Vehicle control method, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle control method, electronic equipment and a vehicle, the method comprises the following steps: in response to a situation that a vehicle in front of a current vehicle is a target type vehicle, obtaining first relative motion information between the current vehicle and the front vehicle, and according to the first relative motion information, determining a target type of vehicle in front of the current vehicle; determining the collision time of the front vehicle; identifying a rear area of the current vehicle to obtain a rear vehicle existence result; and controlling the current vehicle to execute speed change operation or lane change operation according to the existence result of the rear vehicle, the collision time of the front vehicle, the preset safety time of the front vehicle and the vehicle condition information of the adjacent lane corresponding to the current vehicle. According to the technical scheme, under the condition that the front vehicle is the target type vehicle, by combining the existence result of the rear vehicle and the vehicle condition information analysis of the adjacent lane, the target type vehicle is avoided in a speed change or lane change mode, collision is avoided, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, electronic equipment and a vehicle. Background Art

[0002] Due to the large size and mass of medium and large vehicles, there are visual blind spots when medium and large vehicles are driving. It is not easy for medium and large vehicles to change their motion state. For example, the braking time is longer than that of small vehicles. In addition, medium and large vehicles transporting goods may also drop goods. Moreover, if they collide with medium and large vehicles, it will cause particularly serious injuries. Therefore, during driving, you should avoid medium and large vehicles to improve driving safety.

[0003] At present, there are relatively few avoidance control methods for medium and large vehicles. Most of them usually combine the blind spots of the vehicles to determine whether to avoid, and the calculation process and processing process are complicated. Summary of the invention

[0004] In view of this, the purpose of the present application is to propose a vehicle control method, an electronic device and a vehicle to solve the problem of poor driving safety when the vehicle ahead is a medium or large vehicle.

[0005] Based on the above purpose, the present application provides a vehicle control method, the method comprising:

[0006] In response to a vehicle ahead of the current vehicle being a target type vehicle, obtaining first relative motion information between the current vehicle and the ahead vehicle, and determining a ahead vehicle collision time according to the first relative motion information;

[0007] Identify the rear area of ​​the current vehicle and obtain a result indicating the presence of the rear vehicle;

[0008] The current vehicle is controlled to perform a speed change operation or a lane change operation according to the existence result of the rear vehicle, the collision time of the front vehicle, the preset front vehicle safety time and the vehicle condition information of the adjacent lane corresponding to the current vehicle.

[0009] Based on the above purpose, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a vehicle control method as provided in any embodiment of the present application is implemented.

[0010] Based on the above purpose, the present application also provides a vehicle, which includes an electronic device provided in any embodiment of the present application.

[0011] As can be seen from the above, the vehicle control method provided by the present application obtains the first relative motion information between the current vehicle and the vehicle in front in response to the vehicle in front of the current vehicle being a target type vehicle, and determines the front vehicle collision time based on the first relative motion information, so as to judge whether it is safe to drive with the target type vehicle in front, and then identifies the rear area of ​​the current vehicle to obtain the result of the existence of the rear vehicle, and controls the current vehicle to perform a speed change operation or a lane change operation based on the result of the existence of the rear vehicle, the collision time of the front vehicle, the preset front vehicle safety time and the vehicle condition information of the adjacent lane corresponding to the current vehicle, so that when the vehicle in front is a target type vehicle, real-time analysis is performed in combination with the result of the existence of the rear vehicle and the vehicle condition information of the adjacent lane, and speed change or lane change is adopted to avoid collision with the target type vehicle in front and try to avoid the target type vehicle, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0014] Figure 2 A flowchart of another vehicle control method provided in an embodiment of the present application;

[0015] Figure 3 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0016] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0018] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0019] Figure 1 This is a flow chart of a vehicle control method provided in an embodiment of the present application, which is applicable to the situation where, when a vehicle is driving and recognizes that the vehicle ahead is a target type vehicle, it changes lanes or speeds in time to ensure driving safety. This method can be configured in an electronic device. Figure 1 As shown, the method may specifically include the following steps:

[0020] S110. In response to a vehicle ahead of the current vehicle being a target type vehicle, first relative motion information between the current vehicle and the ahead vehicle is acquired, and a ahead vehicle collision time is determined based on the first relative motion information.

[0021] Among them, the current vehicle is the vehicle to be controlled to avoid the target type vehicle. The target type is mainly the vehicle type that is dangerous to drive when following or being followed, and the type of vehicle that needs to be avoided can be a medium or large vehicle, such as a bus, a truck, etc. The front vehicle is a vehicle that is in the same lane as the current vehicle, adjacent to the current vehicle and in front of the current vehicle. The first relative motion information is the relative motion information between the current vehicle and the front vehicle, which may include relative speed, relative distance and relative acceleration. The front vehicle collision time is the time when the current vehicle and the front vehicle are expected to collide when both are traveling in the current motion state.

[0022] Specifically, if it is detected that the vehicle in front of the current vehicle is a target type vehicle, it is necessary to determine how to avoid it appropriately. Therefore, it is necessary to first obtain the first relative motion information between the current vehicle and the vehicle in front based on the sensor, and then calculate the front vehicle collision time through the kinematic formula.

[0023] For example, a front camera and a front radar are used to identify whether the vehicle is the vehicle in front, the type of vehicle, and the relative distance S between the vehicle in front and the current vehicle. 1, and sends this information to the controller module through the communication line. The controller module uses this relative distance S 1 The derivative can get the relative speed V between the front vehicle and the current vehicle 1 , finally, with the relative velocity V 1 The derivative can be used to obtain the relative acceleration a 1 According to the formula V 1 *T+0.5*a 1 *T 1 2 =S 1 , thus estimating the time T of collision 1 , which is the collision time of the front vehicle. It should be pointed out that when the relative distance S 1 When it maintains a safe constant value or gradually increases, it indicates that the vehicle ahead will not collide with the current vehicle, and the collision time T of the vehicle ahead cannot be solved at this time. 1 , it can also be considered that the front vehicle collision time T 1 Is infinite.

[0024] S120: Identify the rear area of ​​the current vehicle and obtain a result indicating the presence of a rear vehicle.

[0025] The rear area is the area directly behind the lane where the current vehicle is located. The rear vehicle existence result is used to indicate whether there is a rear vehicle corresponding to the current vehicle, that is, whether there are other vehicles directly behind the current vehicle. The front vehicle is a vehicle that is in the same lane as the current vehicle, adjacent to the current vehicle, and behind the current vehicle.

[0026] Specifically, the rear area of ​​the current vehicle can be detected and identified through sensors such as cameras or radars to determine whether there is a rear vehicle, and the result of the existence of the rear vehicle can be obtained.

