Vehicle driving control method and device based on bidirectional detection, equipment and storage medium

Abstract

The present application relates to the technical field of automatic driving, and particularly relates to a vehicle driving control method and device based on bidirectional detection, equipment and a storage medium, the present application calculates the distance of the first two vehicles by collecting the relative distance and speed of the vehicle and the adjacent vehicles in front and behind in real time, so as to determine the current control stage of the vehicle, and according to different stages, corresponding control strategies are executed, such as adjusting the vehicle speed and the position of the current vehicle between the front and rear vehicles, and prompting lane changing when necessary, so as to maintain that the vehicle always has sufficient maneuvering range and ensure that there is sufficient speed reduction to reduce the risk of collision. The scheme significantly improves the active safety of the vehicle in a complex traffic environment, the system can identify potential collision risks in time according to the changes of the current vehicle position relationship, and take corresponding preventive measures. The scheme reduces traffic accidents caused by untimely reaction or incorrect judgment, improves the reliability of automatic driving, and effectively improves driving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a vehicle driving control method and device based on bidirectional detection, equipment and storage medium. BACKGROUND

[0002] With the continuous growth of global car ownership, road traffic safety problems have become increasingly prominent, and improving road traffic safety and reducing traffic accident rates have become a global pressing issue. In this context, the development of automotive safety technology has received unprecedented attention, especially active safety technology, which can predict and take measures to avoid or mitigate the severity of accidents before they occur.

[0003] Among many active safety technologies, automatic emergency braking systems (AEB) and adaptive cruise control (ACC) are valued for their potential to reduce rear-end collisions. These systems monitor traffic conditions in front of the vehicle and automatically control vehicle acceleration and braking to maintain a safe distance. However, existing technologies mostly focus on forward detection, i.e. only on obstacles and vehicles in front of the vehicle, while ignoring the impact of rear vehicles on driving safety. In actual driving, the approach speed and distance of the rear vehicle are also critical, especially when emergency braking is required, the dynamics of the rear vehicle will directly affect the braking strategy and safety of the vehicle.

[0004] Therefore, how to effectively integrate front and rear vehicle information to achieve comprehensive safety monitoring and vehicle control has become a technical problem that needs to be solved in the industry. SUMMARY

[0005] The main purpose of the present application is to provide a vehicle driving control method and device based on bidirectional detection, equipment and storage medium, which aims to solve the technical problem of how to effectively integrate front and rear vehicle information to achieve comprehensive safety monitoring and vehicle control in the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides a vehicle driving control method based on bidirectional detection, the method comprising the following steps:

[0007] According to the driving data of the target vehicle, the front distance between the vehicle and the front vehicle, the rear distance between the vehicle and the rear vehicle, and the collision warning distance are obtained;

[0008] According to the front distance, the rear distance and the collision warning distance, the target speed and the target position of the vehicle between the front vehicle and the rear vehicle are determined;

[0009] Control the vehicle to move to the target position and maintain the target speed when reaching the target position to maintain the braking space of the vehicle in the bidirectional clamping state.

[0010] Optionally, the obtaining the front distance, the rear distance and the collision warning distance according to the driving data of the target vehicle comprises:

[0011] obtaining the relative distance between the front adjacent vehicle and the rear adjacent vehicle;

[0012] taking the relative distance of the front adjacent vehicle as the front distance and taking the relative distance of the rear adjacent vehicle as the rear distance;

[0013] determining the brake emergency speed according to the front vehicle speed, the rear vehicle speed and the current vehicle speed;

[0014] obtaining the collision warning distance according to the brake emergency speed.

[0015] Optionally, the determining the target speed and the target position of the current vehicle before the target vehicle according to the front distance, the rear distance and the collision warning distance further comprises:

[0016] obtaining the sandwich distance according to the front distance and the rear distance;

[0017] when the sandwich distance is less than the warning activation distance, determining that the current vehicle control stage is a vehicle position centering stage;

[0018] when the sandwich distance is less than the brake redundancy distance, determining that the current vehicle control stage is a bidirectional distance regulation stage;

[0019] when the front distance is less than the collision warning distance and / or the rear distance is less than the collision warning distance, determining that the current vehicle control stage is a sandwich escaping stage.

[0020] Optionally, the method further comprises:

[0021] taking the average speed of the front vehicle speed and the rear vehicle speed as the target speed of the current vehicle;

[0022] determining the target position of the current vehicle between the front vehicle and the rear vehicle according to the front distance and the rear distance, the target position being a midpoint position formed by the front vehicle and the rear vehicle;

[0023] controlling the current vehicle to maintain at the target position, and when the current vehicle reaches the target position, controlling the real-time vehicle speed to be the same as the target speed until the vehicle control stage changes.

[0024] Optionally, after determining that the current vehicle control stage is the two-way spacing regulation stage when the clamping distance is less than the braking redundancy distance, the method further comprises:

[0025] taking the smaller one of the front vehicle speed and the rear vehicle speed as a target vehicle speed of the subject vehicle;

[0026] controlling the real-time vehicle speed to be the same as the target vehicle speed until the vehicle control stage is changed.

[0027] Optionally, the vehicle driving control method based on two-way detection further comprises:

[0028] when the subject vehicle is in the disengagement clamping stage, acquiring vehicle distribution information of a neighboring lane;

[0029] determining a lane change route according to the vehicle distribution information and a vehicle lane change condition;

[0030] completing lane change according to the lane change route to disengage from the two-way clamping state.

