Vehicle anti-collision method and device, vehicle and storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses an anti-collision method and device for a vehicle, the vehicle and a storage medium, the method comprises the steps that a first TTC of the vehicle and control data of a user for the vehicle are acquired, and the first TTC is determined based on the ADS of the vehicle and the information of the environment where the vehicle is located; when the first TTC and the control data meet preset limiting conditions, the limiting coefficient is determined according to a second TTC, the action time for triggering the AEB and the time ore amount between the time when the torque limiting function is triggered and the moment of the AEB starts acting, and the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle; and controlling the vehicle to run according to the limiting coefficient and the original required torque corresponding to the accelerator pedal triggered by the user. According to the technical scheme, dangerous accidents caused by misoperation of a user can be avoided.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle technology, and specifically to a vehicle collision avoidance method, device, vehicle and storage medium. Background Art

[0002] When driving a vehicle, the driver's safe operation is crucial to ensuring road traffic safety. For example, mistaking the accelerator pedal for the brake pedal may cause the vehicle to accelerate instead of decelerate in an emergency, leading to a serious accident. Especially when the driver is close to an obstacle, the consequences of such misoperation may be catastrophic.

[0003] Therefore, how to assist the driver in avoiding the risk of collision with obstacles due to vehicle acceleration caused by misoperation in the above situation has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention provide a vehicle collision avoidance method, device, vehicle and storage medium, which are used to solve the vehicle collision problem caused by misoperation in the prior art.

[0005] According to one aspect of an embodiment of the present invention, a vehicle collision avoidance method is provided, the method comprising:

[0006] Acquire a first TTC of a vehicle and control data of the vehicle by a user, wherein the first TTC is determined based on the ADS of the vehicle and information about the environment in which the vehicle is located;

[0007] When the first TTC and the control data meet a preset restriction condition, determining a restriction coefficient according to a second TTC, an action time of triggering AEB, and a time interval between completion of triggering the torque limiting function and the start of action of the AEB torque, wherein the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle;

[0008] The vehicle operation is controlled according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user.

[0009] According to another aspect of an embodiment of the present invention, there is provided a vehicle anti-collision device, comprising:

[0010] An acquisition module, configured to acquire a first TTC of a vehicle and control data of the vehicle by a user, wherein the first TTC is determined based on the ADS of the vehicle and the environment information in which the vehicle is located;

[0011] a determination module, configured to determine a restriction coefficient according to a second TTC, an action time of triggering AEB, and a time interval between completion of triggering the torque limiting function and start of action of the AEB torque when the first TTC and the control data meet a preset restriction condition, wherein the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle;

[0012] The control module is used to control the operation of the vehicle according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user.

[0013] According to another aspect of an embodiment of the present invention, a vehicle is provided, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus;

[0014] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the above method.

[0015] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, wherein the executable instruction enables the anti-collision device of the vehicle / the vehicle to operate according to the above-mentioned method.

[0016] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the anti-collision device of the vehicle / the vehicle performs the operation of the above method.

[0017] The embodiment of the present invention obtains the first TTC of the vehicle and the control data of the vehicle by the user. The first TTC is determined based on the vehicle's ADS based on the vehicle's environmental information. When the first TTC and the control data meet the preset restriction conditions, the restriction coefficient is determined according to the second TTC, the action time of triggering AEB, and the time between the completion of the triggering of the torque limit function and the start of the AEB torque action time. The second TTC is determined based on the vehicle's speed information and the vehicle's driving information. The vehicle operation is controlled according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user. The technical solution of the present invention can be applied to determine the time when a collision occurs based on the ADS based on the vehicle's environmental information, that is, when the risk of collision is detected and the user's control data of the vehicle is detected to cause the vehicle to accelerate, the restriction coefficient of the original required torque corresponding to the accelerator pedal is adjusted to control the vehicle operation and avoid the risk of collision triggered by misoperation.

