Vehicle turning-around assisting method and device and vehicle

Abstract

The invention provides a vehicle U-turn assisting method and device and a vehicle. The method comprises the steps that the measured distance between the vehicle and an obstacle within a preset range of the vehicle is obtained; according to the vehicle gear signal, the current traveling state of the vehicle is determined; determining a target set safety distance matched with the current traveling state of the vehicle; and comparing the target set safety distance with the measured distance, and controlling the running state of the vehicle according to a comparison result. The distance between the vehicle and the obstacle within the preset range in the advancing direction of the vehicle is judged through the preset safe distance, the scratching risk is greatly reduced, the anxiety emotion of a user is relieved, and the overall vehicle using experience is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent automobile technology, and in particular to a vehicle U-turn assistance method, device and vehicle. Background Art

[0002] Smart cars are the product of the integration of the automotive industry and high-tech technologies such as artificial intelligence, big data, the Internet of Things, and computers. Autonomous driving is the main direction of development in the automotive service and transportation fields. In our daily driving scenarios, the most troublesome thing for most drivers, especially novice drivers, is encountering U-turns on narrow roads. When drivers make U-turns on narrow roads, they need to perform forward or backward operations multiple times to adjust the vehicle position so that the vehicle is ready for U-turns. In the process of adjusting the vehicle position each time, when the distance is very extreme, there is a great risk of scratching the vehicle. When drivers / novice drivers face U-turns on narrow roads, the existing solutions are mostly to seek help from other people, such as friends or family members in the car to help get off the car to check the distance, or get off the car to check the distance repeatedly to ensure a safe distance.

[0003] However, the existing methods of assisting drivers in completing U-turns on narrow roads have many shortcomings. The most important one is that the existing solutions cannot allow drivers to more safely cope with the frequent forward or reverse operations of the vehicle in narrow road U-turns without relying on the help of others, which greatly affects the safety of drivers / novice drivers in narrow road U-turns and increases the rate of vehicle scratch accidents. Summary of the invention

[0004] In view of this, the purpose of this application is to provide at least a vehicle U-turn assistance method, device and vehicle, which determines the distance between the vehicle and the obstacle through a pre-set safety distance, greatly reduces the risk of scratches, alleviates user anxiety, and improves the overall car experience.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a vehicle U-turn assistance method, including: obtaining a measured distance between a vehicle and an obstacle within a preset range of the vehicle; determining a current driving state of the vehicle based on a vehicle gear signal; determining a target set safety distance that matches the current driving state of the vehicle; comparing the target set safety distance and the measured distance, and controlling the vehicle driving state based on the comparison result.

[0007] In one possible implementation, the target set safety distance and the measured distance are compared, and based on the comparison result, the step of controlling the vehicle's travel state includes: determining whether the measured distance is less than or equal to the target set safety distance; if the measured distance is less than or equal to the target set safety distance, controlling the vehicle to stop; if the measured distance is greater than the target set safety distance, controlling the vehicle's current travel state according to the vehicle control command issued by the driver.

[0008] In one possible implementation, the step of determining a target set safety distance that matches the current traveling state of the vehicle includes: if the current traveling state of the vehicle is a forward state, determining the target set safety distance that matches the current traveling state of the vehicle to be a first safety distance, the first safety distance being a preset safety distance between the vehicle and an obstacle within a preset range in front of the vehicle; if the current traveling state of the vehicle is a reverse state, determining the target set safety distance that matches the current traveling state of the vehicle to be a second safety distance, the second safety distance being a preset safety distance between the vehicle and an obstacle within a preset range behind the vehicle.

[0009] In a possible implementation, the measured distance includes a first measured distance between the vehicle and an obstacle within a preset range in front of the vehicle, wherein the target set safety distance and the measured distance are compared, and based on the comparison result, the step of controlling the vehicle's travel state includes: if the vehicle's current travel state is a forward state, determining whether the first measured distance is less than or equal to the first safety distance; if the first measured distance is less than or equal to the first safety distance, controlling the vehicle to stop; if the first measured distance is greater than the first safety distance, controlling the vehicle's travel state according to the vehicle control command issued by the driver.