[0031] Optionally, before acquiring the vehicle distribution information of the neighboring lane when the vehicle control stage is the disengagement clamping stage, the method further comprises:

[0032] determining a real-time clamping distance according to a real-time front-to-rear distance and a real-time rear-to-front distance;

[0033] when the real-time clamping distance is less than the braking redundancy distance, obtaining a clamping distance change trend based on the real-time clamping distance;

[0034] obtaining a safe driving confidence of the rear vehicle according to the clamping distance change trend;

[0035] when the safe driving confidence of the rear vehicle is lower than a preset confidence threshold, generating a lane change prompt information to be displayed on a center control screen to the driver.

[0036] In addition, to achieve the above object, the application further provides a vehicle driving control device based on two-way detection, which comprises:

[0037] a vehicle information processing module, configured to obtain a front-to-rear distance between the subject vehicle and a front vehicle, a rear-to-front distance between the subject vehicle and a rear vehicle, and a collision warning distance according to driving data of a target vehicle;

[0038] the vehicle information processing module is further configured to determine a target vehicle speed and a target position of the subject vehicle between the front vehicle and the rear vehicle according to the front-to-rear distance, the rear-to-front distance, and the collision warning distance;

[0039] A vehicle control module is configured to control the host vehicle to move to the target position and maintain a target speed when reaching the target position to maintain the braking space of the host vehicle in the bidirectional sandwich state.

[0040] In addition, to achieve the above object, the application further provides a vehicle driving control device based on bidirectional detection, which comprises a memory, a processor, and a vehicle driving control program based on bidirectional detection stored in the memory and executable on the processor, and the vehicle driving control program based on bidirectional detection is configured to implement the steps of the vehicle driving control method based on bidirectional detection as described above.

[0041] In addition, to achieve the above object, the application further provides a storage medium, which stores a vehicle driving control program based on bidirectional detection, and the vehicle driving control program based on bidirectional detection implements the steps of the vehicle driving control method based on bidirectional detection as described above when executed by a processor.

[0042] The one or more technical solutions provided by the application have at least the following technical effects: the application calculates the sandwich distance formed by the first two vehicles and the braking redundancy space of the two sides by collecting the relative distance and speed of the host vehicle and the adjacent vehicles in front and behind in real time, determines the current control stage of the vehicle, and executes the corresponding control strategy according to different stages, such as adjusting the vehicle speed and the position of the current vehicle between the front and rear vehicles, and prompting to change lanes when necessary, so as to maintain sufficient maneuvering range of the vehicle at all times and ensure sufficient speed reduction to reduce the risk of collision.

[0043] In summary, the scheme significantly improves the active safety of the vehicle in a complex traffic environment, the system can identify potential collision risks in time according to the changes of the current vehicle position relationship, and take corresponding preventive measures, thereby reducing traffic accidents caused by untimely response or incorrect judgment, improving the reliability of automatic driving, and effectively improving driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the application and, together with the specification, serve to explain the principles of the application.

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0046] Figure 1Flowchart of the first embodiment of the vehicle driving control method based on bidirectional detection of the present application;

[0047] Figure 2 Scenario diagram of the first embodiment of the vehicle driving control method based on bidirectional detection of the present application;

[0048] Figure 3 Flowchart of the second embodiment of the vehicle driving control method based on bidirectional detection of the present application;

[0049] Figure 4 Flowchart of the third embodiment of the vehicle driving control method based on bidirectional detection of the present application;

[0050] Figure 5 Structure block diagram of the first embodiment of the vehicle driving control device based on bidirectional detection of the present application;

[0051] Figure 6 Structure diagram of the vehicle driving control device based on bidirectional detection of the present application related to the hardware running environment of the embodiment scheme.

[0052] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and are not intended to limit the present application.

[0054] In order to better understand the technical solutions of the present application, the specific embodiments will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] The main solution of the embodiment of the present application is: obtaining bidirectional early warning reference data according to the driving data of the target vehicle; determining the vehicle position control stage according to the bidirectional early warning reference data; and executing a preset vehicle control scheme according to the vehicle position control stage to maintain the maneuvering range of the vehicle.

[0056] Currently, among many active safety technologies, automatic emergency braking system (AEB) and adaptive cruise control (ACC) and other technologies are valued for their potential in reducing rear-end accidents. These systems monitor the traffic conditions in front of the vehicle, automatically control the acceleration and braking of the vehicle to maintain a safe distance. However, the existing technology is mostly focused on forward detection, that is, only the obstacles and vehicles in front of the vehicle are concerned, while the influence of the rear vehicle on driving safety is ignored. In actual driving, the approach speed and distance of the rear vehicle are also critical, especially when emergency braking is needed, the dynamics of the rear vehicle will directly affect the braking strategy and safety of the vehicle. Therefore, how to effectively integrate the front and rear vehicle information to realize all-round safety monitoring and vehicle control is a technical problem that needs to be solved at present.

[0057] The present application calculates the sandwich distance formed by the front two vehicles by collecting the relative distance and speed of the front and rear adjacent vehicles in real time, to determine the current control stage of the vehicle, and according to different stages, the corresponding control strategy is executed, such as adjusting the vehicle speed and the position of the current vehicle between the front and rear vehicles, and prompting to change lanes when necessary, so as to maintain the vehicle always has enough maneuvering range, and ensure enough speed reduction to reduce the risk of collision.