[0018] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0020] Figure 1 A schematic diagram of the ADS-VCU-HMI interaction principle provided by the present invention is shown;

[0021] Figure 2 A flow chart showing a first embodiment of a vehicle collision avoidance method provided by the present invention;

[0022] Figure 3 A flow chart showing a second embodiment of the vehicle collision avoidance method provided by the present invention;

[0023] Figure 4 A schematic diagram showing the interaction between the ADS and VCU torque signal request interface provided by the present invention is shown;

[0024] Figure 5 A schematic structural diagram of an embodiment of a vehicle anti-collision device provided by the present invention is shown;

[0025] Figure 6 A schematic structural diagram of an embodiment of a vehicle provided by the present invention is shown. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0027] When driving a vehicle, the driver's safe operation is crucial to ensuring road traffic safety. For example, mistaking the accelerator pedal for the brake pedal may cause the vehicle to accelerate instead of decelerate in an emergency, leading to a serious accident.

[0028] Especially when the driver is close to an obstacle (not limited to people or objects), if he mistakenly uses the accelerator as the brake, a serious collision accident may occur, causing irreparable losses.

[0029] Based on the above technical problems, the technical concept of the present invention is as follows: when there is a collision risk, the collision time with the obstacle can generally be detected, and when the user makes an error operation, the user's control data of the vehicle can be obtained. If it is judged that the control data exacerbates the collision with the obstacle, the actual output torque of the vehicle can be adjusted in time, that is, the original required torque corresponding to the vehicle's accelerator pedal is limited to force the vehicle to run with the limited torque to avoid triggering a collision with the obstacle.

[0030] The following is about the above technical concept. Figure 1 The following is a schematic diagram showing the interaction principle of the autonomous driving system (ADS)-vehicle collision avoidance unit (VCU)-human-machine interface (HMI) provided by the present invention, as shown in FIG. Figure 1 As shown, the schematic diagram includes:

[0031] Dynamic perception, vehicle dynamic control (VDC) / steering / braking, active safety (throttle suppression strategy), HMI services, ADS vehicle application (English abbreviation: APP), VDC.

[0032] In one possible implementation, the active safety part obtains: obstacle information corresponding to dynamic perception; throttle pedal opening (throttle depth), throttle pedal change rate (throttle depth change rate), and steering wheel information (steering wheel angle rate) corresponding to VDC / steering / braking; and the user switch corresponding to the ADS car APP (that is, whether the user has turned on the torque limit function).

[0033] The active safety part, based on the throttle suppression strategy (this part is elaborated in detail by the following embodiment, that is, the anti-collision scheme of the vehicle in the embodiment of the present invention), generates a throttle suppression effectiveness alarm to the HMI service, and then sends it to the ADS vehicle APP to remind the user; and generates a throttle suppression command and sends it to the VDC to control the vehicle operation.

[0034] The technical solution of the present invention is described in detail below through specific embodiments. The execution subject of the present invention is a vehicle, specifically a controller in the vehicle, specifically an ADS domain controller and a VDC drive controller.

[0035] It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0036] Figure 2FIG. 1 is a flow chart showing a first embodiment of a vehicle anti-collision method provided by the present invention, the method being executed by the vehicle. Figure 2 As shown, the method comprises the following steps:

[0037] Step 21, obtaining the first TTC of the vehicle and the user's control data of the vehicle;

[0038] The first TTC is determined by the ADS of the vehicle based on the environment information of the vehicle;

[0039] In this step, when the vehicle is driving, the ADS of the vehicle obtains the collision time of the vehicle hitting the obstacle, that is, the first TTC, based on detecting the existence of an obstacle in the environmental information; and obtains the control data corresponding to the control command issued by the user to the vehicle.

[0040] Optionally, one implementation of step 21 is: in response to the user turning on the torque limit function, obtaining the first TTC and control data.

[0041] In this implementation, when the user turns on the torque limit function (ie, the throttle limit strategy) in the vehicle, the vehicle obtains the first TTC and control data in real time, and controls the operation of the vehicle based on the throttle limit strategy.

[0042] In one possible implementation, a corresponding APP may be displayed in the human-computer interaction interface corresponding to the vehicle's CDC entertainment screen controller. In the APP, the user may turn on or off the torque limit function by touch or other means; hardware buttons may also be set on the vehicle, or special settings may be made for known hardware, so that when the user triggers it in a preset manner, the torque limit function is turned on or off; and the torque limit function may be turned on or off by voice interaction with the vehicle computer, etc.

[0043] It should be understood that the torque limiting function involved in the embodiment of the present invention can be used in the human driving mode or in the intelligent driving mode.

