes: Acquiring the driver's sight direction and the steering wheel holding state of the vehicle; The driver's ability to take over the vehicle is determined based on the line of sight direction and the steering wheel holding state.

5. The method according to claim 4, characterized in that The determining, according to the sight direction and the steering wheel holding state, the driver's ability to take over the vehicle includes: When the sight line direction and the steering wheel holding state satisfy a second condition, determining that the driver has the ability to take over the vehicle is that the driver has the ability to take over the vehicle; When the sight line direction and the steering wheel holding state do not satisfy the second condition, determining that the driver's ability to take over the vehicle is that the driver does not have the ability to take over the vehicle; The second condition includes: the sight line direction is the front of the vehicle, and the steering wheel holding state is holding.

6. The method according to claim 5, characterized in that The method further comprises: When the sight line direction is not in the front direction of the vehicle, outputting a first prompt message; wherein the first prompt message is used to prompt the driver to take over the vehicle; When the steering wheel holding state is non-holding, a second prompt message is output; wherein the second prompt message is used to prompt the driver that the vehicle will enter an emergency braking state.

7. A vehicle control device, characterized in that: The device comprises: A first acquisition module is used to acquire the driver's ability to take over the vehicle when it is detected that the vehicle has a forward collision risk; wherein the takeover capability includes: the driver has the ability to take over the vehicle; or the driver does not have the ability to take over the vehicle; A second acquisition module is used to acquire target information of the vehicle when the takeover capability indicates that the driver has the ability to take over the vehicle; wherein the target information includes at least one of an environmental state and a motion state of the vehicle; a determination module, configured to determine a target relationship between the target information and a steering condition of the vehicle; An execution module is used to execute a collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is that the target information satisfies the turning condition, the collision avoidance strategy is to activate the automatic emergency steering function of the vehicle; and when the target relationship is that the target information does not satisfy the turning condition, the collision avoidance strategy is to activate the automatic emergency braking function of the vehicle.

8. A vehicle control device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the vehicle control method according to any one of claims 1 to 6 is implemented.

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

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle control method as described in any one of claims 1 to 6.

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