[0058] It should be noted that the execution subject of the present application can be a vehicle driving control device based on bidirectional detection, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a heat management device of a vehicle driving control device based on bidirectional detection capable of realizing the above functions, etc. The present embodiment does not make specific limitation thereto. The following will take the vehicle driving control device based on bidirectional detection as the execution subject as an example to describe the present embodiment and each of the following embodiments.

[0059] Based on this, the embodiment of the present application provides a vehicle driving control method based on bidirectional detection, referring to Figure 1 , Figure 1 The flowchart of a first embodiment of a vehicle driving control method based on bidirectional detection of the present application is shown in the figure.

[0060] In the present embodiment, the vehicle driving control method based on bidirectional detection comprises:

[0061] Step S10: According to the driving data of the target vehicle, the front distance between the vehicle and the front vehicle, the rear distance between the vehicle and the rear vehicle, and the collision warning distance are obtained.

[0062] It should be noted that the technical idea of the present application needs to be explained first. Since the control ability of the vehicle system is limited in the process of automatic driving and constant speed cruise, the process of triggering automatic emergency braking in the conventional vehicle is often based on the distance and speed of the nearest front vehicle as the triggering condition. However, considering that if the distance between the rear vehicle and the vehicle is close, the system will trigger braking, which will easily cause the rear vehicle to rear-end. Therefore, the national standard allows the automatic braking system to have a certain upper limit of braking effect, for example, the braking speed reduction of the AEB system is usually limited within a certain range, such as 40-50kph, which will cause that even if the emergency braking is triggered, the braking force is not enough to cause a collision with the front vehicle. In short, if the system identifies that there is a vehicle behind, once the reserved maneuvering range is insufficient, it will easily cause the upper limit of the braking speed reduction to be insufficient. Therefore, the present application no longer uses only the motion parameters of the front vehicle as the only triggering condition of the AEB system, but introduces the detection and judgment of the rear vehicle to achieve more comprehensive safety control. The technical idea of the present application is to increase the real-time monitoring of the distance and speed of the rear vehicle on the basis of the traditional front AEB system, so as to consider the state of the front and rear vehicles in the emergency braking decision.

[0063] It can be understood that the prerequisite for triggering bidirectional detection is that there are vehicles in front and behind the vehicle in the current lane. When there is only a vehicle in one direction, the vehicle control related content of the present embodiment is not met. When the scene conditions of the present method are met, at least one of the front and rear vehicles will approach the distance of the vehicle, which will form a pincer on the vehicle. The pincer distance formed by the front and rear vehicles can be determined by the vehicle sensing system. With the change of the pincer distance, the vehicle control stage of the vehicle is also different. In addition to the pincer distance, whether the front and rear vehicles enter the collision warning range of the vehicle is also an important factor.

[0064] It should be understood that the collision warning distance is generally related to the safe braking distance of the preceding vehicle and the vehicle, and when the speed of the preceding vehicle is instantaneously zero, the safe braking distance required for the vehicle to start braking until it stops, and the forward collision warning distance is 1.1~1.3 times the safe braking distance. Such setting can still have a certain redundancy even if the personnel is not timely, and for the same reason, the rear collision warning distance is related to the safe braking distance of the rear and the vehicle, and when the speed of the vehicle is instantaneously zero, the rear collision warning distance is 1.1~1.3 times the safe braking distance. The multiple can be adjusted according to specific needs. In addition, during this process, the braking level of the vehicle is assumed to be the average level of passenger cars, that is, according to the standard of “Passenger Car Automatic Emergency Braking System (AEBS) Performance Requirements and Test Methods” GB / T 39901-2021, the braking distance at a speed of 100 kilometers per hour is at least 96.39m. Since the calculation of this braking distance is related to the relative speed, in order to simplify the operation, the safe braking distance calculated by the maximum speed value among the vehicle, the preceding vehicle and the following vehicle is used as the safe distance in both directions, and then the preset multiple is used to calculate the corresponding forward collision warning distance and rear collision warning distance.

[0065] In an embodiment, the obtaining, according to the driving data of the target vehicle, of the forward distance between the vehicle and the preceding vehicle, the rear distance between the vehicle and the following vehicle, and the collision warning distance comprises: obtaining the relative distance between the vehicle and the adjacent vehicle in front and the speed of the preceding vehicle, and the relative distance between the vehicle and the adjacent vehicle behind and the speed of the following vehicle; taking the relative distance of the adjacent vehicle in front as the forward distance, and taking the relative distance of the adjacent vehicle behind as the rear distance; determining the braking emergency stop speed according to the speed of the preceding vehicle, the speed of the following vehicle and the speed of the vehicle; and obtaining the collision warning distance according to the braking emergency stop speed.

[0066] Step S20: determining the target speed and target position of the vehicle between the preceding vehicle and the following vehicle according to the forward distance, the rear distance and the collision warning distance.

[0067] It should be noted that during normal driving, if there is only one adjacent vehicle on one side, the automated driving system allows the vehicle to maintain following contact with the preceding vehicle or be followed by the following vehicle within the two-way collision warning distance. Simultaneously, the vehicle detects vehicles in both directions within its lane in real time. When vehicles are detected in both the forward and backward directions within the detection limit, the vehicle control program for the two-way warning enters a pre-activated state. At this point, the resulting sandwich distance will exceed the warning activation distance, which is generally between 240 and 300 meters. In other words, the vehicle control program will not activate until the sandwich distance exceeds this value and there are no vehicles within the two-way collision warning distance before the sandwich occurs. Only when the sandwich distance between the preceding and following vehicles falls below the warning activation distance does the vehicle control program begin adjusting the vehicle's position to meet the two-way maneuvering range. If the maneuvering range is further compressed due to acceleration of the following vehicle or deceleration of the preceding vehicle, the vehicle prioritizes ensuring that no vehicles enter the collision warning zone in both directions, adjusting its driving data based on the position and speed of the vehicles on either side.

