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

Abstract

The application discloses a vehicle control method, device, equipment, storage medium and program product, and belongs to the technical field of intelligent driving. The method comprises the following steps: in the case that a forward collision risk of a vehicle is detected, obtaining the takeover ability of a driver to the vehicle; in the case that the driver has the takeover ability to the vehicle, obtaining target information of the vehicle; wherein the target information comprises 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; and executing an avoidance strategy corresponding to the target relationship; wherein in the case that the target relationship is that the target information satisfies the steering condition, the avoidance strategy is to activate an automatic emergency steering function of the vehicle; and in the case that the target relationship is that the target information does not satisfy the steering condition, the avoidance strategy is to activate an automatic emergency braking function of the vehicle. The application can improve the autonomy and avoidance effect of the emergency avoidance of the vehicle.

Description

Technical Field

[0001] This 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 Technology

[0002] Autonomous driving technology makes driving more convenient, ensuring safe and reliable driving without affecting the driving journey and avoiding fatigue driving.

[0003] In autonomous driving, avoiding collisions with obstacles ahead is crucial for the vehicle's safety and stable operation. Current autonomous driving assistance systems still require driver intervention to avoid collisions when an obstacle blocks the lane, resulting in a low degree of autonomy in emergency collision avoidance. Summary of the Invention

[0004] This application provides a vehicle control method, device, equipment, storage medium, and program product that can improve the autonomy of vehicles in emergency collision avoidance.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0006] If a forward collision risk is detected in the vehicle, the driver's ability to take over the vehicle is acquired; wherein, the ability to take over the vehicle includes: the driver having the ability to take over the vehicle; or, the driver not having the ability to take over the vehicle.

[0007] When the driver has the ability to take over the vehicle, target information of the vehicle is acquired; wherein, the target information includes at least one of the vehicle's environmental state and motion state;

[0008] Determine the target relationship between the target information and the vehicle's steering conditions;

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

[0010] Secondly, embodiments of this application provide a vehicle control device, the device comprising:

[0011] The first acquisition module is used to acquire the driver's ability to take over the vehicle when a forward collision risk is detected; 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.

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

[0013] A determining module is used to determine the target relationship between the target information and the vehicle's steering conditions;

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

[0015] Thirdly, embodiments of this application provide a vehicle control device, the device comprising:

[0016] Processor and memory storing computer program instructions;

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

[0018] Fourthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the vehicle control method as described in the first aspect.

[0019] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle control method as described in the first aspect.

[0020] In this embodiment, when a forward collision risk is detected, the driver's ability to take over the vehicle can be assessed first. If the driver has this ability, the system can further determine whether the vehicle's steering conditions are met based on the vehicle's target information, and then execute the corresponding collision avoidance strategy. Specifically, if the vehicle's target information determines that the steering conditions are met, the vehicle's automatic emergency steering function can be activated for emergency collision avoidance; if the vehicle's target information determines that the steering conditions are not met, the vehicle's automatic emergency braking function can be activated for emergency collision avoidance. Therefore, in this embodiment, the vehicle can autonomously determine its collision avoidance strategy based on the driver's ability to take over the vehicle and the target information, thus improving the autonomy of emergency collision avoidance. Furthermore, by activating the automatic emergency steering function for emergency collision avoidance when the driver has this ability and the vehicle's target information determines that the steering conditions are met, and by activating the automatic emergency braking function in other situations, the driving experience can be significantly improved while ensuring safety, reducing discomfort and the likelihood of injury to occupants during emergency collisions, and enhancing the collision avoidance effect. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is one of the flowcharts of the vehicle control method provided in the embodiments of this application;

[0023] Figure 2 This is the second flowchart of the vehicle control method provided in the embodiments of this application;

[0024] Figure 3 This is a structural diagram of the vehicle control device provided in the embodiments of this application;

[0025] Figure 4 This is a structural diagram of the vehicle control device provided in the embodiments of this application. Detailed Implementation

[0026] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0028] This application embodiment 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 enables automatic emergency braking of the vehicle, and the AES function enables automatic emergency steering of the vehicle.