[0010] In a possible implementation, the measured distance also includes a second measured distance between the vehicle and an obstacle within a preset range behind the vehicle, wherein the target set safety distance and the measured distance are compared, and based on the comparison result, the step of controlling the vehicle's travel state also includes: if the vehicle's current travel state is a reverse state, determining whether the second measured distance is less than or equal to the second safety distance; if the second measured distance is less than or equal to the second safety distance, controlling the vehicle to stop; if the second measured distance is greater than the second safety distance, controlling the vehicle's travel state according to the vehicle control command issued by the driver.

[0011] In a possible implementation, the method also includes: after the vehicle stops, obtaining a brake mode flag, the brake mode flag describing the vehicle's brake mode; if the brake mode flag indicates that the vehicle is manually braked, then if the vehicle movement command continues to be received, the vehicle movement command is executed; if the brake mode flag indicates that the vehicle is not manually braked, then the vehicle brake state is maintained and a scratch risk prompt is generated; the scratch risk prompt is displayed on the vehicle terminal in the form of a pop-up window.

[0012] In one possible implementation, the vehicle includes an on-board terminal, and the method further includes: providing a human-computer interaction interface through the on-board terminal, the human-computer interaction interface including a safety distance setting control; in response to a selection operation performed on the safety distance setting control, displaying an obstacle safety distance setting pop-up window, the obstacle safety distance setting pop-up window including a safety distance configuration control and a safety distance enabling control; in response to a configuration operation performed on the safety distance enabling control, turning on an obstacle safety warning prompt function; receiving a configuration operation performed on the safety distance configuration control, and generating multiple set safety distances.

[0013] In one possible implementation, the safety distance configuration control includes a first safety distance configuration control and a second safety distance configuration control, and the multiple set safety distances include the first safety distance and the second safety distance, wherein the first safety distance and the second safety distance are generated by: receiving a configuration operation performed on the first safety distance configuration control to generate the first safety distance; receiving a configuration operation performed on the second safety distance configuration control to generate the second safety distance.

[0014] In the second aspect, an embodiment of the present application also provides a vehicle U-turn assistance device, the device including: a distance acquisition module, used to obtain the measured distance between the vehicle and an obstacle within a preset range of the vehicle; a state determination module, used to determine the current driving state of the vehicle according to the vehicle gear signal; a matching module, used to determine a target set safety distance that matches the current driving state of the vehicle; a U-turn assistance module, used to compare the target set safety distance and the measured distance, and control the vehicle's driving state according to the comparison result.

[0015] In a third aspect, an embodiment of the present application further provides a vehicle, the vehicle comprising an on-board controller and an on-board terminal, the on-board controller executing the steps of the vehicle U-turn assistance method provided in any of the above-mentioned embodiments.

[0016] The embodiments of the present application provide a vehicle U-turn assist method, device and vehicle, including: obtaining the measured distance between the vehicle and an obstacle within a preset range of the vehicle; determining the current travel state of the vehicle according to the vehicle gear signal; determining the target set safety distance that matches the current travel state of the vehicle; comparing the target set safety distance with the measured distance, and controlling the vehicle travel state according to the comparison result. By determining the distance between the vehicle and the obstacle through the pre-set safety distance, the risk of scratching is greatly reduced, the user's anxiety is alleviated, and the overall vehicle experience is improved.

[0017] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A flow chart of a vehicle U-turn assistance method provided by an embodiment of the present application is shown;

[0020] Figure 2 One of the schematic diagrams of a setting process of an obstacle safety distance provided in an embodiment of the present application is shown;

[0021] Figure 3 A second schematic diagram of a process for setting an obstacle safety distance provided in an embodiment of the present application is shown;

[0022] Figure 4 A third schematic diagram of a process for setting an obstacle safety distance provided in an embodiment of the present application is shown;

[0023] Figure 5 A functional module diagram of a vehicle U-turn assist device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0024] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0025] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0026] In daily driving scenarios, most drivers, especially novice drivers, are most afraid of U-turns, especially narrow road U-turns, which require the driver to manipulate the vehicle forward and backward multiple times to adjust the vehicle position so that the vehicle can make a smooth U-turn. In narrow roads, the environment for the driver to successfully complete the U-turn is very harsh due to the narrow road surface. For the vehicle, there is a great risk of scratches. For the scenario where drivers / novice drivers perform manual U-turns in narrow roads, they currently rely mainly on the following two methods:

[0027] 1. Seek help from others: Ask friends or family members in the car to get out and help check the position. Slowly repeat the forward and reverse operations within a very small distance to successfully turn the vehicle around and effectively avoid scratches.