[0068] It should be noted that if Figure 2 As shown, Figure 2 This is a scene diagram of the first embodiment of the vehicle driving control method based on two-way detection of the present invention. As can be seen from the figure, the clamping distance in the figure changes with the position of the vehicle, and there will be three stages: the clamping distance is greater than the warning activation distance, the clamping distance is less than the warning activation distance but greater than the braking redundancy distance, and the clamping distance is less than the braking redundancy distance and both the front and rear vehicles have not entered the two-way collision warning distance. Among them, when the clamping distance is greater than the warning activation distance, it can be regarded as not triggering the two-way warning, which will not be elaborated here. When the clamping distance is less than the warning activation distance but greater than the braking redundancy distance, the vehicle tries to maintain the midpoint position between the front and rear vehicles, and maintains the current vehicle speed at the midpoint position at the average speed of the front and rear vehicles. Through simple kinematic analysis, it can be seen that maintaining the average speed of the two vehicles at the midpoint of the two vehicles can enable the current vehicle to maintain a balanced distance with the vehicles on both sides without complex control calculations.

[0069] In one embodiment, before determining the target speed and target position of the vehicle between the leading vehicle and the trailing vehicle based on the forward spacing, the rearward spacing, and the collision warning distance, the method further includes: obtaining a clamping distance based on the forward spacing and the rearward spacing; when the clamping distance is less than the warning activation distance, determining that the current vehicle control stage is the vehicle position centering stage; when the clamping distance is less than the braking redundancy distance, determining that the current vehicle control stage is the two-way spacing regulation stage; when the forward vehicle distance is less than the collision warning distance and / or the rearward vehicle distance is less than the collision warning distance, determining that the current vehicle control stage is the escape from the clamping stage.

[0070] It should be understood that the forward collision warning distance and the rear collision warning distance together with the vehicle form a two-way warning area with sufficient maneuvering range. When any one vehicle appears in the area and the clamping distance is less than the braking redundancy distance, considering the case where there are vehicles in both directions, adjusting the position in the clamping range will further compress the maneuvering space, so it will be more inclined to remind the driver to complete the lane change to the adjacent lane.

[0071] Step S30: controlling the host vehicle to move to the target position and maintain the target vehicle speed when reaching the target position to maintain the braking space of the host vehicle in the two-way clamping state.

[0072] It should be noted that when the clamping distance is less than the warning activation distance, the vehicle control phase is the vehicle position centering phase, at which time the vehicle needs to be maintained in the middle position between the two vehicles, so the target position is the midpoint of the line connecting the two vehicles and is maintained at this position. Through kinematic analysis, when the host vehicle is already at the midpoint, the vehicle speed can be maintained at the average of the speeds of the two vehicles to maintain the midpoint position unchanged. Under the premise that the vehicle control phase does not change, the vehicle can always maintain sufficient maneuvering distance with the two sides, and the upper limit of the automatic driving control system can also be increased accordingly.

[0073] It can be understood that when the clamping distance is further reduced to less than the braking redundancy distance, it is determined that the current vehicle control phase is the two-way spacing control phase. In this phase, the host vehicle is not limited to adjusting its own position to meet the two-way maneuvering range, but actively controls the speed or spacing to indirectly guide the rear vehicle to slow down, thereby widening the clamping distance formed by the front and rear vehicles. For example, when the current vehicle speed is faster than the rear vehicle speed, the host vehicle speed is reduced to the rear vehicle speed or lower. At this time, the rear vehicle will slow down in the case of reduced spacing due to rational driving, and after a period of time, the clamping distance formed by the front and rear vehicles will be widened. After the distance is widened to a certain value, the host vehicle increases the speed to return to the relatively safe intermediate position between the two vehicles, which can ensure that the front and rear vehicles have a large safety distance and can use a relatively high upper limit speed reduction in emergency situations. On the other hand, if the rear vehicle does not respond or responds insufficiently after the guiding process, that is, the rear vehicle does not follow the speed reduction or enters the rear collision warning range under the conscious guidance of the host vehicle, it is considered that the rear vehicle has low credibility in maintaining safe behavior between the two vehicles, and there is a certain risk in the front and rear clamping situation. Therefore, the driver is prompted to change lanes.

[0074] It should be understood that dynamically adjusting the target point and target speed of the vehicle according to different vehicle control stages can make the vehicle have certain active safety performance, can make the vehicle always have sufficient braking distance in both directions, so that the vehicle has more maneuvering range, and the vehicle can unlock higher speed reduction in the process of lane changing, speed changing and braking, so that path planning and other behaviors will be more flexible.

[0075] The embodiment calculates the sandwich distance formed by the first two vehicles by collecting the relative distance and speed of the vehicle and the adjacent front and rear vehicles in real time, determines the current control stage of the vehicle, and executes corresponding control strategies according to different stages, such as adjusting the speed and the position of the current vehicle between the front and rear vehicles, and prompting lane changing when necessary, so as to maintain the vehicle always having sufficient maneuvering range and ensure sufficient speed reduction to reduce the risk of collision.

[0076] In summary, the embodiment can identify potential collision risks in time according to the change of the current vehicle position relationship, and take corresponding preventive measures. The traffic accidents caused by untimely reaction or wrong judgment are reduced, the reliability of automatic driving is improved, and the driving safety is effectively improved.