[0029] The vehicle control method provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0030] See Figure 1 , Figure 1 This is one of the flowcharts of the vehicle control method provided in the embodiments of this application. For example... Figure 1 As shown, the vehicle control method may include the following steps:

[0031] Step 101: If a forward collision risk is detected in the vehicle, obtain the driver's ability to take over the vehicle; wherein, the ability to take over 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 this application do not limit the detection method of forward collision risk. In some embodiments, the vehicle can predict the driving area of ​​the vehicle in the future time period through vehicle motion data. If the sensor identifies that there is an obstacle in the driving area, it can be determined that the vehicle has a forward collision risk.

[0033] In this embodiment, when a vehicle faces a forward collision risk, 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. Specifically, this embodiment provides collision avoidance strategies that activate both AEB and AES functions. In this embodiment, the collision avoidance strategy can be selected by combining driving safety and passenger experience to maximize the passenger experience while ensuring safety, reducing discomfort and the likelihood of injury during emergency collisions, and improving collision avoidance effectiveness.

[0034] In practice, the driver's ability to take over the vehicle can be assessed first. The driver's ability to take over the vehicle can characterize whether the driver has the ability to take over the vehicle, specifically whether the driver has the ability to take over the vehicle or not.

[0035] The driver's ability to take over the vehicle indicates that the driver has the intention to take over and is able to take control of the vehicle. At this time, the driver and the vehicle's automatic driving system can control the vehicle's driving at the same time. The vehicle can enter a loop-in state or a human-machine co-driving state, thereby improving driving safety and driving experience.

[0036] The driver's lack of ability to take over the vehicle indicates that the driver has no intention of taking over and is unable to take control of the vehicle.

[0037] In some embodiments, the aforementioned takeover capability can be further manifested as directional takeover capability, i.e., the ability to control emergency steering. A driver possessing directional takeover capability, i.e., the ability to take over emergency steering, indicates that the driver is capable of taking over directional control of the vehicle. A driver lacking takeover capability, i.e., the ability to take over emergency steering, indicates that the driver is unable to take over directional control of the vehicle.

[0038] It is understandable that if an emergency turn occurs in a scenario where the driver intends to take over, the driver can promptly take over the vehicle for assisted control, thereby improving driving safety and the driving experience. Therefore, when the driver has the ability to take over the vehicle, both the collision avoidance strategy activating the AEB function and the collision avoidance strategy activating the AES function can be considered as candidate collision avoidance strategies, and then the collision avoidance strategy can be selected through steps 102 to 104.

[0039] However, if an emergency turn occurs when the driver has no intention of taking over, the vehicle is more likely to lose control, increasing the risk of injury to occupants. Therefore, in some embodiments, after acquiring the driver's ability to take over the vehicle, the method further includes:

[0040] If the driver is unable to take over the vehicle, the vehicle's automatic emergency braking function is activated.

[0041] In these embodiments, considering that the driver has no intention of taking active control, the activation of the AEB function can be directly used as a collision avoidance strategy, thereby improving driving safety and the driving experience.

[0042] In other embodiments, when the driver lacks the ability to take over control of the vehicle, the risk of rear-end collision when activating the AEB function can be further considered. If activating the AEB function would pose a rear-end collision risk, and there are avoidance paths in the left and right lanes of the vehicle's travel path (i.e., a collision avoidance path exists), the AES function can be activated to avoid a rear-end collision, thereby improving driving safety. If activating the AEB function would not pose a rear-end collision risk, the AEB function can be activated to improve driving safety and the driving experience. (Avoidance path)

[0043] Step 102: If the driver has the ability to take over the vehicle, obtain the target information of the vehicle; wherein the target information includes at least one of the environmental state and motion state of the vehicle.

[0044] If the driver has the ability to take over the vehicle, the driver can determine whether the vehicle is capable of turning by observing the vehicle's environmental and motion conditions, and then select a collision avoidance strategy.