[0027] S130. Control the current vehicle to perform a speed change operation or a lane change operation according to the existence result of the rear vehicle, the collision time of the front vehicle, the preset front vehicle safety time, and the vehicle condition information of the adjacent lane corresponding to the current vehicle.

[0028] Among them, the preset front vehicle safety time is a pre-set time threshold for determining whether the current vehicle is safe from the vehicle in front. The vehicle condition information of the adjacent lane includes whether there is a vehicle in the adjacent lane. If there is a vehicle, the relative distance, relative speed, relative acceleration and other information can be obtained. The adjacent lane includes the lanes in the same direction as the lane where the current vehicle is located, and located on the left and right sides of the current vehicle. The speed change operation is the operation of adjusting the speed of the current vehicle, and the lane change operation is the operation of changing the lane where the current vehicle is located.

[0029] Specifically, by comparing the front vehicle collision time with the preset front vehicle safety time, it can be determined whether the current vehicle has a greater collision risk, which can be avoided by changing lanes or changing speeds. Combined with the result of the rear vehicle, if there is a rear vehicle, the current vehicle is at risk of being sandwiched by the target type vehicle in front and the rear vehicle, which is even more unsafe, and is usually avoided by changing lanes. However, when performing a lane change operation, it is necessary to consider the vehicle condition information of the adjacent lane corresponding to the current vehicle, and whether the vehicle can be allowed to change lanes. Therefore, for the above content analysis, the lane change operation is performed first when the lane change is possible. When the lane change is not possible, the speed change operation is performed by controlling the current vehicle to avoid being too close to the target type vehicle and causing danger.

[0030] The vehicle control method provided in the present embodiment obtains first relative motion information between the current vehicle and the vehicle in front in response to the vehicle in front of the current vehicle being a target type vehicle, and determines the front vehicle collision time based on the first relative motion information, so as to judge whether it is safe to drive with the target type vehicle in front, and then identifies the rear area of ​​the current vehicle to obtain the result of the presence of the rear vehicle, and controls the current vehicle to perform a speed change operation or a lane change operation based on the result of the presence of the rear vehicle, the front vehicle collision time, the preset front vehicle safety time and the vehicle condition information of the adjacent lane corresponding to the current vehicle, so that when the vehicle in front is a target type vehicle, real-time analysis is performed in combination with the result of the presence of the rear vehicle and the vehicle condition information of the adjacent lane, and speed change or lane change is adopted to avoid collision with the target type vehicle in front and try to avoid the target type vehicle, thereby improving driving safety.

[0031] The above embodiment describes the vehicle control method. In this embodiment, different operation processing is performed on the current vehicle in combination with different rear vehicle existence results, and further description is given, such as Figure 2 shown. Figure 2 This is a flow chart of another vehicle control method provided by an embodiment of the present application, wherein the explanations of terms that are the same or corresponding to the above-mentioned embodiments are not repeated here. Figure 2 As shown, the method may specifically include the following steps:

[0032] S210: In response to a vehicle ahead of the current vehicle being a target type vehicle, first relative motion information between the current vehicle and the ahead vehicle is acquired, and a collision time of the ahead vehicle is determined based on the first relative motion information.

[0033] S220: Identify the rear area of ​​the current vehicle and obtain a result indicating the presence of a rear vehicle.

[0034] S230, determine whether there is a rear vehicle; if not, execute S240; if yes, execute S250.

[0035] S240: Control the current vehicle to perform a speed change operation or a lane change operation according to the front vehicle collision time, the preset front vehicle safety time, and the vehicle condition information of the adjacent lane corresponding to the current vehicle.

[0036] Specifically, it can be determined whether the collision time of the preceding vehicle is greater than the preset safety time of the preceding vehicle. If it is greater, it means that the current vehicle is relatively safe at this time, and lane change is preferred to avoid the preceding vehicle. However, if the vehicle condition information of the adjacent lane corresponding to the current vehicle makes it impossible to change lanes, the current vehicle is controlled to decelerate to seek a lane change opportunity. If it is not greater, it means that the current vehicle is already close to the following vehicle at this time, and it needs to decelerate first to avoid the problem that the preceding vehicle brakes or decelerates, causing the current vehicle to fail to avoid it, and re-determine whether the collision time of the preceding vehicle is greater than the preset safety time of the preceding vehicle.

[0037] Based on the above example, the following method can be used to control the current vehicle to perform a speed change operation or a lane change operation according to the front vehicle collision time, the preset front vehicle safety time, and the vehicle condition information of the adjacent lane corresponding to the current vehicle:

[0038] Determine whether the front vehicle collision time is greater than the preset front vehicle safety time;

[0039] In response to the front vehicle collision time being greater than the preset front vehicle safety time, for each adjacent lane, determining the vehicle type of the front vehicle and the side-to-side collision time between the current ...

[0040] In response to the vehicle type of the front vehicle in at least one adjacent lane being an empty vehicle or a non-target type vehicle, and the side-rear collision time meets the first lane change time, determining a target lane from at least one adjacent lane, and controlling the current vehicle to perform a lane change operation to the target lane;

[0041] In response to the vehicle type of the front vehicle in each adjacent lane being a target type vehicle or the side and rear collision time not meeting the first lane change time, controlling the current vehicle to perform a deceleration operation;

[0042] In response to the front vehicle collision time being less than or equal to the preset front vehicle safety time, the current vehicle is controlled to perform a deceleration operation, the front vehicle collision time is updated, and the operation of determining whether the front vehicle collision time is greater than the front vehicle safety time is returned.

[0043] The front vehicle is the vehicle in front of the current vehicle in the adjacent lane, and the rear vehicle is the vehicle in the adjacent lane behind the current vehicle. The rear collision time is the time when the rear vehicle collides with the current vehicle in the case of a lane change. The first lane change time is the preset time when the current vehicle can change lanes safely. The target lane is the lane that the current vehicle is about to change to.