[0077] Based on the first embodiment of the present application, the same or similar contents as the above embodiment one can be referred to the above introduction, and will not be described in detail. On this basis, please refer to Figure 3 , the step S30 comprises:

[0078] Step S301: When the vehicle control stage is the vehicle position centering stage, the front vehicle speed, the rear vehicle speed, the front vehicle distance and the rear vehicle distance are obtained.

[0079] It should be noted that when the vehicle control stage is the vehicle position centering stage, the sandwich distance formed by the vehicles in both directions is less than the pre-warning activation distance but greater than the braking redundancy distance, that is, the vehicle can still have sufficient maneuvering range by adjusting the position between the two vehicles and the speed.

[0080] Step S302: The average speed of the front vehicle speed and the rear vehicle speed is taken as the target speed of the vehicle.

[0081] It should be noted that in this stage, the running target of the vehicle has two, one is to control the vehicle to be at the midpoint position of the two vehicles to leave sufficient braking distance for both directions, and the other is to maintain the midpoint position when the movement state of the vehicles in both directions changes.

[0082] Step S303: determining a target position of the host vehicle between the front vehicle and the rear vehicle according to the front distance and the rear distance, the target position being a midpoint position formed by the front vehicle and the rear vehicle.

[0083] It can be understood that the first target implementation is relatively simple. If the midpoint is in front of the host vehicle, the host vehicle can reach the position by slightly increasing the speed. If the midpoint is behind the host vehicle, the same rule applies. After the host vehicle reaches the midpoint, if the speed of the host vehicle can be maintained at the average speed of the front vehicle and the rear vehicle, it can be found through kinematics calculation that the host vehicle can be maintained at the midpoint position between the front vehicle and the rear vehicle by driving at the speed.

[0084] Step S304: controlling the host vehicle to maintain at the target position based on a bidirectional distance control strategy, and controlling the real-time speed to be the same as the target speed when the host vehicle reaches the target position, until the vehicle control stage is changed.

[0085] It should be noted that, under the speed control strategy, the host vehicle can be maintained at the midpoint position between the front vehicle and the rear vehicle for a long time, but the sandwich distance formed by the front vehicle and the rear vehicle is still uncontrollable, and thus the vehicle position centering stage will be switched to the bidirectional distance regulation stage or the bidirectional early warning stage at a certain time point.

[0086] In an embodiment, the determining of the target speed in the bidirectional sandwich state according to the vehicle control stage further includes: when the vehicle control stage is the bidirectional distance regulation stage, acquiring the speed of the front vehicle and the speed of the rear vehicle; taking the smaller speed of the front vehicle and the rear vehicle as the target speed of the host vehicle; and controlling the real-time speed to be the same as the target speed until the vehicle control stage is changed.

[0087] In the embodiment, when the vehicle control stage is the vehicle position centering stage, the speed of the front vehicle, the speed of the rear vehicle, the front distance and the rear distance are acquired; the average speed of the front vehicle and the rear vehicle is taken as the target speed of the host vehicle; the target position of the host vehicle between the front vehicle and the rear vehicle is determined according to the front distance and the rear distance, the target position being a midpoint position formed by the front vehicle and the rear vehicle; the host vehicle is controlled to maintain at the target position based on a bidirectional distance control strategy, and the real-time speed is controlled to be the same as the target speed when the host vehicle reaches the target position; when the vehicle control stage is the bidirectional distance regulation stage, the speed of the front vehicle and the speed of the rear vehicle are acquired; the smaller speed of the front vehicle and the rear vehicle is taken as the target speed of the host vehicle; and the real-time speed is controlled to be the same as the target speed until the vehicle control stage is changed.

[0088] To sum up, the embodiment improves driving safety by intelligently controlling the position and speed of the vehicle between two vehicles. In the vehicle position centering stage, the system sets the target vehicle speed by calculating the average of the speeds of the front and rear vehicles and adjusts the vehicle to the midpoint position between the two vehicles to maintain stable driving. In the two-way spacing regulation stage, the system selects a smaller vehicle speed as the target speed to guide the rear vehicle to slow down synchronously to proactively seek the possibility of expanding the maneuvering range. Overall, this method not only improves driving comfort and energy efficiency, but also enhances the adaptability of the vehicle to different traffic conditions, providing a new solution for the development of autonomous driving technology.

[0089] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as the above-mentioned first embodiment can be referred to the above introduction, and the subsequent will not be described in detail. On this basis, please refer to Figure 4 , after step S30, further comprising:

[0090] Step S401: When the front vehicle distance is less than the collision warning distance and / or the rear vehicle distance is less than the collision warning distance, it is determined that the current vehicle control stage is the escape from the sandwich stage.

[0091] It can be understood that, since the change of the whole vehicle control stage is continuous, the escape from the sandwich stage must be transformed from the two-way spacing regulation stage, and in the two-way spacing regulation stage, the vehicle speed always follows the smaller speed of the front and rear vehicles, so this situation must be that the rear vehicle accelerates sharply or the front vehicle decelerates sharply, causing the vehicle speed to fail to follow in time, resulting in the front vehicle distance being less than the collision warning distance or the rear vehicle distance being less than the collision warning distance.

[0092] Step S402: When the vehicle control stage is the escape from the sandwich stage, the vehicle distribution information of the adjacent lane is obtained.