[0028] 2. Get out of the car and check repeatedly: On extremely narrow roads, the driver can get out of the car and check the distance between the vehicle and obstacles to ensure that there is enough space to pass. This process requires staying calm and patient to avoid operating errors due to nervousness.

[0029] It can be seen that the existing methods for narrow road U-turn scenarios have the following disadvantages:

[0030] 1. Over-dependence on others for help: Dependence on others may be limited by the time and place where someone needs to be in the car or the location, such as if you are driving alone, or you may not be able to find someone to help you in a remote area or at night.

[0031] 2. High risk of scratches when operating independently: Without the help of others to see the position, the driver may not be able to accurately judge the distance between the vehicle and obstacles, increasing the risk of scratches.

[0032] 3. Psychological burden on the driver: During operation, it may be difficult for the driver to remain calm when he is nervous or anxious.

[0033] Based on this, the embodiments of the present application provide a vehicle U-turn assist method, device and vehicle, which determine the distance between the vehicle and the obstacle by presetting a safe distance, greatly reduce the risk of scratches, reduce the user's anxiety, and improve the overall vehicle experience, as follows:

[0034] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a vehicle U-turn assisting method provided by an embodiment of the present application. Figure 1 As shown, the method provided in the embodiment of the present application is applied to a vehicle-mounted controller, comprising the following steps:

[0035] S100: Obtain a measured distance between a vehicle and an obstacle within a preset range of the vehicle.

[0036] S200: Determine the current driving state of the vehicle according to the vehicle gear position signal.

[0037] S300: Determine a target setting safety distance that matches the current traveling state of the vehicle.

[0038] S400: Compare the target set safety distance with the measured distance, and control the vehicle's travel state according to the comparison result.

[0039] In step S100, the measured distance between the vehicle and an obstacle within a preset range of the vehicle can be obtained by a radar detection component installed on the vehicle. The preset range is determined by the installation position of the radar detection component and the detection range of the radar detection component. The preset range is the range that can be scanned by the sound waves emitted by the radar detection component starting from the installation position of the radar detection component.

[0040] The radar detection component includes a first radar detection component and a second radar detection component. The first radar detection component is arranged on the front bumper of the vehicle to detect a first measurement distance between the vehicle and an obstacle within a preset range in front of the vehicle. The second radar detection component is arranged on the rear bumper of the vehicle to detect a second measurement distance between the vehicle and an obstacle within a preset range behind the vehicle. Each radar detection component includes a plurality of ultrasonic radars and a radar controller. The plurality of ultrasonic radars are connected to the radar controller, and the radar controller is connected to the vehicle controller. For the radar detection component, the layout of the corresponding plurality of ultrasonic radars on the bumper enables the vehicle to detect surrounding obstacles in all directions. The ultrasonic radar calculates the measurement distance between the obstacle and the ultrasonic radar by the time difference between transmitting and receiving ultrasonic signals. The measurement accuracy of the ultrasonic radar is about 1 cm to 3 cm. The radar controller collects the distance measurement data collected by the ultrasonic radar connected thereto, analyzes and integrates the collected distance measurement data, and sends the integrated measurement distance to the vehicle controller so that the vehicle controller displays the received measurement distance through the vehicle display, thereby ensuring that the driver can obtain accurate distance information between the vehicle and the obstacle within the preset range in front of the vehicle and between the vehicle and the obstacle within the preset range behind the vehicle in a timely manner.

[0041] In step S200, the vehicle gear signal includes a reverse gear signal, a neutral gear signal and a forward gear signal, and the vehicle's current driving state includes a reverse state corresponding to the reverse gear signal, a parking state corresponding to the neutral gear signal, and a forward state corresponding to the forward gear signal.