[0044] Step 22, when the first TTC and the control data meet the preset restriction conditions, determine the restriction coefficient according to the second TTC, the action time of triggering AEB, and the time between the completion of triggering the torque limiting function and the start of AEB torque action;

[0045] The second TTC is determined based on the vehicle's speed information and the vehicle's driving information, i.e., the vehicle's TTC with the obstacle when the torque limiting function is triggered;

[0046] In this step, when the first TTC and control data are detected, it is necessary to determine whether the user's control data may cause the vehicle to collide, that is, to set restriction conditions. When the first TTC and control data meet the restriction conditions, ADS obtains the TTC of the vehicle with the obstacle when the torque limiting function is triggered, the action time of triggering AEB, and the time quantity to determine the restriction coefficient for limiting the original required torque corresponding to the accelerator pedal triggered by the user.

[0047] Optionally, the control data includes: a throttle depth value and a throttle depth change rate;

[0048] Correspondingly, the restriction condition may be: the first TTC is less than the first threshold, the throttle depth value is greater than the second threshold, and the throttle depth change rate is greater than the third threshold.

[0049] In this implementation, the accelerator depth value is used to determine whether the user accidentally steps on the accelerator or steps on the accelerator hard. The accelerator depth change rate is the rate of change of the displacement value of the accelerator pedal when the user steps on the accelerator pedal.

[0050] The first threshold, the second threshold, and the third threshold can all be calibrated based on actual conditions.

[0051] In other implementations, when the vehicle is in the intelligent driving mode, the restriction condition may be: the driver's accelerator pedal analysis torque (ie, the original required torque) > intelligent driving required torque + hysteresis torque.

[0052] Optionally, the control data includes: throttle depth value and steering wheel angle rate;

[0053] Correspondingly, the restriction conditions may be: the first TTC is less than the first threshold, the throttle depth value is greater than the second threshold, and the steering wheel angle rate is greater than the fourth threshold.

[0054] In this implementation, it is used to determine whether the user has stepped on the accelerator suddenly or turned the steering wheel suddenly, and the steering wheel angular rate is the rate of change of the angular velocity of the steering wheel when the user turns the steering wheel.

[0055] Among them, the fourth threshold value can be calibrated based on actual conditions.

[0056] Optionally, the driving information of the vehicle may be the driving form of the vehicle, such as four-wheel drive, rear-wheel drive, etc.;

[0057] Correspondingly, Table 1 is a parameter calibration table of a second TTC (indicated by t in the embodiment) provided in an embodiment of the present invention, as shown in Table 1:

[0058] Table 1

[0059]

[0060] In actual implementation, the value of t can be linearly adjusted based on the vehicle speed. For example, if the vehicle speed is 20 and the vehicle is in four-wheel drive, the second TTC is 1.75s.

[0061] Optionally, the action time of triggering AEB can be determined based on the speed information of the vehicle.

[0062] Correspondingly, Table 2 is a parameter calibration table of an action time (denoted by t0 in the embodiment) provided by an embodiment of the present invention, as shown in Table 2:

[0063] Table 2

[0064]

[0065]

[0066] In actual implementation, the value of t0 can be linearly adjusted based on the vehicle speed. For example, if the vehicle speed is 20, the action time is 0.95s.

[0067] Optionally, the calculation formula of the restriction coefficient may be: k=-1.998*(t-t0-Δt)+1.

[0068] Wherein, Δt is the time margin (the time from when the throttle limit is triggered to when the AEB torque starts to act), for example, 300ms (can be calibrated based on the actual vehicle).

[0069] Step 23: Control the vehicle operation according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user.

[0070] In this step, after the ADS determines the limit coefficient, the VCU controls the vehicle operation based on the limit coefficient and the original required torque obtained by analyzing the accelerator pedal triggered by the user.

[0071] Optionally, one implementation of step 23 is:

[0072] Step 1: Determine the actual execution torque according to the restriction coefficient and the original demand torque corresponding to the accelerator pedal triggered by the user;

[0073] In this implementation, the limiting coefficient reduces or limits the original required torque to obtain the actual execution torque corresponding to the actual operation of the vehicle.

[0074] Exemplarily, the calculation formula of the actual execution torque may be: T=T0*k.

[0075] Among them, T is the actual execution torque, and T0 is the original required torque corresponding to the accelerator pedal.