[0093] It should be noted that the vehicle distribution information of the adjacent lane refers to the position information and speed information of the vehicles within a certain distance in the adjacent lane that can change lanes, by which the degree of traffic congestion of the adjacent lane can be judged, in addition to the physical boundaries or markings of the lane, which will ensure that lane changing does not violate traffic rules. By integrating these information, the autonomous driving system can evaluate the safety and necessity of lane changing and plan and execute lane changing operation under the premise of safety to avoid collision.

[0094] Step S403: According to the vehicle distribution information and the vehicle lane changing condition, the lane changing route is determined.

[0095] It should be noted that the collected data is analyzed and combined with traffic rules and safety standards to plan a safe lane changing path. Through comprehensive evaluation of the current state of the vehicle, surrounding traffic conditions and expected behavior, the system uses algorithms such as path planning algorithms and decision trees to predict the future positions of surrounding vehicles and evaluate the safety and efficiency of different lane changing strategies. This step not only needs to consider the instantaneous vehicle distribution information, but also needs to predict the dynamic changes of vehicles, including possible acceleration, deceleration and lane changing behavior. The system will evaluate the risk of each potential lane changing path, including the relative speed and distance of adjacent lane vehicles, and the blind area that may appear during lane changing.

[0096] It should be understood that during the process of determining the lane changing route, the system also considers the geometric characteristics of the road, such as lane width, road surface condition, curve radius, etc., as well as traffic signals and signs, to ensure that the lane changing operation complies with traffic regulations while maximizing ride comfort and fuel efficiency. In addition, sufficient safety margin needs to be reserved to deal with unpredictable emergencies such as sudden vehicle cutting or pedestrian crossing.

[0097] Step S404: Complete lane changing according to the lane changing route to escape from the bidirectional sandwich state.

[0098] In this embodiment, the vehicle distribution information of the adjacent lane is obtained when the vehicle control phase is in the escape sandwich phase, the lane changing route is determined according to the vehicle distribution information and the vehicle lane changing condition, and the lane changing is completed according to the lane changing route to escape from the bidirectional sandwich state.

[0099] In summary, the embodiment actively escapes from the sandwich state of the current lane in the scenario of bidirectional vehicle sandwich, thereby achieving the goal of improving driving safety and efficiency. By intelligently analyzing the vehicle distribution information of the adjacent lane, the system can safely plan and execute lane changing, avoiding potential collision risks while maintaining the smoothness and comfort of vehicle driving. This method not only reduces traffic accidents caused by emergency braking or unexpected situations, but also improves the level of driving automation, providing a more reliable and comfortable driving experience for drivers. In addition, by optimizing lane selection and vehicle path, this embodiment helps to alleviate traffic congestion and improve overall traffic flow, demonstrating the important role and potential value of autonomous driving technology in modern traffic systems.

[0100] The application also provides a vehicle driving control device based on bidirectional detection, please refer to Figure 5 , the vehicle driving control device based on bidirectional detection comprises:

[0101] The vehicle information processing module 10 is configured to obtain the front distance between the target vehicle and the front vehicle, the rear distance between the target vehicle and the rear vehicle, and the collision warning distance according to the driving data of the target vehicle.

[0102] The vehicle information processing module 10 is further configured to determine a target vehicle speed and a target position of the ego vehicle between the front vehicle and the rear vehicle according to the front distance, the rear distance, and the collision warning distance.

[0103] The vehicle control module 20 is configured to control the ego vehicle to move to the target position and maintain the target vehicle speed when the ego vehicle reaches the target position, so as to maintain the braking space of the ego vehicle in the two-way sandwich state.

[0104] In an embodiment, the vehicle information processing module 10 is further configured to obtain a relative distance between the ego vehicle and a front adjacent vehicle in a current lane and a speed of the front vehicle, and a relative distance between the ego vehicle and a rear adjacent vehicle and a speed of the rear vehicle; take the relative distance of the front adjacent vehicle as the front distance, and take the relative distance of the rear adjacent vehicle as the rear distance; determine a braking emergency stop speed according to the speed of the front vehicle, the speed of the rear vehicle, and a speed of the ego vehicle; and obtain the collision warning distance according to the braking emergency stop speed.

[0105] In an embodiment, the vehicle information processing module 10 is further configured to obtain a sandwich distance according to the front distance and the rear distance; determine that a current vehicle control stage is a vehicle position centering stage when the sandwich distance is less than a warning activation distance; determine that the current vehicle control stage is a two-way distance regulation stage when the sandwich distance is less than a braking redundancy distance; and determine that the current vehicle control stage is an out-of-sandwich stage when the front distance is less than the collision warning distance and / or the rear distance is less than the collision warning distance.

[0106] In an embodiment, the vehicle control module 20 is further configured to take an average speed of the speed of the front vehicle and the speed of the rear vehicle as a target speed of the ego vehicle; determine a target position of the ego vehicle between the front vehicle and the rear vehicle according to the front distance and the rear distance, the target position being a midpoint position formed by the front vehicle and the rear vehicle; and control the ego vehicle to maintain at the target position, and control a real-time speed to be the same as the target speed when the ego vehicle reaches the target position, until the vehicle control stage changes.

[0107] In an embodiment, the vehicle control module 20 is further configured to take a smaller speed of the speed of the front vehicle and the speed of the rear vehicle as a target speed of the ego vehicle; and control a real-time speed to be the same as the target speed, until the vehicle control stage changes.

[0108] In an embodiment, the vehicle control module 20 is further configured to, when the current vehicle is in the disengagement stage, acquire vehicle distribution information of the adjacent lane; determine a lane change route according to the vehicle distribution information and a vehicle lane change condition; and complete lane change according to the lane change route to disengage from the two-way sandwich state.