[0044] Specifically, it is determined whether the front vehicle collision time is greater than the preset front vehicle safety time. If so, it means that the current vehicle is relatively safe and is far away from the front vehicle and is not likely to collide, but it is recommended to change lanes and not follow the target type vehicle. Therefore, for each adjacent lane, the vehicle condition information of the adjacent lane is obtained, and the vehicle type of the side front vehicle and the side rear collision time between the current vehicle and the side rear vehicle are determined in combination with the vehicle condition information of the adjacent lane. If the vehicle type of the side front vehicle in the adjacent lane is empty or a non-target type vehicle, and the side rear collision time meets the first lane change time, it means that it is convenient to perform the lane change operation, and the new front vehicle after the lane change is not a target type vehicle, which improves driving safety. If only one adjacent lane meets the above conditions, it is directly determined as the target lane. If the adjacent lanes on both sides meet the above conditions, one of them can be selected as the target lane. According to driving habits, the adjacent lane on the left can be preferentially selected as the target lane. After determining the target lane, the current vehicle can be controlled to perform a lane change operation to the target lane. If the vehicle type of the front vehicle in each adjacent lane is the target type vehicle, it means that even if the lane is changed, the vehicle will follow the target type vehicle. If the side-to-rear collision time does not meet the first lane change time, it means that the lane change cannot be performed safely. In this case, since there is no rear vehicle, the current vehicle can be controlled to decelerate, increase the distance from the front vehicle, and then find the opportunity to change lanes. If not, it means that the current vehicle is close to the vehicle and is prone to collision with the front vehicle. If the front vehicle brakes or changes speed, it is more dangerous to the current vehicle. Since there is no rear vehicle, the current vehicle can be controlled to decelerate to move away from the front vehicle, and then update the front vehicle collision time, and return to the operation of determining whether the front vehicle collision time is greater than the front vehicle safety time, until the front vehicle collision time is greater than the front vehicle safety time, find the opportunity to change lanes.

[0045] For example, if the front vehicle collision time T 1 > Preset front vehicle safety time Tso. At this time, the current vehicle is in a safe zone, but it is recommended to change lanes and not follow the target type vehicle. According to the side radar, front and rear vision modules, the lane where the current vehicle is located, and the vehicle condition information of the adjacent lanes provided by the navigation, you can choose a lane with no target type vehicle in front and no adjacent lane behind, or a lane with no target type vehicle in front and a non-target type vehicle behind, and the side rear collision time Tr between the current vehicle and the side rear vehicle calculated according to the kinematic formula is greater than the preset side rear collision safety time Tsr 1The adjacent lane is the target lane, and the lane change is performed automatically according to the target lane. In addition, the corresponding turn signal is turned on based on the steering direction, and the preset steering angle and suspension drop height are obtained based on the current vehicle speed to ensure the vehicle body stability when changing lanes. If there are target type vehicles in front of all adjacent lanes or the side rear collision time Tr corresponding to the pre-switched adjacent lane is not greater than the preset side rear collision safety time Tsr 1 , stop the automatic lane change, perform the deceleration operation appropriately, increase the safety distance and collision time between the current vehicle and the vehicle in front, and perform the lane change operation after the above conditions are met. 1 ≤ the preset front vehicle safety time Tso. At this time, the collision risk of the current vehicle increases, and it is necessary to decelerate appropriately to increase the safety distance and collision time between the current vehicle and the vehicle in front. After detecting that the relevant conditions for lane change mentioned above are met, the lane change operation can be performed.

[0046] S250, obtaining the vehicle type of the rear vehicle, determining a preset rear vehicle safety time according to the vehicle type of the rear vehicle, obtaining the second relative motion information between the current vehicle and the rear vehicle, and controlling the speed change operation or lane change operation of the current vehicle according to the front vehicle collision time, the preset front vehicle safety time, the preset rear vehicle safety time, the vehicle condition information in the adjacent lane, and the second relative motion information.

[0047] The vehicle type includes target type vehicles and non-target type vehicles. Non-target type vehicles are cars, etc. The preset rear vehicle safety time is a time threshold pre-set according to different rear vehicle types for determining whether the current vehicle and the rear vehicle are safe. The second relative motion information is the relative motion information between the current vehicle and the rear vehicle, which may include relative speed, relative distance and relative acceleration.

[0048] Specifically, the image of the rear vehicle can be collected based on a camera or other device, and the vehicle type of the rear vehicle can be analyzed and determined. Then, according to the different vehicle types of the rear vehicles, the corresponding preset rear vehicle safety time is determined. In addition, it is also necessary to obtain the second relative motion information between the current vehicle and the rear vehicle based on the sensor, and then calculate the rear vehicle collision time through the kinematic formula. Compare the size relationship between the front vehicle collision time and the preset front vehicle safety time, and the size relationship between the rear vehicle collision time and the preset rear vehicle safety time, and combine the vehicle condition information in the adjacent lane to determine whether it is convenient to change lanes in the adjacent lane. By analyzing the above conditions, the speed change operation or lane change operation of the current vehicle is controlled.

[0049] Based on the above example, the speed change operation or lane change operation of the current vehicle can be controlled according to the front vehicle collision time, the preset front vehicle safety time, the preset rear vehicle safety time, the vehicle condition information in the adjacent lane, and the second relative motion information in the following manner:

[0050] determining a rear vehicle collision time according to the second relative motion information;

[0051] In response to the rear vehicle collision time being greater than the preset rear vehicle safety time and the front vehicle collision time being greater than the preset front vehicle safety time, determining the side rear collision time between the current vehicle and the side rear vehicle according to vehicle condition information in an adjacent lane;

[0052] In response to the existence of at least one adjacent lane having a side rear collision time greater than the first lane change time, determining a target lane from the at least one adjacent lane, and controlling the current vehicle to perform a lane change operation toward the target lane;

[0053] In response to the fact that there is no adjacent lane corresponding to a side rear collision time greater than the first lane change time, the current vehicle is controlled to perform a speed change operation according to speed changes of the leading vehicle and the rear vehicle.

[0054] The rear vehicle collision time is the time when the current vehicle and the rear vehicle are expected to collide when both are traveling in the current motion state. The first lane change time is the pre-set time when the current vehicle can change lanes safely.

[0055] Specifically, according to the kinematic formula, the second relative motion information can be used to calculate the rear vehicle collision time, just like calculating the front vehicle collision time. If the rear vehicle collision time is greater than the preset rear vehicle safety time, and the front vehicle collision time is greater than the preset front vehicle safety time, it means that the current vehicle is in a relatively safe state, and the collision risk with the front vehicle and the rear vehicle is relatively small, but it is best to change lanes. Therefore, it is determined whether there is at least one adjacent lane corresponding to the side-rear collision time greater than the first lane change time. If so, it means that it is safe to change lanes. At this time, the target lane is determined from at least one adjacent lane. If only one adjacent lane meets the above conditions, it is directly determined as the target lane. If the adjacent lanes on both sides meet the above conditions, one of them can be selected as the target lane. According to driving habits, the adjacent lane on the left can be preferentially selected as the target lane. After determining the target lane, the current vehicle can be controlled to perform a lane change operation to the target lane. If it does not exist, it is necessary to consider the speed change of the front vehicle and the rear vehicle, adjust the speed of the current vehicle in time, and perform a speed change operation to ensure that the front collision time and the rear collision time are both in a safe state, and then find the opportunity to change lanes.