[0042] In step S300, the present application pre-sets a safe distance between the vehicle and an obstacle within a preset range of the vehicle. The vehicle provided by the present application also provides an on-board terminal, which may be an on-board display screen. The present application may implement the setting of the safe distance through the on-board terminal. In a preferred embodiment, the method provided by the present application further includes:

[0043] A human-computer interaction interface is provided through the vehicle-mounted terminal, and the human-computer interaction interface includes a safety distance setting control. In response to a selection operation performed on the safety distance setting control, an obstacle safety distance setting pop-up window is displayed, and the obstacle safety distance setting pop-up window includes a safety distance configuration control and a safety distance enabling control. In response to a configuration operation performed on the safety distance enabling control, an obstacle safety warning prompt function is turned on, and the configuration operation performed on the safety distance configuration control is received, and multiple set safety distances are generated.

[0044] Specifically, the set safety distance includes a first safety distance between the vehicle and an obstacle within a preset range in front of the vehicle and a second safety distance between the vehicle and an obstacle within a preset range behind the vehicle.

[0045] For specific implementation, see Figure 2 , Figure 2 FIG. 1 shows one of the schematic diagrams of the process of setting a safe distance between a vehicle and an obstacle within a preset range of the vehicle provided by an embodiment of the present application. Figure 3 , Figure 3 The second schematic diagram of the process of setting a safe distance between a vehicle and an obstacle within a preset range of the vehicle provided by an embodiment of the present application is shown. Figure 4 , Figure 4 The third schematic diagram of the process of setting a safe distance between a vehicle and an obstacle within a preset range of the vehicle provided in an embodiment of the present application is shown. Specifically, the method provided in the present application also includes:

[0046] like Figure 2 , displaying a human-computer interaction interface ① through the vehicle terminal, the human-computer interaction interface ① includes a safety distance setting control A, in response to a selection operation performed on the safety distance setting control A, such as Figure 3 , the obstacle safety distance setting pop-up window ② is displayed, and the obstacle safety distance setting pop-up window ② includes a first safety distance configuration control B, a second safety distance configuration control C and a safety distance enabling control D, wherein, if Figure 3 When the safety distance is not enabled, the first safety distance configuration control B and the second safety distance configuration control C are in a non-configurable state.

[0047] The obstacle safety distance setting pop-up window ② also includes a control function description corresponding to the safety distance enabling control D, such as "after turning it on, the vehicle will automatically stop when it reaches the safety distance."

[0048] The obstacle safety distance setting pop-up window ② also includes a first safety distance display item corresponding to the first safety distance configuration control B and a second safety distance display item corresponding to the second safety distance configuration control C, such as Figure 3 As shown, when the obstacle safety distance is not enabled, the first safety distance display item and the second safety distance display item both display the last configured distance of 0.4m (meter).

[0049] like Figure 4 In response to the configuration operation performed on the safety distance enabling control D, the obstacle warning prompt function is turned on, and the first safety distance configuration control B and the second safety distance configuration control C are adjusted to a configurable state.

[0050] The configuration operations performed on the first safety distance configuration control B and the second safety distance configuration control C are respectively received to determine the generation of the first safety distance and the second safety distance. Specifically, the controls of the first safety distance configuration control B and the second safety distance configuration control C can be distance bars or distance input boxes, and there is no specific restriction on the control form of the first safety distance configuration control B and the second safety distance configuration control C.

[0051] The user can configure the corresponding first safety distance and second safety distance within a given safety distance configuration range. Exemplarily, the given safety distance configuration range can be 0.3 meters to 0.9 meters, which is set according to actual conditions. However, the maximum upper limit value and the minimum lower limit value of the given safety distance configuration range are related to the detection range of the ultrasonic radar on the vehicle used to detect the distance between the vehicle and obstacles within a preset range of the vehicle. For example, the vehicle radar detection accuracy is generally between 0.3 meters and 1.5 meters. Therefore, the lower limit value of the given safety distance configuration range cannot be lower than 0.3 meters, and the upper limit value of the given safety distance configuration range cannot be higher than 1.5 meters.