[0109] In an embodiment, the vehicle information processing module 10 is further configured to determine a real-time sandwich distance according to the real-time forward distance and the real-time backward distance; when the real-time sandwich distance is less than a braking redundancy distance, obtain a sandwich distance change trend based on the real-time sandwich distance; obtain a safe driving confidence of the rear vehicle according to the sandwich distance change trend; and when the safe driving confidence of the rear vehicle is lower than a preset confidence threshold, generate a lane change prompt information and display the lane change prompt information on a center control screen to the driver.

[0110] The embodiment calculates the sandwich distance formed by the first two vehicles by collecting the relative distance and speed of the current vehicle and the adjacent front and rear vehicles in real time, determines the current control stage of the vehicle, and executes corresponding control strategies according to different stages, such as adjusting the speed of the current vehicle and the position of the current vehicle between the front and rear vehicles, and prompting lane change when necessary, so as to maintain sufficient maneuvering range of the vehicle at all times and ensure sufficient speed reduction to reduce the risk of collision. The scheme significantly improves the active safety of the vehicle in a complex traffic environment, the system can identify potential collision risks in time according to the change of the current vehicle position relationship, and take corresponding preventive measures. The scheme reduces traffic accidents caused by untimely reaction or incorrect judgment, improves the reliability of automatic driving, and effectively improves driving safety.

[0111] The vehicle driving control device based on two-way detection provided in the application adopts the vehicle driving control method based on two-way detection in the above embodiment, and can solve the technical problem of how to effectively integrate front and rear vehicle information to realize omnidirectional safety monitoring and vehicle control. Compared with the prior art, the vehicle driving control device based on two-way detection provided in the application has the same beneficial effects as the vehicle driving control method based on two-way detection provided in the above embodiment, and other technical features of the vehicle driving control device based on two-way detection are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0112] The application provides a vehicle driving control device based on two-way detection, which comprises at least one processor and a memory in communication connection with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle driving control method based on two-way detection in the above embodiment.

[0113] The following will be described with reference toFigure 6 , which shows a schematic structural diagram of a vehicle driving control device based on bidirectional detection suitable for implementing an embodiment of the present application. The vehicle driving control device based on bidirectional detection in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The vehicle driving control device based on bidirectional detection shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0114] like Figure 6 As shown, the vehicle travel control device based on bidirectional detection may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the vehicle travel control device based on bidirectional detection. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. Communication devices 1009 can allow the bidirectional detection-based vehicle travel control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a bidirectional detection-based vehicle travel control device with various systems, it should be understood that implementation or presence of all the illustrated systems is not required. More or fewer systems may alternatively be implemented or present.

[0115] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiments disclosed in the present application are executed.

[0116] The vehicle driving control device based on bidirectional detection provided in the present application adopts the vehicle driving control method based on bidirectional detection in the above-mentioned embodiments, and can solve the technical problem of how to effectively integrate front and rear vehicle information to realize omnidirectional safety monitoring and vehicle control. Compared with the prior art, the vehicle driving control device based on bidirectional detection provided in the present application has the same beneficial effects as the vehicle driving control method based on bidirectional detection provided in the above-mentioned embodiments, and other technical features in the vehicle driving control device based on bidirectional detection are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0117] It should be understood that various parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above-mentioned embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0118] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0119] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer program) for executing the vehicle driving control method based on bidirectional detection in the above-mentioned embodiments.

[0120] The computer readable storage medium provided in the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any suitable combination of the above.

[0121] The above computer readable storage medium can be included in the vehicle driving control device based on bidirectional detection, or can exist separately without being assembled into the vehicle driving control device based on bidirectional detection.

[0122] The above computer readable storage medium carries one or more programs, which, when executed by the vehicle driving control device based on bidirectional detection, cause the vehicle driving control device based on bidirectional detection to perform vehicle driving control based on bidirectional detection.

[0123] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0124] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0125] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0126] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle driving control method based on bidirectional detection, and can solve the technical problem of how to effectively integrate front and rear vehicle information to realize omnidirectional safety monitoring and vehicle control. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the vehicle driving control method based on bidirectional detection provided by the above-mentioned embodiments, and will not be described here.

[0127] The computer program product provided in the application can solve the technical problem of vehicle driving control based on bidirectional detection. Compared with the prior art, the beneficial effects of the computer program product provided in the application are the same as those of the vehicle driving control method based on bidirectional detection provided in the above-mentioned embodiments, and are not described here.

[0128] The above-mentioned is only part of the embodiments of the application, and does not limit the patent scope of the application. Any equivalent structural transformation, direct / indirect application in other related technical fields based on the technical concept of the application, or the content of the specification and drawings of the application are included in the patent protection scope of the application.