[0076] In one possible implementation, k is 0.3, T0 is 3000 Nm, and the actual execution torque is 900 Nm.

[0077] Step 2: Control the vehicle operation according to the actual execution torque.

[0078] In this implementation, the VCU adjusts the execution torque of the engine or drive motor based on the actual execution torque to control vehicle operation and avoid collision.

[0079] Furthermore, when the VCU controls the vehicle to limit torque based on the actual execution torque, the torque decrease slope is greater than a fifth threshold value (which can be calibrated based on actual conditions), such as -10000 Nm / s.

[0080] Furthermore, when the triggering time of the torque limiting function is greater than the difference between the second TTC and the action time, and a collision risk is detected, the AEB function is turned on.

[0081] In this implementation, when the torque limiting function is being executed, that is, when the duration of vehicle operation controlled based on the actual execution torque (i.e., trigger duration) is greater than the difference between the second TTC and the action time (t-t0), the ADS monitors the original required torque of the VCU and the actual execution torque converted by the limiting coefficient k in real time. When it is detected that the vehicle is still at risk of collision, in order to ensure the safety of the vehicle and people to a greater extent, the AEB function is turned on and the vehicle's emergency braking is performed.

[0082] Optionally, when it is detected that the torque limiting function is not set, the vehicle is controlled to smoothly transition to the original required torque.

[0083] In this implementation, if the vehicle detects that there is no need to trigger the torque limit function, it exits the torque limit function and controls the vehicle to smoothly transition to the original required torque of the current user controlling the vehicle, or the original required torque corresponding to the vehicle in the intelligent driving mode, to meet the user's actual driving needs.

[0084] For example, the current torque is increased to the original required torque at a preset torque increase slope.

[0085] The anti-collision method for a vehicle provided by an embodiment of the present invention obtains the first TTC of the vehicle and the control data of the vehicle by the user, wherein the first TTC is determined based on the ADS of the vehicle based on the environmental information of the vehicle; when the first TTC and the control data meet the preset restriction conditions, the restriction coefficient is determined according to the second TTC, the action time of triggering AEB, and the time between the completion of triggering the torque limit function and the start of the action time of AEB torque, wherein the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle; and the operation of the vehicle is controlled according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user. By applying the technical solution of the present invention, the time when a collision occurs can be determined based on the environmental information of the vehicle based on the ADS, that is, when the risk of collision is detected and the control data of the vehicle by the user is detected to cause the vehicle to accelerate, the restriction coefficient of the original required torque corresponding to the accelerator pedal is adjusted to control the operation of the vehicle and avoid the risk of collision triggered by misoperation.

[0086] Based on the above embodiments, Figure 3 FIG. 2 is a flow chart showing a second embodiment of a vehicle anti-collision method provided by the present invention, wherein the method is executed by a vehicle. Figure 3 As shown, after step 22, the following possible implementations may be possible:

[0087] Step 31: if the restriction coefficient is not 1, generate a prompt message;

[0088] Among them, the prompt information is used to remind the user to trigger the activation of the torque limit function;

[0089] In this step, if the restriction coefficient is not 1, it is considered that the ADS determines that the torque of the vehicle needs to be restricted, there is a risk of collision, etc., and a prompt message is generated.

[0090] In a possible implementation, the ADS domain controller generates a prompt message, which may be “Danger ahead, torque limiting function activated”.

[0091] Step 32: displaying prompt information in a human-machine interaction interface in the vehicle, or / and controlling an audio unit in the vehicle to play the prompt information.

[0092] In this step, in order to warn the user of possible danger, the vehicle renders and / or broadcasts the warning information through some of its own hardware.

[0093] In a possible implementation, the CDC entertainment screen controller receives prompt information sent from the ADS domain controller, and displays the prompt information on a human-computer interaction interface corresponding to the CDC entertainment screen controller.

[0094] Or / and, the body domain controller receives the prompt information sent from the ADS domain controller, and controls the audio unit in the vehicle to play the prompt information.

[0095] The anti-collision method for a vehicle provided in an embodiment of the present invention generates a prompt message when the limit coefficient is not 1, and the prompt message is used to remind the user to trigger the activation of the torque limit function, display the prompt message in the human-machine interaction interface in the vehicle, or / and control the audio unit in the vehicle to play the prompt message. By applying the technical solution of the present invention, when the limit coefficient is not 1, that is, the actual output torque of the vehicle is different from the original required torque corresponding to the user control, the vehicle is torque limited, and a prompt message is generated to remind the user in time.