[0056] For example, if the front vehicle collision time T 1 > Preset the front vehicle safety time Tso and the rear vehicle collision time T 2 > Preset rear vehicle safety time Tst. At this time, the current vehicle is in a relatively safe zone and needs to turn on the brake lights to remind the rear vehicle to slow down and reserve a safe braking distance for the current vehicle to avoid being rear-ended.

[0057] Detect the vehicle condition information of the adjacent lane. If the lane switching condition is met (the side rear collision time Tr is greater than the preset side rear collision safety time Tsr 1 ), execute the corresponding turn signal based on the steering direction, and obtain the preset steering angle and suspension drop height based on the current vehicle speed to change lanes. Detect the vehicle condition information of the adjacent lane. If the lane switching conditions are not met, according to the collision time T of the front vehicle 1 And the rear vehicle collision time T 2 If the vehicle in front brakes, the vehicle in front will collide with the vehicle in front for a period of time T. 1 <Preset front vehicle safety time Tso, and the rear vehicle collision time T 2 > Preset rear vehicle safety time Tst, then control the current vehicle to slow down appropriately, but still meet the rear vehicle collision time T 2 > Preset rear vehicle safety time Tst; if the rear vehicle accelerates, the rear vehicle collision time T 2 <Preset rear vehicle safety time Tst, and the front vehicle collision time T 1 > Preset the front vehicle safety time Tso, then control the current vehicle to accelerate appropriately, but still meet the front vehicle collision time T 1 >Preset the front vehicle safety time Tso.

[0058] Based on the above example, after the rear vehicle collision time is determined according to the second relative motion information, the situation that the rear vehicle collision time is less than or equal to the preset rear vehicle safety time and the front vehicle collision time is less than or equal to the preset front vehicle safety time is also included. In this case, the specific operations are as follows:

[0059] In response to the rear vehicle collision time being less than or equal to the preset rear vehicle safety time, and the front vehicle collision time being less than or equal to the preset front vehicle safety time, the brake lights of the current vehicle are controlled to light up, and the side rear collision time between the current vehicle and the side rear vehicle is determined according to the vehicle condition information in the adjacent lane;

[0060] In response to the existence of at least one adjacent lane having a side rear collision time greater than the first lane change time, determining a target lane from the at least one adjacent lane, and controlling the current vehicle to perform a lane change operation toward the target lane;

[0061] In response to the absence of a side rear collision time corresponding to any adjacent lane being greater than the first lane change time, determining whether each side rear collision time is greater than the second lane change time;

[0062] In response to at least one side rear collision time being greater than the second lane change time, an adjacent lane corresponding to a maximum value of the side rear collision time is used as a target lane, and a speed change state of a front vehicle and a speed change state of a rear vehicle are acquired;

[0063] According to the speed change status of the vehicle in front and the speed change status of the vehicle behind, the current vehicle is controlled to perform a lane change operation to the target lane.

[0064] The second lane change time is a preset time during which the current vehicle can change lanes relatively safely. The second lane change time is shorter than the first lane change time, so if the second lane change time is used, the current vehicle needs to change lanes quickly.

[0065] Specifically, if the rear vehicle collision time is less than or equal to the preset rear vehicle safety time, and the front vehicle collision time is less than or equal to the preset front vehicle safety time, it means that the current vehicle is relatively dangerous and may collide with both the front and rear vehicles. Therefore, the brake lights of the current vehicle are controlled to light up to remind the rear vehicle to pay attention to the distance. Then, the vehicle condition information in the adjacent lanes is analyzed to obtain the side-to-side collision time between the current vehicle and the side-to-side vehicle, so as to facilitate the subsequent judgment of whether the lane change operation can be performed. It is judged whether there is at least one adjacent lane corresponding to the side-to-side collision time greater than the first lane change time. If so, it means that the lane change can be performed safely. At this time, the target lane is determined from at least one adjacent lane. If only one adjacent lane meets the above conditions, it is directly determined as the target lane. If the adjacent lanes on both sides meet the above conditions, one of them can be selected as the target lane. According to driving habits, the adjacent lane on the left can be preferentially selected as the target lane. After determining the target lane, the current vehicle can be controlled to perform a lane change operation to the target lane. If it does not exist, it is judged whether an emergency lane switch, that is, a fast lane change operation, can be performed. Therefore, it is judged whether each side-to-side collision time is greater than the second lane change time. If there is at least one side rear collision time that is greater than the second lane change time, the adjacent lane corresponding to the maximum value of the side rear collision time is used as the target lane, and the lane change speed is determined in combination with the speed change status of the front vehicle and the speed change status of the rear vehicle, and the current vehicle is controlled to perform the lane change operation to the target lane.

[0066] For example, if the front vehicle collision time T 1 <Preset front vehicle safety time Tso and rear vehicle collision time T 2 <Preset rear vehicle safety time Tst. At this time, the current vehicle is in a dangerous zone and needs to turn on the brake lights to remind the rear vehicle to slow down and reserve a safe braking distance for the vehicle, while seeking opportunities to switch roads. Detect the vehicle condition information of the adjacent lanes. If the lane switching conditions corresponding to the first lane change time are met, the corresponding turn signal is executed based on the steering direction, and the preset steering angle and suspension descent height are obtained based on the current vehicle speed to change lanes. If the lane switching conditions corresponding to the first lane change time are not met, further determine whether the lane switching conditions corresponding to the second lane change time are met. If they are met, the lane change speed can be determined in combination with the speed change status of the vehicle in front and the speed change status of the vehicle behind, and the current vehicle can be controlled to perform a lane change operation to the target lane.

[0067] Based on the above example, the following method can be used to control the current vehicle to perform a lane change operation to the target lane according to the speed change state of the front vehicle and the speed change state of the rear vehicle:

[0068] In response to the speed change state of the front vehicle being acceleration, the lane change speed, steering angle, and suspension lowering height of the current vehicle are determined according to the vehicle speed of the vehicle behind the vehicle in the target lane, and the current vehicle is controlled to perform a lane change operation to the target lane according to the lane change speed, steering angle, and suspension lowering height;

[0069] In response to the speed change state of the front vehicle being deceleration and the speed change state of the rear vehicle being deceleration, the lane change speed, steering angle and suspension lowering height of the current vehicle are determined according to the vehicle speed of the front vehicle, the vehicle speed of the rear vehicle and the vehicle speed of the vehicle behind the target lane, and the current vehicle is controlled to perform a lane change operation to the target lane according to the lane change speed, steering angle and suspension lowering height;

[0070] In response to the speed change state of the front vehicle being deceleration and the speed change state of the rear vehicle being acceleration, the lane change speed of the current vehicle is determined according to the vehicle speed of the front vehicle, the vehicle speed of the rear vehicle and the vehicle speed of the vehicle behind the target lane, and the current vehicle is controlled to perform a lane change operation to the target lane according to the lane change speed, the maximum steering angle and the maximum suspension descent height.