Claims

1. A vehicle driving control method based on bidirectional detection, characterized in that: The vehicle driving control method based on bidirectional detection includes: Based on the target vehicle's driving data, the forward distance between the vehicle and the preceding vehicle, the rearward distance between the vehicle and the following vehicle, and the collision warning distance are obtained; determining a target speed and a target position of the vehicle between the preceding vehicle and the following vehicle based on the forward spacing, the rearward spacing, and the collision warning distance; Controlling the vehicle to move to the target position and maintaining the target speed upon reaching the target position to maintain braking space for the vehicle in the two-way clamping state; The vehicle driving control method based on bidirectional detection further includes: When the current vehicle is in the phase of escaping from the double-teaming, obtain the vehicle distribution information of the adjacent lanes; determining a lane change route based on the vehicle distribution information and vehicle lane change conditions; Complete the lane change according to the lane change route to escape the two-way double-team situation; Before obtaining the vehicle distribution information of the adjacent lanes when the current vehicle is in the escape phase, the method further includes: Determine the real-time encirclement distance based on the real-time forward vehicle distance and the real-time backward vehicle distance; When the real-time clamping distance is less than the braking redundancy distance, obtaining a clamping distance change trend based on the real-time clamping distance; According to the change trend of the encirclement distance, a safety driving confidence level of the following vehicle is obtained; When the safety driving confidence level of the following vehicle is lower than a preset confidence threshold, a lane change prompt message is generated and displayed to the driver on the central control screen.

2. The vehicle driving control method based on bidirectional detection according to claim 1, characterized in that: The method of obtaining the forward distance between the vehicle and the preceding vehicle, the rearward distance between the vehicle and the following vehicle, and the collision warning distance based on the target vehicle's driving data includes: Obtain the relative distance between the vehicle and the adjacent vehicle in front and the speed of the adjacent vehicle in front, as well as the relative distance between the vehicle and the adjacent vehicle behind and the speed of the adjacent vehicle behind in the current lane; The relative distance between the front adjacent vehicles is used as the forward spacing, and the relative distance between the rear adjacent vehicles is used as the rearward spacing; Determining an emergency braking speed according to the speed of the preceding vehicle, the speed of the following vehicle, and the speed of the own vehicle; The collision warning distance is obtained according to the sudden stop braking speed.

3. The vehicle driving control method based on bidirectional detection according to claim 1, characterized in that: Before determining the target speed and target position of the vehicle between the preceding vehicle and the following vehicle based on the forward spacing, the rearward spacing, and the collision warning distance, the method further includes: Obtaining a clamping distance according to the forward spacing and the backward spacing; When the encirclement distance is less than the warning activation distance, determining that the current vehicle control stage is the vehicle centering stage; When the clamping distance is less than the braking redundancy distance, determining that the current vehicle control stage is a two-way distance control stage; When the forward vehicle distance is less than the collision warning distance and / or the backward vehicle distance is less than the collision warning distance, it is determined that the current vehicle control stage is a phase of escaping from the encirclement.

4. The vehicle driving control method based on bidirectional detection according to claim 3, characterized in that: When the clamping distance is less than the warning activation distance, after determining that the current vehicle control stage is the vehicle position centering stage, the method further includes: The average speed of the preceding vehicle and the following vehicle is taken as the target speed of the vehicle; Determining a target position of the vehicle between the preceding vehicle and the following vehicle based on the preceding vehicle distance and the following vehicle distance, wherein the target position is a midpoint between the preceding vehicle and the following vehicle; Based on the two-way distance control strategy, the vehicle is controlled to maintain at the target position. When the vehicle reaches the target position, the real-time vehicle speed is controlled to be the same as the target vehicle speed until the vehicle control stage changes.

5. The vehicle driving control method based on bidirectional detection according to claim 3, characterized in that: When the clamping distance is less than the braking redundancy distance, after determining that the current vehicle control stage is the two-way distance control stage, the method further includes: The smaller of the speed of the preceding vehicle and the speed of the following vehicle is used as the target speed of the vehicle; The real-time vehicle speed is controlled to be the same as the target vehicle speed until the vehicle control stage changes.

6. A vehicle driving control device based on bidirectional detection, characterized in that: The vehicle driving control device based on bidirectional detection includes: The vehicle information processing module is used to obtain the forward distance between the vehicle in front, the rearward distance between the vehicle in front, and the collision warning distance based on the driving data of the target vehicle; The vehicle information processing module is further configured to determine a target speed and a target position of the vehicle between the preceding vehicle and the following vehicle based on the forward spacing, the rearward spacing, and the collision warning distance; a vehicle control module, configured to control the vehicle to move to the target position and maintain a target speed upon reaching the target position, so as to maintain braking space for the vehicle in a two-way clamping state; The vehicle information processing module is further configured to determine a real-time encirclement distance based on the real-time forward vehicle distance and the real-time rearward vehicle distance; when the real-time encirclement distance is less than the braking redundancy distance, obtain a trend of changes in the encirclement distance based on the real-time encirclement distance; obtain a safe driving confidence level of the following vehicle based on the trend of changes in the encirclement distance; and when the safe driving confidence level of the following vehicle is less than a preset confidence threshold, determine that the current vehicle is in a stage of escaping the encirclement, and generate a lane change prompt message for display to the driver on the central control screen; The vehicle control module is further configured to obtain vehicle distribution information of adjacent lanes when the current vehicle is in the phase of escaping from a double-entanglement; determine a lane change route based on the vehicle distribution information and vehicle lane change conditions; and complete a lane change according to the lane change route to escape from a two-way double-entanglement state.

7. A vehicle driving control device based on bidirectional detection, characterized in that: The vehicle driving control device based on two-way detection includes: a memory, a processor, and a vehicle driving control program based on two-way detection stored on the memory and executable on the processor. The vehicle driving control program based on two-way detection is configured to implement the steps of the vehicle driving control method based on two-way detection as described in any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a vehicle driving control program based on bidirectional detection, and when the vehicle driving control program based on bidirectional detection is executed by the processor, the steps of the vehicle driving control method based on bidirectional detection as described in any one of claims 1 to 5 are implemented.

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