[0096] Based on the above embodiments, Figure 4 FIG. 4 shows a schematic diagram of the interaction between the ADS and VCU torque signal request interface provided by the present invention, such as Figure 4 As shown, the schematic diagram includes: ADS domain controller, CDC entertainment screen controller, and VCU drive controller.

[0097] The ADS domain controller communicates with the CDC entertainment screen controller and the VCU drive controller respectively through the controller area network flexible data transmission (CANFD).

[0098] Among them, the ADS domain controller contains a system on chip (SOC) and a microcontroller unit (MCU), which communicate with each other through a serial peripheral interface (SPI).

[0099] In this interactive implementation, combined with Figure 1 A possible overall implementation description of the embodiment of the present invention is as follows:

[0100] Step 1: The throttle limiting logic (i.e., the torque limiting function solution) can be applied to both human driving mode and intelligent driving (English: override) mode;

[0101] Step 2: The driver can turn on / off the torque limit function through the large screen switch and send the switch signal to the ADS and VCU;

[0102] Step 3: ADS senses environmental information in real time and monitors the driver's actions (deep accelerator, quick steering, etc.) in real time. If the collision first TTC < first threshold && (accelerator > second threshold & accelerator speed > third threshold || steering wheel angle speed > fourth threshold) is met at the same time, ADS will send the corresponding restriction coefficient k to VCU for execution;

[0103] The setting range of k is [0, 1], and the precision is 0.001;

[0104] Step 4: When the enable signal is received (ADSLimTqEnable = 0x1), the driver's original required torque is multiplied by the k factor (ADSLimTqFactorK) and then sent as the actual execution torque;

[0105] Step 5: ADS needs to set a function timeout limit (≤t-t0). ADS monitors the original required torque of VCU and the actual torque of the motor after k conversion in real time. If it cannot be correctly limited, the AEB function needs to be triggered.

[0106] Step 6: When receiving the signal that the torque limit function is not set (ADSLimTqEnable = 0x0), exit the torque limit function and smoothly transition to the required torque required by human driving;

[0107] Step 7: When VCU executes the ADS torque limit request, the torque reduction slope is greater than -10000Nm / s (calibrable);

[0108] In addition, the judgment logic of the intelligent driving mode remains unchanged when the intelligent driving is normally activated. The judgment condition is that the driver's accelerator pedal analysis torque > intelligent driving demand torque + hysteresis torque; ADS only triggers the torque limit function when the torque is positive. The definition of positive torque is related to the gear position. In D gear, forward is positive torque, and in R gear, backward is positive torque.

[0109] Step 8. When the torque limit function is activated, ADS needs to send a text prompt to the vehicle APP: "Danger ahead, throttle limit function is activated."

[0110] In an embodiment of the present invention, the risk can be determined by the intervention of the intelligent driving multi-sensor in the human driving mode or the intelligent driving overtaking mode. If the restriction conditions are met and the driver steps deeply on the accelerator, the torque will be suppressed to reduce the probability of risk occurrence.

[0111] Figure 5 FIG. 2 shows a schematic diagram of the structure of an embodiment of the anti-collision device for a vehicle provided by the present invention. Figure 5 As shown, the device comprises:

[0112] An acquisition module 51 is used to acquire a first TTC of the vehicle and control data of the vehicle by the user, wherein the first TTC is determined based on the ADS of the vehicle and the environment information of the vehicle;

[0113] a determination module 52, configured to determine a restriction coefficient according to a second TTC, an action time of triggering an automatic emergency brake AEB, and a time interval between completion of triggering the torque limiting function and start of action of the AEB torque when the first TTC and the control data meet a preset restriction condition, wherein the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle;

[0114] The control module 53 is used to control the operation of the vehicle according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user.

[0115] In one or more embodiments, the control data includes: a throttle depth value and a throttle depth change rate; or, the throttle depth value and a steering wheel angle rate;

[0116] Correspondingly, the restriction conditions include: the first TTC is less than the first threshold, the throttle depth value is greater than the second threshold, and the throttle depth change rate is greater than the third threshold; or, the first TTC is less than the first threshold, the throttle depth value is greater than the second threshold, and the steering wheel angle rate is greater than the fourth threshold.