[0045] In practical implementation, the vehicle's ability to turn can be determined by assessing whether the vehicle's environmental conditions are severe and whether the vehicle's operating status meets the operating conditions of the AES system. It should be noted that the embodiments of this application do not limit the execution order of the above two judgments, which can be determined based on actual needs.

[0046] If the vehicle's environmental conditions are adverse, attempting an emergency turn could easily lead to loss of control or other collision risks; therefore, it can be determined that the vehicle is not ready to turn. Similarly, if the vehicle's motion does not meet the operating conditions of the AES system, the AES system cannot operate, and it can be determined that the vehicle is not ready to turn. Based on this, it can be understood that the vehicle is ready to turn only if the environmental conditions are not adverse and the vehicle's motion meets the operating conditions of the AES system. Conversely, if the environmental conditions are deemed adverse, or the vehicle's motion does not meet the operating conditions of the AES system, it can be determined that the vehicle is not ready to turn. Therefore, regarding the execution of the above two judgments, if the result of the first judgment determines that the vehicle is not ready to turn, the second judgment can be omitted to reduce operational burden.

[0047] In some embodiments, whether the environmental conditions are adverse can be assessed by weather visibility and / or road conditions. In these embodiments, environmental conditions may include weather visibility and / or road conditions. Further, road conditions may include the slipperiness of the road surface on which the vehicle is traveling and / or the conditions of the left and right lanes.

[0048] In some embodiments, whether the vehicle's operating status 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 status includes parameters such as vehicle speed and ESC.

[0049] It should be noted that the embodiments of this application do not limit the method of 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 this application. For details, please refer to the relevant technology, which will not be described here.

[0050] Step 103: Determine the target relationship between the target information and the vehicle's steering conditions.

[0051] Determine the target relationship between target information and vehicle steering conditions; that is, determine whether the target information meets the vehicle steering conditions. The target relationship can be: the target information meets the vehicle steering conditions, or the target information does not meet the vehicle steering conditions.

[0052] In some embodiments, the vehicle may pre-store environmental states and / or motion states corresponding to when the vehicle is capable of steering, as well as environmental states and / or motion states corresponding to when the vehicle is not capable of steering. It is understood that the environmental states corresponding to when the vehicle is capable of steering are non-adverse environmental states, and the motion states corresponding to when the vehicle is capable of steering are motion states that meet the operating conditions of the AES system; the environmental states corresponding to when the vehicle is not capable of steering are adverse environmental states, and the motion states corresponding to when the vehicle is not capable of steering are motion states that do not meet the operating conditions of the AES system.

[0053] In these embodiments, the acquired target information, i.e., the vehicle's current environmental state and / or motion state, can be matched with pre-stored environmental states and / or motion states to determine whether the target information meets the steering conditions. Specifically, if the vehicle's current environmental state and / or motion state corresponds to the environmental state and / or motion state that allows the vehicle to have steering conditions, the target relationship can be determined as: the target information meets the vehicle's steering conditions. If the vehicle's current environmental state and / or motion state corresponds to the environmental state and / or motion state that does not allow the vehicle to have steering conditions, the target relationship can be determined as: the target information does not meet the vehicle's steering conditions.

[0054] In other embodiments, the environmental conditions include weather visibility and road conditions; the road conditions include the slipperiness of the road surface on which the vehicle is traveling, and the conditions of the left and right lanes of the road; determining the target relationship between the target information and the vehicle's steering conditions may include:

[0055] If the target information satisfies the first condition, the target relationship is determined to be such that the target information satisfies the turning condition;

[0056] If the target information does not meet the first condition, the target relationship is determined to be that the target information does not meet the turning condition;

[0057] The first condition includes: the weather visibility is greater than the visibility threshold, the road surface is slippery when the road surface slip coefficient is greater than the slip coefficient threshold, the left and right lanes are in a state where 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 can be set for the environmental state and the motion state, and then the target information can be determined to meet the turning conditions by judging whether the target information meets the corresponding conditions.