[0071] The lane change speed is the speed of the current vehicle when performing a lane change. The steering angle is the angle used by the current vehicle when performing a lane change. The suspension drop height is used to stabilize the vehicle body when the vehicle turns.

[0072] Specifically, if the speed change state of the front vehicle is acceleration, the lane change speed of the current vehicle can be determined to be not lower than the vehicle speed of the side and rear vehicle in the target lane in combination with the vehicle speed of the side and rear vehicle, so as to avoid collision during lane change. Furthermore, the corresponding steering angle and suspension drop height can be determined according to the pre-stored steering safety data in combination with the lane change speed. Finally, the current vehicle can be controlled to perform a lane change operation to the target lane according to the lane change speed, steering angle and suspension drop height. If the speed change state of the front vehicle is deceleration and the speed change state of the rear vehicle is deceleration, the deceleration interval of the current vehicle can be determined by the vehicle speed of the front vehicle and the vehicle speed of the rear vehicle, and then, according to the vehicle speed of the side and rear vehicle in the target lane, the lowest lane change speed of the current vehicle can be obtained, and then, the lane change speed of the current vehicle can be obtained. According to the pre-stored steering safety data in combination with the lane change speed, the corresponding steering angle and suspension drop height can be determined. Finally, according to the lane change speed, steering angle and suspension drop height, the current vehicle can be controlled to perform a lane change operation to the target lane. If the speed change state of the front vehicle is deceleration and the speed change state of the rear vehicle is acceleration, the vehicle is in the most dangerous situation. The speed range of the current vehicle can be determined by the vehicle speed of the front vehicle and the vehicle speed of the rear vehicle. Then, according to the vehicle speed of the vehicle behind the target lane, the lowest lane change speed of the current vehicle can be determined. In this way, the fastest speed that the current vehicle can use can be determined as the lane change speed. At this time, a quick lane change is required, so the maximum steering angle is directly selected. In order to ensure the stability of the vehicle body, the maximum suspension drop height is selected. Therefore, the current vehicle is controlled to perform a lane change operation to the target lane through the lane change speed, the maximum steering angle and the maximum suspension drop height.

[0073] For example, if the vehicle ahead is in the acceleration phase, the corresponding turn signal is activated based on the steering direction, and the preset steering angle and suspension drop height are obtained based on the current vehicle's speed. The current vehicle changes lanes at a speed not lower than that of the vehicle behind it. If the vehicle ahead is in the deceleration phase, and the vehicle behind it is also in the deceleration phase, the current vehicle can decelerate appropriately and perform steering operations to change lanes. If the vehicle ahead is in the deceleration phase, and the vehicle behind it is in the acceleration phase, the current vehicle is more dangerous. To reduce the risk of collision, the current vehicle is controlled to decelerate appropriately, and the corresponding turn signal is activated based on the steering direction. Based on the speed of the current vehicle, the maximum steering angle and maximum suspension drop height that can be executed are obtained, and a fast lane change is performed, and the vehicle body stability is ensured as much as possible.

[0074] Based on the above example, after the rear vehicle collision time is determined according to the second relative motion information, the following further includes the case where the rear vehicle collision time is less than or equal to the rear vehicle safety time and the front vehicle collision time is greater than the front vehicle safety time, or the rear vehicle collision time is greater than the rear vehicle safety time and the front vehicle collision time is less than or equal to the front vehicle safety time. In this case, the specific operations are as follows:

[0075] In response to the rear vehicle collision time being less than or equal to the rear vehicle safety time and the front vehicle collision time being greater than the front vehicle safety time, or the rear vehicle collision time being greater than the rear vehicle safety time and the front vehicle collision time being less than or equal to the front vehicle safety time, determining whether there is a target acceleration for the current vehicle based on a preset rear vehicle safety time, a vehicle speed of the rear vehicle, a vehicle acceleration of the rear vehicle, a preset front vehicle safety time, a vehicle speed of the front vehicle, a vehicle acceleration of the front vehicle, and a vehicle speed of the current vehicle;

[0076] In response to the existence of the target acceleration, controlling the current vehicle to move at the target acceleration;

[0077] In response to the absence of the target acceleration, the current vehicle is controlled to perform a lane change operation.

[0078] The target acceleration is the acceleration of the current vehicle that can be adjusted so that the front vehicle collision time is greater than the front vehicle safety time and the rear vehicle collision time is greater than the rear vehicle safety time.

[0079] Specifically, if the rear vehicle collision time is less than or equal to the rear vehicle safety time, and the front vehicle collision time is greater than the front vehicle safety time, or the rear vehicle collision time is greater than the rear vehicle safety time, and the front vehicle collision time is less than or equal to the front vehicle safety time, it means that the current vehicle is safe with the front vehicle or the rear vehicle, but dangerous with the other vehicle. Therefore, it is necessary to determine whether there is an intermediate position and speed so that the adjusted front vehicle collision time is greater than the front vehicle safety time and the rear vehicle collision time is greater than the rear vehicle safety time. Therefore, it is necessary to calculate whether there is a reasonable target acceleration that can complete the above operation. Combined with the preset rear vehicle safety time, the vehicle speed of the rear vehicle, the vehicle acceleration of the rear vehicle, the preset front vehicle safety time, the vehicle speed of the front vehicle, the vehicle acceleration of the front vehicle, and the vehicle speed of the current vehicle, the equation of the front vehicle collision time being greater than the front vehicle safety time and the rear vehicle collision time being greater than the rear vehicle safety time is obtained through the kinematic formula, and the solution is determined to determine whether there is a target acceleration for the current vehicle. If there is a target acceleration, the current vehicle is controlled to move at the target acceleration so that the front vehicle collision time is greater than the front vehicle safety time and the rear vehicle collision time is greater than the rear vehicle safety time, and then, the subsequent operations corresponding to the front vehicle collision time being greater than the front vehicle safety time and the rear vehicle collision time being greater than the rear vehicle safety time are performed. If there is no target acceleration, it means that it is difficult to ensure vehicle safety by adjusting the speed. Therefore, it is necessary to control the current vehicle to perform a lane change operation. For specific lane change operations, reference can be made to the lane change operation when the front vehicle collision time is less than or equal to the front vehicle safety time and the rear vehicle collision time is less than or equal to the rear vehicle safety time, which will not be described in detail here.