[0117] In one or more embodiments, the control module 53 is further configured to:

[0118] When the triggering time of the torque limiting function is greater than the difference between the second TTC and the action time, and a collision risk is detected, the AEB function is turned on.

[0119] In one or more embodiments, the control module 53 is further configured to:

[0120] When it is detected that the torque limit function is not set, the vehicle is controlled to smoothly transition to the original required torque.

[0121] In one or more embodiments, when the first TTC and the control data meet the preset restriction condition, after determining the restriction coefficient according to the second TTC, the action time of triggering AEB, and the time between the completion of triggering the torque limiting function and the start of the action time of AEB torque, the control module is further used to:

[0122] If the limit coefficient is not 1, a prompt message is generated to remind the user to activate the torque limit function;

[0123] Displaying prompt information in a human-machine interaction interface in the vehicle, or / and controlling an audio unit in the vehicle to play the prompt information.

[0124] In one or more embodiments, the control module 53 controls the vehicle operation according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user, specifically for:

[0125] Determine the actual execution torque according to the restriction coefficient and the original demand torque corresponding to the accelerator pedal triggered by the user;

[0126] Control vehicle operation according to the actual execution torque.

[0127] In one or more embodiments, the acquisition module 51 is specifically configured to:

[0128] In response to the user turning on the torque limiting function, a first TTC and control data are acquired.

[0129] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, all or part of them can be integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements. They can also be implemented in the form of hardware. Some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0130] From the above, it can be seen that the vehicle anti-collision device provided in the embodiment of the present invention can determine the time when a collision occurs based on the environmental information of the vehicle based on the ADS, that is, when the risk of collision is detected and the user's control data of the vehicle is detected to cause the vehicle to accelerate, the original required torque corresponding to the accelerator pedal is limited by the coefficient, so as to control the operation of the vehicle and avoid the risk of collision triggered by misoperation.

[0131] Figure 6 FIG. 1 shows a schematic diagram of a structure of an embodiment of a vehicle provided by the present invention, such as Figure 6 As shown, the vehicle may include: a processor 62 , a communications interface 64 , a memory 66 , and a communications bus 68 .

[0132] The processor 62, the communication interface 64, and the memory 66 communicate with each other via the communication bus 68. The communication interface 64 is used to communicate with other devices such as a client or other server network elements. The processor 62 is used to execute the program 60, and specifically, can execute the relevant steps in the above-mentioned embodiment of the anti-collision method for a vehicle.

[0133] Specifically, the program 60 may include program codes including computer-executable instructions.

[0134] The processor 62 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the vehicle may be processors of the same type, such as one or more CPUs. They may also be processors of different types, such as one or more CPUs and one or more ASICs.

[0135] The memory 66 is used to store the program 60. The memory 66 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0136] The program 60 can be specifically called by the processor 62 to enable the vehicle to perform the following operations:

[0137] Acquire a first TTC of a vehicle and control data of the vehicle by a user, wherein the first TTC is determined based on the ADS of the vehicle and information about the environment in which the vehicle is located;

[0138] When the first TTC and the control data meet the preset restriction condition, determining the restriction coefficient according to the second TTC, the action time of triggering the automatic emergency brake AEB, and the time between the completion of triggering the torque limit function and the start of the action time of the AEB torque, wherein the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle;

[0139] The vehicle operation is controlled according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user.

[0140] In one or more embodiments, the control data includes: a throttle depth value and a throttle depth change rate; or, the throttle depth value and a steering wheel angle rate;

[0141] Correspondingly, the restriction conditions include: the first TTC is less than a first threshold, the throttle depth value is greater than a second threshold, and the throttle depth change rate is greater than a third threshold; or, the first TTC is less than a first threshold, the throttle depth value is greater than a second threshold, and the steering wheel angle rate is greater than a fourth threshold.

[0142] In one or more embodiments, the following is also performed:

[0143] When the triggering duration of the torque limiting function is greater than the difference between the second TTC and the action time, and a collision risk is detected, the AEB function is turned on.

[0144] In one or more embodiments, the following is also performed:

[0145] When it is detected that the torque limit function is not set, the vehicle is controlled to smoothly transition to the original required torque.