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

[0060] After obtaining the target information, the following judgment operation can be performed to determine whether the target information meets the turning conditions:

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

[0062] Determine whether the road surface slip coefficient in the target information is less than the slip coefficient threshold;

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

[0064] Determine whether the motion state in the target information meets the operating conditions of the vehicle's AES system.

[0065] If the weather visibility in the target information is less than the visibility threshold, it indicates that the weather visibility is low, which means that the environmental conditions are severe, and thus the target information does not meet the turning conditions.

[0066] If the road surface slip coefficient in the target information is less than the slip coefficient threshold, it means that the road is slippery. At this time, if an emergency turn is made, it is easy to cause the vehicle to lose control. It can be determined that the environmental conditions are bad, and thus the target information does not meet the turning 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, then making an emergency turn at this time is likely to bring other collision risks. It can be determined that the environmental conditions are bad, and thus it can be 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 operate, and it can be determined that the target information does not meet the steering conditions. Furthermore, in some implementations, whether the motion state meets the operating conditions of the AES system can be determined by: checking if the vehicle speed is less than a speed threshold, and checking if the ESC is in normal operating condition. If the vehicle speed is less than the speed threshold and the ESC is in normal operating condition, 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, if the target information meets the first condition, it can be determined that the target information meets the turning condition; if the target information does not meet the first condition, it can be determined that the target information meets the turning condition.

[0070] It should be noted that the implementation of this application does not limit the execution order of the above judgment operations. The specific order can be set according to actual needs. In addition, if it is determined that the target information does not meet the turning conditions based on the judgment result of one of the judgment operations, the subsequent judgment operations may not be executed.

[0071] In these embodiments, by determining whether the target information meets the first condition, it is possible to determine whether the target information meets the steering condition, which can improve the accuracy of determining whether the vehicle has the steering condition, and thus improve the collision avoidance effect.

[0072] Step 104: Execute the collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is such that the target information satisfies the steering condition, the collision avoidance strategy is to activate the vehicle's automatic emergency steering function; when the target relationship is such that the target information does not satisfy the steering condition, the collision avoidance strategy is to activate the vehicle's automatic emergency braking function.

[0073] In this embodiment of the application, collision avoidance rules can be preset, in which:

[0074] If the vehicle's steering conditions are met, considering that the driving experience of emergency steering is different from that of emergency braking, emergency steering should be prioritized for emergency collision avoidance. The corresponding collision avoidance strategy can be set to activate the AES function.

[0075] In cases where the vehicle's steering conditions are not met, and considering the low safety of emergency steering, emergency braking should be prioritized for collision avoidance. The corresponding collision avoidance strategy can be set to activate the AEB function.

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

[0077] In some embodiments, after a collision avoidance strategy is executed, the currently executed collision avoidance strategy can be broadcast to surrounding road users to facilitate them in taking timely measures to avoid the collision, thereby improving safety.

[0078] The vehicle control method of this embodiment, upon detecting a forward collision risk, first assesses the driver's ability to take over the vehicle. If the driver possesses this ability, it can further determine whether the vehicle's steering conditions are met based on target information, and then execute the corresponding collision avoidance strategy. Specifically, if the target information indicates that the steering conditions are met, the vehicle's automatic emergency steering function can be activated for emergency collision avoidance; if the target information indicates that the steering conditions are not met, the vehicle's automatic emergency braking function can be activated for emergency collision avoidance. Therefore, in this embodiment, the vehicle can autonomously determine its collision avoidance strategy and perform emergency collision avoidance based on the driver's ability to take over and target information, thus improving the autonomy of emergency collision avoidance. Furthermore, by activating the automatic emergency steering function for emergency collision avoidance when the driver has the ability to take over and the target information indicates that the steering conditions are met, and by activating the automatic emergency braking function in other situations, the driving experience can be significantly improved while ensuring safety, reducing discomfort and the likelihood of injury to occupants during emergency collisions.

[0079] This 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 may be instructed by the driver or passenger.