[0052] In step S300, the present application is mainly to solve the problem of avoiding scratches caused by frequent reversing and moving forward to complete a U-turn. Therefore, according to the current driving state of the vehicle (mainly forward and reverse), the obstacle object of concern is different. Further, the measurement distance of concern is also different. Specifically, if the current state of the vehicle is the forward state, the obstacle object of concern should be the obstacle in front of the vehicle, and the measurement distance of concern should be the first measurement distance. If the vehicle is in the reverse state, the obstacle object of concern should be the obstacle behind the vehicle, and the measurement distance of concern should be the second measurement distance.

[0053] Similarly, the determination of the target setting safety distance is also related to the current traveling state of the vehicle. In a preferred embodiment, step S300 includes:

[0054] If the vehicle is currently moving forward, the target set safety distance that matches the vehicle's current moving state is determined to be the first safety distance. If the vehicle is currently moving backward, the target set safety distance that matches the vehicle's current moving state is determined to be the second safety distance.

[0055] Specifically, the first safety distance is a preset safety distance between the vehicle and an obstacle within a preset range in front of the vehicle, and the second safety distance is a preset safety distance between the vehicle and an obstacle within a preset range behind the vehicle.

[0056] In a preferred embodiment, step S400 includes:

[0057] Determine whether the measured distance is less than or equal to the target set safety distance. If the measured distance is less than or equal to the target set safety distance, control the vehicle to stop. If the measured distance is greater than the target set safety distance, control the vehicle's travel state according to the vehicle control command issued by the driver.

[0058] Specifically, combined with the vehicle's current moving state, when the measured distance is less than or equal to the target set safety distance, the distance between the vehicle and obstacles within a preset range in the forward or reverse direction will not be able to meet the vehicle's moving needs. For example, at this time, if the driver does not manually stop the vehicle and continues to maintain the vehicle's current moving state, the vehicle will scratch the obstacle in the forward or reverse direction of the vehicle. Therefore, when the measured distance is less than or equal to the target set safety distance, immediately controlling the vehicle to stop will greatly reduce the risk of scratching, reduce user anxiety, and improve the overall car experience.

[0059] When the measured distance is greater than the target set safety distance, the distance between the vehicle and the obstacle in the forward or reverse direction is sufficient to meet the vehicle's travel needs. At this time, the vehicle's travel status is controlled according to the vehicle control instructions issued by the driver. The vehicle control instructions can be forward instructions, reverse instructions and stop instructions.

[0060] In a preferred embodiment, step S400 further includes:

[0061] If the vehicle is currently moving forward, determine whether the first measured distance is less than or equal to the first safety distance. If the first measured distance is less than or equal to the first safety distance, control the vehicle to stop. If the first measured distance is greater than the first safety distance, control the vehicle's moving state according to the vehicle control command issued by the driver.

[0062] Specifically, when the vehicle is in a forward state, what needs to be paid attention to at this time is the first measured distance between the vehicle and an obstacle within a preset range in front of the vehicle, and the first measured distance is compared with a pre-set first safety distance. Based on the comparison result, the current moving state of the vehicle is further controlled to avoid scratches between the vehicle and obstacles in front of the vehicle.

[0063] In another preferred embodiment, step S400 further includes:

[0064] If the vehicle is currently moving in reverse, determine whether the second measured distance is less than or equal to the second safety distance. If the second measured distance is less than or equal to the second safety distance, control the vehicle to stop. If the second measured distance is greater than the second safety distance, control the vehicle's moving state according to the vehicle control command issued by the driver.

[0065] Specifically, when the vehicle is in a reverse state, what needs to be paid attention to at this time is the second measured distance between the vehicle and an obstacle within a preset range behind the vehicle, and the second measured distance is compared with a pre-set second safety distance. Based on the comparison result, the vehicle's travel state is further controlled to avoid scratches between the vehicle and obstacles behind the vehicle.

[0066] In the present application, when it is detected that the vehicle is in a U-turn situation (the vehicle's driving situation can be determined by a camera installed on the vehicle to determine the vehicle's driving state), a speed threshold that matches the vehicle's current driving state is retrieved, and the speed threshold includes a first speed threshold corresponding to the forward state and a second speed threshold corresponding to the reverse state. When the vehicle is in the forward state, the vehicle's forward speed is obtained, and the first speed threshold is used to constrain the vehicle's forward speed to control the vehicle's forward speed below the vehicle's forward speed. When the vehicle is in the reverse state, the vehicle's reverse speed is obtained, and the second speed threshold is used to constrain the vehicle's reverse speed to control the vehicle's reverse speed below the vehicle's forward speed.