[0146] In one or more embodiments, when the first TTC and the control data meet the preset restriction condition, after determining the restriction coefficient according to the second TTC, the action time of triggering AEB, and the time between the completion of triggering the torque limiting function and the start of the action time of the AEB torque, the following is further performed:

[0147] If the limit coefficient is not 1, a prompt message is generated, and the prompt message is used to remind the user to trigger the activation of the torque limit function;

[0148] The prompt information is displayed in a human-machine interaction interface in the vehicle, or / and an audio unit in the vehicle is controlled to play the prompt information.

[0149] In one or more embodiments, controlling the vehicle operation according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user includes:

[0150] determining the actual execution torque according to the restriction coefficient and the original demand torque corresponding to the accelerator pedal triggered by the user;

[0151] The vehicle operation is controlled according to the actual execution torque.

[0152] In one or more embodiments, obtaining the first TTC of the vehicle and the user's control data of the vehicle includes:

[0153] In response to the user turning on the torque limiting function, the first TTC and the control data are acquired.

[0154] From the above, it can be seen that the vehicle provided by the embodiment of the present invention can determine the time when a collision occurs based on the environmental information of the vehicle based on the ADS, that is, when the risk of collision is detected and the user's control data of the vehicle is detected to cause the vehicle to accelerate, the limiting coefficient of the original required torque corresponding to the accelerator pedal is adjusted to control the operation of the vehicle and avoid the risk of collision triggered by misoperation.

[0155] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on the anti-collision device of a vehicle / vehicle, the anti-collision device of the vehicle / vehicle executes the anti-collision method of the vehicle in any of the above-mentioned method embodiments.

[0156] The executable instructions may be specifically used to enable the anti-collision device of the vehicle / the vehicle to perform the following operations:

[0157] Acquire a first TTC of a vehicle and control data of the vehicle by a user, wherein the first TTC is determined based on the ADS of the vehicle and the environment information of the vehicle;

[0158] When the first TTC and the control data meet the preset restriction condition, determining the restriction coefficient according to the second TTC, the action time of triggering the automatic emergency brake AEB, and the time between the completion of triggering the torque limit function and the start of the action time of the AEB torque, wherein the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle;

[0159] The vehicle operation is controlled according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user.

[0160] In one or more embodiments, the control data includes: a throttle depth value and a throttle depth change rate; or, the throttle depth value and a steering wheel angle rate;

[0161] Correspondingly, the restriction conditions include: the first TTC is less than a first threshold, the throttle depth value is greater than a second threshold, and the throttle depth change rate is greater than a third threshold; or, the first TTC is less than a first threshold, the throttle depth value is greater than a second threshold, and the steering wheel angle rate is greater than a fourth threshold.

[0162] In one or more embodiments, the following is also performed:

[0163] When the triggering duration of the torque limiting function is greater than the difference between the second TTC and the action time, and a collision risk is detected, the AEB function is turned on.

[0164] In one or more embodiments, the following is also performed:

[0165] When it is detected that the torque limit function is not set, the vehicle is controlled to smoothly transition to the original required torque.

[0166] In one or more embodiments, when the first TTC and the control data meet the preset restriction condition, after determining the restriction coefficient according to the second TTC, the action time of triggering AEB, and the time between the completion of triggering the torque limiting function and the start of the action time of the AEB torque, the following is further performed:

[0167] If the limit coefficient is not 1, a prompt message is generated, and the prompt message is used to remind the user to trigger the activation of the torque limit function;

[0168] The prompt information is displayed in a human-machine interaction interface in the vehicle, or / and an audio unit in the vehicle is controlled to play the prompt information.

[0169] In one or more embodiments, controlling the vehicle operation according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user includes:

[0170] determining the actual execution torque according to the restriction coefficient and the original demand torque corresponding to the accelerator pedal triggered by the user;

[0171] The vehicle operation is controlled according to the actual execution torque.

[0172] In one or more embodiments, obtaining the first TTC of the vehicle and the user's control data of the vehicle includes:

[0173] In response to the user turning on the torque limiting function, the first TTC and the control data are acquired.