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

[0081] Obtain the driver's line of sight and the steering wheel grip status of the vehicle;

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

[0083] This application does not limit the driver's gaze direction or the method of obtaining the steering wheel grip state. In some embodiments, the driver's gaze direction can be determined by acquiring an image of the driver and then obtaining the driver's eye gaze characteristics. In some embodiments, the driver's grip state on 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, the steering wheel grip state can be determined to be gripping; if the HOD sensor does not detect pressure, the steering wheel grip state can be determined to be not gripping.

[0084] In these embodiments, the vehicle can determine whether the driver has the ability to take over the vehicle by acquiring the driver's status. This can improve the driver's autonomy in determining the ability to take over the vehicle and further enhance the autonomy of vehicle control.

[0085] Furthermore, determining the driver's ability to take over the vehicle based on the direction of the gaze and the steering wheel grip may include:

[0086] If the direction of vision and the steering wheel grip state meet the second condition, the driver's ability to take over the vehicle is determined to be that the driver has the ability to take over the vehicle.

[0087] If the direction of vision and the steering wheel grip do not meet the second condition, the driver's ability to take over the vehicle is determined to be that the driver does not have the ability to take over the vehicle.

[0088] The second condition includes: the line of sight is in front of the vehicle, and the steering wheel is held in a gripping state.

[0089] In this embodiment, the driver's 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 in a gripping state.

[0090] If the driver's gaze is not directed forward, it indicates that the driver is not paying attention to what is ahead and has no intention of taking over the vehicle. Therefore, it can be determined that the driver does not have the ability to take over the vehicle.

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

[0092] If the driver's gaze is directed forward and the steering wheel is in a gripping position, it indicates that the driver intends to take over, and it can be determined that the driver has the ability to take over the vehicle.

[0093] It should be noted that the implementation of this application does not limit the execution order of the above judgment operations. The specific order 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, the subsequent judgment operations may not be executed.

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

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

[0096] If the driver's line of sight is not in front of the vehicle, a first prompt message is output; wherein, the first prompt message is used to prompt the driver to take over the vehicle;

[0097] When the steering wheel is not in a gripping state, 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, when the driver's line of sight is not forward, the vehicle can output a first prompt message to remind the driver to take over the vehicle in time and enter a loop-in state or a human-machine co-driving state to improve driving safety and driving experience.

[0099] When the steering wheel is in a holding position, the vehicle can choose to activate the AEB function for emergency collision avoidance. It can output a second warning message to inform the driver and passengers that an emergency braking state is about to begin, so that the driver and passengers can adjust their posture, thereby reducing the injury caused by emergency braking and improving driving safety and driving experience.

[0100] The embodiments of this application do not limit the way the prompting information is presented. In practical applications, the above-mentioned prompting information can be sound prompting information, visual prompting information, tactile prompting information, or any combination of the above three, and can be set according to actual needs.

[0101] It should be noted that the various optional implementation methods described in the embodiments of this application can be combined with each other or implemented individually without conflict, and the embodiments of this application do not limit this.

[0102] For ease of understanding, a specific embodiment will be used as an example:

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

[0104] Step 201: Determine if there is a collision risk ahead of the vehicle's trajectory.

[0105] If a risky target is detected ahead of the vehicle during its journey by sensors, the vehicle will collide with the risky target if no action is taken.

[0106] Step 202: Determine whether the driver is looking at the road.

[0107] In practice, whether the driver is looking at the road can be determined by whether their gaze is directed in front of the vehicle. In other words, if the driver's gaze is directly ahead of the vehicle, 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 looking at the road, proceed to step 203; if the driver is not looking at the road, proceed to step 209.

[0109] When a collision risk is detected ahead, sensors monitor whether the driver's eyes are on 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 if the driver has taken their hands off the steering wheel.

[0111] This involves determining whether the steering wheel grip is not in a non-grip state. If the driver has taken their hands off the steering wheel, i.e., the steering wheel grip is not in a non-grip state, then step 204 can be executed; otherwise, step 210 can be executed first, followed by step 208.