[0067] In a preferred embodiment, the method provided by the present application further includes:

[0068] After the vehicle stops, the brake mode flag is obtained. The brake mode flag describes the vehicle's brake mode. If the brake mode flag indicates that the vehicle is manually braked, if the vehicle continues to receive vehicle movement instructions, the vehicle movement instructions are executed. If the brake mode flag indicates that the vehicle is not manually braked, the vehicle brake state is maintained and a scratch risk prompt is generated, and the scratch risk prompt is displayed on the vehicle terminal in the form of a pop-up window.

[0069] In one example, each time the vehicle brakes in this application, the brake mode flag must be updated according to the actual braking mode, and it is further necessary to determine whether to stop the vehicle's braking state based on the vehicle's braking mode. Specifically, when the brake mode flag indicates that the vehicle is not braked manually, it is actually the case that the vehicle is in the process of turning around. It is triggered by the obstacle safety warning prompt function, and the brake is triggered when it detects that the distance between the vehicle and an obstacle within a preset range in the direction of travel of the vehicle is lower than the corresponding safety threshold, and the driver does not brake manually. At this time, it means that the distance between the vehicle and the obstacle within the preset range in the direction of travel of the vehicle is too low, and there is a risk of scratching. In this case, if the vehicle forward command or the vehicle reverse command is still received (the driver continues to step on the accelerator pedal), the vehicle needs to be kept in the brake state so that the vehicle cannot accelerate or continue to move, and a corresponding scratch risk prompt is generated to inform the user of the scratch risk. For example, the scratch risk prompt can be "the vehicle has reached the set safety distance from the obstacle and cannot continue to accelerate."

[0070] Compared with the existing technology, the narrow road U-turn assistance method provided by this application does not require the driver / novice driver to rely on others or get off the vehicle. For scenarios where users need to frequently reverse / advance when driving by themselves, they can pre-enable the obstacle safety distance warning prompt function through the vehicle display and set the safety distance. The vehicle can then automatically brake to a stop after reaching the safety distance, greatly reducing the risk of scratches, alleviating the user's anxiety, and improving the overall car experience.

[0071] Based on the same application concept, the embodiment of the present application also provides a vehicle U-turn assistance device corresponding to the vehicle U-turn assistance method provided in the above embodiment. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the vehicle U-turn assistance method in the above embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0072] See also Figure 5 , Figure 5 FIG. 2 shows a functional module diagram of a vehicle U-turn assisting device provided by an embodiment of the present application. Figure 5 As shown, the device comprises:

[0073] The distance acquisition module 500 is used to acquire the measured distance between the vehicle and an obstacle within a preset range of the vehicle;

[0074] The state determination module 510 is used to determine the current driving state of the vehicle according to the vehicle gear position signal;

[0075] A matching module 520, for determining a target setting safety distance corresponding to the current traveling state of the vehicle;

[0076] The U-turn assisting module 530 is used to compare the target set safety distance with the measured distance, and control the vehicle's traveling state according to the comparison result.

[0077] Based on the same application concept, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle U-turn assistance method provided in the above embodiment are executed.

[0078] Based on the same application concept, an embodiment of the present application further provides a vehicle, the vehicle comprising an on-board controller and an on-board terminal, and the on-board controller executes the steps of the vehicle U-turn assistance method provided in the above embodiment.

[0079] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0081] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0082] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0083] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle U-turn assisting method, characterized in that: The method comprises: Obtaining a measured distance between a vehicle and an obstacle within a preset range of the vehicle; Determine the current traveling state of the vehicle according to the vehicle gear position signal; Determine a target setting safety distance that matches the current travel state of the vehicle; The target set safety distance is compared with the measured distance, and the vehicle travel state is controlled according to the comparison result.