[0174] From the above, it can be seen that the vehicle anti-collision device / vehicle provided in the embodiment of the present invention can determine the time when a collision occurs based on the environmental information of the vehicle based on the ADS, that is, when the risk of collision is detected and the user's control data of the vehicle is detected to cause the vehicle to accelerate, the limiting coefficient of the original required torque corresponding to the accelerator pedal is adjusted to control the operation of the vehicle and avoid the risk of collision triggered by misoperation.

[0175] An embodiment of the present invention provides a computer program product, including a computer program, which implements the operation of the above-mentioned vehicle collision avoidance method when executed by a processor.

[0176] Its implementation principle and technical effects are shown in the above disclosure.

[0177] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0178] The methods disclosed in the various method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0179] The features disclosed in the various product embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0180] The features disclosed in the various method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0181] It should be noted that the computer-readable storage medium may be a ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM). It may also be various vehicles including one or any combination of the above memories.

[0182] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0183] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0184] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus necessary general hardware nodes, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, vehicle terminal or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0185] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices, apparatuses, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0186] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0187] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The algorithm or display provided herein of the steps of the functions specified in the blocks or multiple blocks is not inherently related to any specific computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any specific programming language.

[0188] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A vehicle collision avoidance method, characterized in that: The method comprises: Acquire a first collision time TTC of the vehicle and user control data of the vehicle, wherein the first TTC is determined by an automatic driving system ADS of the vehicle based on environmental information of the vehicle; When the first TTC and the control data meet the preset restriction condition, determining the restriction coefficient according to the second TTC, the action time of triggering the automatic emergency brake AEB, and the time between the completion of triggering the torque limit function and the start of the action time of the AEB torque, wherein the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle; The vehicle operation is controlled according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user.

2. The method according to claim 1, characterized in that The control data includes: the throttle depth value and the throttle depth change rate; or, the throttle depth value and the steering wheel angle rate; Correspondingly, the restriction conditions include: the first TTC is less than a first threshold, the throttle depth value is greater than a second threshold, and the throttle depth change rate is greater than a third threshold; or, the first TTC is less than a first threshold, the throttle depth value is greater than the second threshold, and the steering wheel angle rate is greater than a fourth threshold.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: When the triggering duration of the torque limiting function is greater than the difference between the second TTC and the action time, and a collision risk is detected, the AEB function is turned on.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: When it is detected that the torque limit function is not set, the vehicle is controlled to smoothly transition to the original required torque.

5. The method according to claim 1 or 2, characterized in that: When the first TTC and the control data meet the preset restriction condition, after determining the restriction coefficient according to the second TTC, the action time of triggering the AEB, and the time interval between the completion of triggering the torque limiting function and the start of the action time of the AEB torque, the method further includes: If the limit coefficient is not 1, a prompt message is generated, and the prompt message is used to remind the user to trigger the activation of the torque limit function; The prompt information is displayed in a human-machine interaction interface in the vehicle, or / and an audio unit in the vehicle is controlled to play the prompt information.

6. The method according to claim 1 or 2, characterized in that: The controlling the vehicle operation according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user includes: determining the actual execution torque according to the restriction coefficient and the original demand torque corresponding to the accelerator pedal triggered by the user; The vehicle operation is controlled according to the actual execution torque.

7. The method according to claim 1 or 2, characterized in that: The obtaining of the first TTC of the vehicle and the control data of the vehicle by the user includes: In response to the user turning on the torque limiting function, the first TTC and the control data are acquired.

8. A vehicle anti-collision device, characterized in that: The device comprises: An acquisition module, configured to acquire a first TTC of a vehicle and control data of the vehicle by a user, wherein the first TTC is determined based on the ADS of the vehicle and the environment information in which the vehicle is located; a determination module, configured to determine a restriction coefficient according to a second TTC, an action time of triggering an automatic emergency brake AEB, and a time interval between completion of triggering a torque limiting function and start of action of the AEB torque when the first TTC and the control data meet a preset restriction condition, wherein the second TTC is determined based on the speed information of the vehicle and the driving information of the vehicle; The control module is used to control the operation of the vehicle according to the restriction coefficient and the original required torque corresponding to the accelerator pedal triggered by the user.

9. A vehicle, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction, and when the executable instruction is executed on the anti-collision device of the vehicle / the vehicle, the anti-collision device of the vehicle / the vehicle executes the operation of the method as described in any one of claims 1-7.

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