[0112] Step 204: Determine whether the weather and road conditions are adverse.

[0113] Before activating emergency steering assist, the system assesses the weather and road conditions. If visibility is low or the road surface is slippery, the automatic emergency braking function will be activated first.

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

[0115] Step 205: Determine whether there is an avoidance path in the left and right lanes.

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

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

[0118] Step 206: Determine whether the vehicle's motion state meets the conditions for emergency avoidance.

[0119] Emergency avoidance conditions are the operating conditions (ODD) of the AES system. When an avoidance path exists, the vehicle's motion status, such as vehicle speed and ESC parameters, should be assessed to ensure that the ODD of the automatic emergency steering function is met.

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

[0121] Step 207: Activate AES function.

[0122] The vehicle selects to activate the emergency steering function to complete the avoidance maneuver.

[0123] Step 208: Activate AEB function.

[0124] The vehicle selects to activate the emergency braking function to complete the avoidance maneuver.

[0125] Step 209: Output the first prompt message.

[0126] Step 210: Output the second prompt message.

[0127] In the above embodiments, the current driver state is considered. By judging whether the driver is looking at the road and whether they have taken their hands off the wheel, the driver's ability to take over is fully considered before the function is triggered. In this way, it can be ensured that the driver is in a loop when the emergency steering assist is activated, thus guaranteeing the safety of the function. In addition, the current road environment is also considered, and a collision avoidance strategy arbitration strategy that combines weather and road condition severity is proposed.

[0128] As can be seen, the above embodiments fully consider the driver's condition, the surrounding environment, and the driving experience, resulting in greater comfort and safety. While ensuring the personal safety of passengers and the safety of the vehicle, they significantly improve the driving experience.

[0129] Based on the vehicle control method provided in the above embodiments, this application also provides specific implementations of the vehicle control device. Please refer to the following embodiments.

[0130] See Figure 3 The vehicle control device provided in this application embodiment may include:

[0131] The first acquisition module 301 is used to acquire the driver's ability to take over the vehicle when a forward collision risk is detected; 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.

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

[0133] The determining module 303 is used to determine the target relationship between the target information and the steering conditions of the vehicle;

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

[0135] The vehicle control device provided in this application embodiment can implement the various processes implemented by the vehicle control device in the method embodiment. To avoid repetition, these processes will not be described again here.

[0136] Figure 4 A schematic diagram of the hardware structure for vehicle control provided in an embodiment of this 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), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0139] Memory 402 may include mass storage for data or instructions. For example, and not limitingly, memory 402 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 402 may include removable or non-removable (or fixed) media. Where appropriate, memory 402 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 402 is non-volatile solid-state memory.

[0140] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) 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 this disclosure.

[0141] The processor 401 implements any of the vehicle control methods described 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 also include a communication interface 404 and a bus 410. Wherein, as... Figure 4 As shown, the processor 401, memory 402, and communication interface 404 are connected through bus 410 and complete communication with each other.

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

[0144] Bus 410 includes hardware, software, or both, that couples components of a vehicle control device together. For example, and not limitingly, the bus may include an accelerated graphics port or other graphics bus, an enhanced industry standard architecture bus, a front-end bus, an HyperTransport interconnect, an industry standard architecture bus, an unlimited bandwidth interconnect, a low pin count bus, a memory bus, a WeChat architecture bus, a peripheral component interconnect bus, a serial advanced technology accessory bus, a Video Electronics Standards Association local bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 410 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0145] Furthermore, in conjunction with the vehicle control methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the vehicle control methods in the above embodiments.

[0146] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0147] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM, floppy disks, optical disks, hard disks, fiber optic 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 methods or systems based on a series of steps or apparatus. 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 embodiments, or in a different order, or several steps can be performed simultaneously.