[0080] When the vehicle ahead is identified as a target type vehicle and stops suddenly, the current vehicle must also stop. At this time, if the vehicle behind is also identified as a target type vehicle and there is a risk of collision with the current vehicle, due to the high relative speed, it is considered that there is a risk of the two vehicles in front and behind "squashing" the current vehicle, that is, the vehicle entertainment information assembly sends the rear vehicle collision and rear-end danger and quick change of direction suggestion, the current vehicle's central control display prompts the rear vehicle collision and rear-end danger and prompts to turn the steering wheel to the left or right, or directly requests a certain steering wheel angle from the vehicle EPS (Electronic Power Steering) system, and then turns the steering wheel of the current vehicle in a certain direction, so that even if the rear vehicle hits the current vehicle at high speed, the current vehicle will turn to one side to avoid being "squashed" by the target type vehicles in front and behind. Whether the specific change of direction is left or right, it is necessary to combine information such as whether there are adjacent lanes on the left and right of the current vehicle, whether there are vehicles in the adjacent lanes, and the types of these vehicles, in order to reduce the accident degree of the current vehicle driving to one side after being hit by the rear vehicle. At the same time, the double flash and other lights of the current vehicle can be turned on to prompt the rear vehicle.

[0081] Based on the above example, the preset rear vehicle safety time can be determined according to the vehicle type of the rear vehicle in the following manner:

[0082] In response to the vehicle type of the rear vehicle being a target type vehicle, determining the preset rear vehicle safety time to be a first safety time;

[0083] In response to the vehicle type of the rear vehicle being a non-target type vehicle, the preset rear vehicle safety time is determined to be a second safety time.

[0084] The first safety time is greater than the second safety time.

[0085] Specifically, if the vehicle type of the rear vehicle is a target type vehicle, a relatively long time needs to be reserved for the current vehicle to react and process in advance, so the preset rear vehicle safety time is determined to be a relatively large first safety time. If the vehicle type of the rear vehicle is a non-target type vehicle, since the non-target type vehicle has a faster reaction speed and smaller inertia, it is not necessary to reserve a relatively long time for the current vehicle to react and process in advance, so the preset rear vehicle safety time is determined to be a relatively small second safety time.

[0086] Optionally, the preset front vehicle safety time Tso can be adjusted according to different front and rear vehicles, for example: when the front vehicle is a target type vehicle, that is, a medium or large vehicle, the preset front vehicle safety time Tso is 30s, when the front vehicle is a non-target type vehicle, the preset front vehicle safety time Tso is 40s, etc. The speed of the current vehicle can also be considered. Since the braking distance increases with the increase in speed, or the relative acceleration with the front vehicle decreases (considering the relative motion trend of the two vehicles), the preset front vehicle safety time Tso needs to be increased accordingly, otherwise it will decrease.

[0087] Optionally, if there is no vehicle in front of the current vehicle, when the controller module recognizes that there is a risk of collision between the rear vehicle and the current vehicle (the rear vehicle collision time is less than the preset rear vehicle safety time), and it is determined that the current vehicle can accelerate, it can send the rear vehicle collision rear-end danger and acceleration suggestions to the in-vehicle entertainment information assembly, and prompt the driver through the current vehicle's central control display screen. In addition, voice prompts can also be given. At the same time, the current double flash and other lights can be turned on to prompt the rear vehicle to avoid the rear vehicle from rear-ending the current vehicle. If both the front vehicle and the rear vehicle are non-target type vehicles, and when the controller module recognizes that there is a risk of collision between the rear vehicle and the current vehicle, and it is determined that the current vehicle cannot accelerate, at the same time, the side radar identifies the vehicle information on the left and right sides of the current vehicle (vehicle condition information of the adjacent lanes), that is, the rear vehicle collision rear-end danger and lane change suggestions are sent to the in-vehicle entertainment information assembly, and the current vehicle's central control display screen prompts the rear vehicle collision rear-end danger and prompts to change lanes to the left or right. In addition, the vehicle can also give voice prompts. For autonomous driving vehicles, not only can prompts be given, but also the current automatic lane change can be controlled. If the vehicle condition information of the adjacent lanes on the left and right sides does not allow lane changing, turn on the current vehicle's double flash and other lights to alert the vehicles behind.

[0088] The vehicle control method provided in this embodiment, if the result of the rear vehicle existence is not present, then according to the front vehicle collision time, the preset front vehicle safety time and the vehicle condition information of the adjacent lane corresponding to the current vehicle, the current vehicle is controlled to perform a speed change operation or a lane change operation. At this time, there is no need to consider the danger of rear-end collision, and it is only necessary to consider whether the front vehicle and the adjacent lane can meet the lane change conditions. If the result of the rear vehicle existence is present, the vehicle type of the rear vehicle is obtained, and the preset rear vehicle safety time is determined according to the vehicle type of the rear vehicle, and the second relative motion information between the current vehicle and the rear vehicle is obtained. According to the front vehicle The collision time, the preset front vehicle safety time, the preset rear vehicle safety time, the vehicle condition information in the adjacent lane, and the second relative motion information are used to control the speed change operation or lane change operation of the current vehicle. At this time, it is also necessary to comprehensively consider the front vehicle and the rear vehicle to adjust the speed to avoid the current vehicle being sandwiched from the front and the back. At the same time, combined with the vehicle condition information in the adjacent lane, find the opportunity to change lanes and change lanes. When the front vehicle is a target type vehicle, different analysis methods are adopted according to whether there is a rear vehicle or not, so as to adopt speed change or lane change to avoid rear-end collision with the vehicle and improve driving safety.

[0089] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0090] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0091] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a vehicle control device. Figure 3 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application, referring to Figure 3 The vehicle control device includes: a front vehicle collision time determination module 310, a rear vehicle existence result recognition module 320 and an operation control module 330.

[0092] Among them, the front vehicle collision time determination module 310 is used to obtain the first relative motion information between the current vehicle and the front vehicle in response to the front vehicle of the current vehicle being a target type vehicle, and determine the front vehicle collision time based on the first relative motion information; the rear vehicle existence result identification module 320 is used to identify the rear area of ​​the current vehicle and obtain the rear vehicle existence result; the operation control module 330 is used to control the current vehicle to perform a speed change operation or a lane change operation based on the rear vehicle existence result, the front vehicle collision time, the preset front vehicle safety time and the vehicle condition information of the adjacent lane corresponding to the current vehicle.