2. The method according to claim 1, characterized in that The step of comparing the target set safety distance with the measured distance and controlling the vehicle's traveling state according to the comparison result comprises: Determining whether the measured distance is less than or equal to the target set safety distance; If the measured distance is less than or equal to the target set safety distance, the vehicle is controlled to stop; If the measured distance is greater than the target set safety distance, the vehicle's travel state is controlled according to the vehicle control command issued by the driver.

3. The method according to claim 1, characterized in that The step of determining a target setting safety distance that matches the current traveling state of the vehicle comprises: If the current traveling state of the vehicle is a forward state, determining a target set safety distance matching the current traveling state of the vehicle as a first safety distance, the first safety distance being a preset safety distance between the vehicle and an obstacle within a preset range in front of the vehicle; If the current traveling state of the vehicle is a reverse state, the target set safety distance matching the current traveling state of the vehicle is determined to be a second safety distance, and the second safety distance is a preset safety distance between the vehicle and an obstacle within a preset range behind the vehicle.

4. The method according to claim 3, characterized in that: The measured distance includes a first measured distance between the vehicle and an obstacle within a preset range in front of the vehicle, The step of comparing the target set safety distance with the measured distance and controlling the vehicle's traveling state according to the comparison result includes: If the current traveling state of the vehicle is a forward state, determining whether the first measured distance is less than or equal to the first safety distance; If the first measured distance is less than or equal to the first safety distance, controlling the vehicle to stop; If the first measured distance is greater than the first safety distance, the vehicle's travel state is controlled according to the vehicle control instruction issued by the driver.

5. The method according to claim 3, characterized in that: The measured distance also includes a second measured distance between the vehicle and an obstacle within a preset range behind the vehicle. The step of comparing the target set safety distance with the measured distance and controlling the vehicle's traveling state according to the comparison result further includes: If the current traveling state of the vehicle is a reverse state, determining whether the second measured distance is less than or equal to the second safety distance; If the second measured distance is less than or equal to the second safety distance, controlling the vehicle to stop; If the second measured distance is greater than the second safety distance, the vehicle's travel state is controlled according to the vehicle control instruction issued by the driver.

6. The method according to any one of claims 2 to 5, characterized in that: The method also includes: After the vehicle stops, a brake mode flag is obtained, wherein the brake mode flag describes the vehicle brake mode; If the brake mode flag indicates that the vehicle is manually braked, then if the vehicle moving command continues to be received, the vehicle moving command is executed; If the brake mode flag indicates that the vehicle is not braked manually, the vehicle is kept in a braked state and a scratch risk prompt is generated; The scratch risk warning will be displayed in the form of a pop-up window on the vehicle terminal.

7. The method according to claim 1, characterized in that The vehicle includes a vehicle-mounted terminal, and the method further includes: Providing a human-machine interaction interface through an in-vehicle terminal, the human-machine interaction interface including a safety distance setting control; In response to a selection operation performed on the safety distance setting control, displaying an obstacle safety distance setting pop-up window, the obstacle safety distance setting pop-up window including a safety distance configuration control and a safety distance enabling control; In response to a configuration operation performed for a safety distance enabling control, enabling an obstacle warning prompt function; A configuration operation executed on the safety distance configuration control is received, and a plurality of set safety distances are generated.

8. The method according to claim 7, characterized in that The safety distance configuration control includes a first safety distance configuration control and a second safety distance configuration control, and the multiple set safety distances include a first safety distance and a second safety distance. The first safety distance and the second safety distance are generated in the following manner: receiving a configuration operation performed on the first safety distance configuration control to generate a first safety distance; A configuration operation performed on the second safety distance configuration control is received to generate a second safety distance.

9. A vehicle U-turn assisting device, characterized in that: The device includes: A distance acquisition module, used to acquire a measured distance between a vehicle and an obstacle within a preset range of the vehicle; A state determination module, used to determine the current traveling state of the vehicle according to the vehicle gear position signal; A matching module, used to determine a target setting safety distance that matches the current traveling state of the vehicle; The U-turn assisting module is used to compare the target set safety distance with the measured distance, and control the vehicle's traveling state according to the comparison result.

10. A vehicle, characterized in that: The vehicle comprises an on-board controller and an on-board terminal, and the on-board controller executes the steps of the vehicle U-turn assistance method as claimed in any one of claims 1 to 8.

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