[0149] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. 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 is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0150] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: If a forward collision risk is detected in the vehicle, the driver's ability to take over the vehicle is acquired; wherein, the ability to take over the vehicle includes: the driver having the ability to take over the vehicle; or, the driver not having the ability to take over the vehicle. When the driver has the ability to take over the vehicle, target information of the vehicle is acquired; wherein, the target information includes at least one of the vehicle's environmental state and motion state; Determine the target relationship between the target information and the vehicle's steering conditions; Execute a collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is such that the target information satisfies the steering condition, the collision avoidance strategy is to activate the vehicle's automatic emergency steering function; when the target relationship is such that the target information does not satisfy the steering condition, the collision avoidance strategy is to activate the vehicle's automatic emergency braking function. If the driver lacks the ability to take over the vehicle, determine whether activating the vehicle's automatic emergency braking function poses a rear-end collision risk; if activating the vehicle's automatic emergency braking function does not pose a rear-end collision risk, activate the vehicle's automatic emergency braking function; if activating the vehicle's automatic emergency braking function poses a rear-end collision risk and the vehicle has an avoidance path, activate the vehicle's automatic emergency steering function.

2. The method according to claim 1, characterized in that, The environmental conditions include weather visibility and road conditions; the road conditions include the slipperiness of the road surface on which the vehicle is traveling, and the conditions of the left and right lanes of the road. Determining the target relationship between the target information and the vehicle's steering conditions includes: If the target information satisfies the first condition, the target relationship is determined to be such that the target information satisfies the turning condition; If the target information does not meet the first condition, the target relationship is determined to be that the target information does not meet the turning condition; The first condition includes: the weather visibility is greater than the visibility threshold, the road surface is slippery when the road surface slip coefficient is greater than the slip coefficient threshold, the left and right lanes are in a state where 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 any one of claims 1 to 2, characterized in that, The acquisition of the driver's ability to take over the vehicle includes: Obtain the driver's line of sight and the steering wheel grip status of the vehicle; The driver's ability to take over the vehicle is determined based on the direction of the line of sight and the steering wheel grip.

4. The method according to claim 3, characterized in that, Determining the driver's ability to take over the vehicle based on the direction of gaze and the steering wheel grip includes: If the direction of vision and the steering wheel grip state meet the second condition, the driver's ability to take over the vehicle is determined to be that the driver has the ability to take over the vehicle. If the direction of vision and the steering wheel grip do not meet the second condition, the driver's ability to take over the vehicle is determined to be that the driver does not have the ability to take over the vehicle. The second condition includes: the line of sight is in front of the vehicle, and the steering wheel is held in a gripping state.

5. The method according to claim 4, characterized in that, The method further includes: If the driver's line of sight is not in front of the vehicle, a first prompt message is output; wherein, the first prompt message is used to prompt the driver to take over the vehicle; When the steering wheel is not in a gripping state, 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.

6. A vehicle control device, characterized in that, The device includes: The first acquisition module is used to acquire the driver's ability to take over the vehicle when a forward collision risk is detected; 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. The second acquisition module is used to acquire target information of the vehicle when the takeover capability is that the driver has the ability to take over the vehicle; wherein the target information includes at least one of the environmental state and motion state of the vehicle. A determining module is used to determine the target relationship between the target information and the vehicle's steering conditions; An execution module is used to execute a collision avoidance strategy corresponding to the target relationship; wherein, when the target relationship is such that the target information satisfies the steering condition, the collision avoidance strategy is to activate the vehicle's automatic emergency steering function; when the target relationship is such that the target information does not satisfy the steering condition, the collision avoidance strategy is to activate the vehicle's automatic emergency braking function. The execution module is further configured to determine whether there is a rear-end collision risk when activating the automatic emergency braking function of the vehicle if the driver does not have the ability to take over the vehicle; activate the automatic emergency braking function of the vehicle if there is no rear-end collision risk when activating the automatic emergency braking function of the vehicle; and activate the automatic emergency steering function of the vehicle if there is a rear-end collision risk when activating the automatic emergency braking function of the vehicle and the vehicle has an avoidance path.

7. A vehicle control device, characterized in that, The device includes: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the vehicle control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the vehicle control method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the vehicle control method as described in any one of claims 1 to 5.

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