[0093] Based on the above example, optionally, the operation control module 330 is also used to control the current vehicle to perform a speed change operation or a lane change operation in response to the result that the rear vehicle exists being non-existent, based on the front vehicle collision time, the preset front vehicle safety time and the vehicle condition information of the adjacent lane corresponding to the current vehicle; in response to the result that the rear vehicle exists being present, the vehicle type of the rear vehicle is obtained, and the preset rear vehicle safety time is determined according to the vehicle type of the rear vehicle, and the second relative motion information between the current vehicle and the rear vehicle is obtained, and the speed change operation or lane change operation of the current vehicle is controlled according to the front vehicle collision time, the preset front vehicle safety time, the preset rear vehicle safety time, the vehicle condition information in the adjacent lane, and the second relative motion information.

[0094] Based on the above example, optionally, the operation control module 330 is also used to determine whether the front vehicle collision time is greater than the preset front vehicle safety time; in response to the front vehicle collision time being greater than the preset front vehicle safety time, for each adjacent lane, according to the vehicle condition information of the adjacent lane, determine the vehicle type of the side front vehicle and the side rear collision time between the current vehicle and the side rear vehicle; in response to the vehicle type of the side front vehicle in at least one adjacent lane being an empty or non-target type vehicle, and the side rear collision time meets the first lane change time, determine the target lane from at least one adjacent lane, and control the current vehicle to perform a lane change operation to the target lane; in response to the vehicle type of the side front vehicle in each adjacent lane being a target type vehicle or the side rear collision time does not meet the first lane change time, control the current vehicle to perform a deceleration operation; in response to the front vehicle collision time being less than or equal to the preset front vehicle safety time, control the current vehicle to perform a deceleration operation, update the front vehicle collision time, and return to perform the operation of determining whether the front vehicle collision time is greater than the front vehicle safety time.

[0095] Based on the above example, optionally, the operation control module 330 is also used to determine the rear vehicle collision time according to the second relative motion information; in response to the rear vehicle collision time being greater than the preset rear vehicle safety time, and the front vehicle collision time being greater than the preset front vehicle safety time, the side-to-side collision time between the current vehicle and the side-to-rear vehicle is determined according to the vehicle condition information in the adjacent lane; in response to the existence of at least one adjacent lane whose corresponding side-to-rear collision time is greater than the first lane change time, a target lane is determined from at least one adjacent lane, and the current vehicle is controlled to perform a lane change operation to the target lane; in response to the absence of any adjacent lane whose corresponding side-to-rear collision time is greater than the first lane change time, the current vehicle is controlled to perform a speed change operation according to the speed changes of the front vehicle and the rear vehicle.

[0096] Based on the above example, optionally, after determining the rear vehicle collision time according to the second relative motion information, the device further includes: a first control module, for controlling the current vehicle to light up the brake lights in response to the rear vehicle collision time being less than or equal to the preset rear vehicle safety time, and the front vehicle collision time being less than or equal to the preset front vehicle safety time, and determining the side-to-side collision time between the current vehicle and the side-to-rear vehicle according to the vehicle condition information in the adjacent lane; in response to the existence of at least one adjacent lane corresponding to a side-to-rear collision time greater than the first lane change time, determining a target lane from at least one adjacent lane, and controlling the current vehicle to change lanes. Perform a lane change operation to the target lane; in response to the absence of any adjacent lane corresponding to a side rear collision time greater than the first lane change time, determine whether each side rear collision time is greater than a second lane change time; in response to the presence of at least one side rear collision time greater than the second lane change time, take the adjacent lane corresponding to the maximum value of the side rear collision times as the target lane, and obtain the speed change state of the front vehicle and the speed change state of the rear vehicle; wherein the second lane change time is less than the first lane change time; according to the speed change state of the front vehicle and the speed change state of the rear vehicle, control the current vehicle to perform a lane change operation to the target lane.

[0097] Based on the above example, optionally, the first control module is further used to determine the lane changing speed, steering angle and suspension lowering height of the current vehicle according to the vehicle speed of the vehicle behind the target lane in response to the speed changing state of the front vehicle being acceleration, and control the current vehicle to perform a lane changing operation to the target lane according to the lane changing speed, the steering angle and the suspension lowering height; in response to the speed changing state of the front vehicle being deceleration and the speed changing state of the rear vehicle being deceleration, according to the vehicle speed of the front vehicle, the vehicle speed of the rear vehicle and the vehicle speed of the vehicle behind the target lane, Determine the lane changing speed, steering angle and suspension lowering height of the current vehicle, and control the current vehicle to perform a lane changing operation toward the target lane according to the lane changing speed, the steering angle and the suspension lowering height; in response to the speed changing state of the front vehicle being deceleration and the speed changing state of the rear vehicle being acceleration, determine the lane changing speed of the current vehicle according to the vehicle speed of the front vehicle, the vehicle speed of the rear vehicle and the vehicle speed of the vehicle behind the target lane, and control the current vehicle to perform a lane changing operation toward the target lane according to the lane changing speed, the maximum steering angle and the maximum suspension lowering height.

[0098] Based on the above example, optionally, after determining the rear vehicle collision time according to the second relative motion information, it also includes: a second control module, for responding to the rear vehicle collision time being less than or equal to the rear vehicle safety time and the front vehicle collision time being greater than the front vehicle safety time, or the rear vehicle collision time being greater than the rear vehicle safety time and the front vehicle collision time being less than or equal to the front vehicle safety time, then determining whether there is a target acceleration for the current vehicle according to the preset rear vehicle safety time, the vehicle speed of the rear vehicle, the vehicle acceleration of the rear vehicle, the preset front vehicle safety time, the vehicle speed of the front vehicle, the vehicle acceleration of the front vehicle and the vehicle speed of the current vehicle; in response to the existence of the target acceleration, controlling the current vehicle to move at the target acceleration; in response to the absence of the target acceleration, controlling the current vehicle to perform a lane change operation.

[0099] Based on the above example, optionally, the operation control module 330 is further used to determine the preset rear vehicle safety time as the first safety time in response to the vehicle type of the rear vehicle being a target type vehicle; and to determine the preset rear vehicle safety time as the second safety time in response to the vehicle type of the rear vehicle being a non-target type vehicle; wherein the first safety time is greater than the second safety time.

[0100] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0101] The device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0102] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle control method described in any of the above embodiments is implemented.

[0103] Figure 4 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0104] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0105] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0106] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0107] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0108] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0109] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0110] The electronic device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0111] Based on the same inventive concept, corresponding to any of the above embodiments and methods, the present application also provides a vehicle, which includes the electronic device as described in any of the above embodiments.

[0112] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle control method described in any of the above embodiments.

[0113] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0114] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0115] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0116] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0117] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0118] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: include: In response to a vehicle ahead of the current vehicle being a target type vehicle, obtaining first relative motion information between the current vehicle and the ahead vehicle, and determining a ahead vehicle collision time according to the first relative motion information; Identify the rear area of ​​the current vehicle and obtain a result indicating the presence of the rear vehicle; The current vehicle is controlled to perform a speed change operation or a lane change operation according to the existence result of the rear vehicle, the collision time of the front vehicle, the preset front vehicle safety time and the vehicle condition information of the adjacent lane corresponding to the current vehicle.

2. The method according to claim 1, characterized in that The controlling the current vehicle to perform a speed change operation or a lane change operation according to the rear vehicle existence result, the front vehicle collision time, the preset front vehicle safety time, and the vehicle condition information of the adjacent lane corresponding to the current vehicle includes: In response to the rear vehicle existence result being no, controlling the current vehicle to perform a speed change operation or a lane change operation according to the front vehicle collision time, the preset front vehicle safety time, and the vehicle condition information of the adjacent lane corresponding to the current vehicle; In response to the result that the rear vehicle exists, the vehicle type of the rear vehicle is obtained, and a preset rear vehicle safety time is determined based on the vehicle type of the rear vehicle, and the second relative motion information between the current vehicle and the rear vehicle is obtained, and the speed change operation or lane change operation of the current vehicle is controlled based on the front vehicle collision time, the preset front vehicle safety time, the preset rear vehicle safety time, the vehicle condition information in the adjacent lane, and the second relative motion information.

3. The method according to claim 2, characterized in that The controlling the current vehicle to perform a speed change operation or a lane change operation according to the front vehicle collision time, the preset front vehicle safety time, and the vehicle condition information of the adjacent lane corresponding to the current vehicle includes: Determining whether the front vehicle collision time is greater than the preset front vehicle safety time; In response to the front vehicle collision time being greater than the preset front vehicle safety time, for each adjacent lane, determining the vehicle type of the front vehicle and the side-to-side collision time between the current ... In response to the vehicle type of the front vehicle in at least one adjacent lane being an empty or non-target type vehicle, and the side-rear collision time meets the first lane change time, determining a target lane from at least one adjacent lane, and controlling the current vehicle to perform a lane change operation to the target lane; In response to the vehicle type of the front vehicle in each adjacent lane being a target type vehicle or the side rear collision time not meeting the first lane change time, controlling the current vehicle to perform a deceleration operation; In response to the front vehicle collision time being less than or equal to the preset front vehicle safety time, the current vehicle is controlled to perform a deceleration operation, the front vehicle collision time is updated, and the operation of determining whether the front vehicle collision time is greater than the front vehicle safety time is returned to be executed.

4. The method according to claim 2, characterized in that: The controlling the speed change operation or lane change operation of the current vehicle according to the front vehicle collision time, the preset front vehicle safety time, the preset rear vehicle safety time, the vehicle condition information in the adjacent lane, and the second relative motion information includes: determining a rear vehicle collision time according to the second relative motion information; In response to the rear vehicle collision time being greater than the preset rear vehicle safety time and the front vehicle collision time being greater than the preset front vehicle safety time, determining the side rear collision time between the current vehicle and the side rear vehicle according to the vehicle condition information in the adjacent lane; In response to the existence of at least one adjacent lane having a side rear collision time greater than the first lane change time, determining a target lane from the at least one adjacent lane, and controlling the current vehicle to perform a lane change operation toward the target lane; In response to the fact that there is no adjacent lane corresponding to a side rear collision time greater than the first lane change time, the current vehicle is controlled to perform a speed change operation according to speed changes of the leading vehicle and the trailing vehicle.

5. The method according to claim 4, characterized in that After determining the rear vehicle collision time according to the second relative motion information, the method further includes: In response to the rear vehicle collision time being less than or equal to the preset rear vehicle safety time, and the front vehicle collision time being less than or equal to the preset front vehicle safety time, controlling the brake lights of the current vehicle to light up, and determining the side rear collision time between the current vehicle and the side rear vehicle according to the vehicle condition information in the adjacent lane; In response to the existence of at least one adjacent lane having a side rear collision time greater than the first lane change time, determining a target lane from the at least one adjacent lane, and controlling the current vehicle to perform a lane change operation toward the target lane; In response to the absence of a side rear collision time corresponding to any adjacent lane being greater than the first lane change time, determining whether each side rear collision time is greater than a second lane change time; In response to at least one of the side rear collision times being greater than a second lane change time, taking an adjacent lane corresponding to a maximum value of the side rear collision times as a target lane, and acquiring a speed change state of the leading vehicle and a speed change state of the trailing vehicle; wherein the second lane change time is less than the first lane change time; The current vehicle is controlled to perform a lane change operation to the target lane according to the speed change state of the front vehicle and the speed change state of the rear vehicle.

6. The method according to claim 5, characterized in that The controlling the current vehicle to perform a lane change operation to the target lane according to the speed change state of the front vehicle and the speed change state of the rear vehicle includes: In response to the speed change state of the front vehicle being acceleration, the lane change speed, steering angle, and suspension lowering height of the current vehicle are determined according to the vehicle speed of the vehicle behind the vehicle in the target lane, and the current vehicle is controlled to perform a lane change operation to the target lane according to the lane change speed, the steering angle, and the suspension lowering height; In response to the speed change state of the front vehicle being deceleration and the speed change state of the rear vehicle being deceleration, the lane change speed, steering angle and suspension lowering height of the current vehicle are determined according to the vehicle speed of the front vehicle, the vehicle speed of the rear vehicle and the vehicle speed of the vehicle behind the target lane, and the current vehicle is controlled to perform a lane change operation to the target lane according to the lane change speed, the steering angle and the suspension lowering height; In response to the speed change state of the front vehicle being deceleration and the speed change state of the rear vehicle being acceleration, the lane change speed of the current vehicle is determined according to the vehicle speed of the front vehicle, the vehicle speed of the rear vehicle and the vehicle speed of the vehicle behind the target lane, and the current vehicle is controlled to perform a lane change operation to the target lane according to the lane change speed, the maximum steering angle and the maximum suspension descent height.

7. The method according to claim 4, characterized in that After determining the rear vehicle collision time according to the second relative motion information, the method further includes: In response to the rear vehicle collision time being less than or equal to the rear vehicle safety time and the front vehicle collision time being greater than the front vehicle safety time, or the rear vehicle collision time being greater than the rear vehicle safety time and the front vehicle collision time being less than or equal to the front vehicle safety time, determining whether there is a target acceleration for the current vehicle based on the preset rear vehicle safety time, the vehicle speed of the rear vehicle, the vehicle acceleration of the rear vehicle, the preset front vehicle safety time, the vehicle speed of the front vehicle, the vehicle acceleration of the front vehicle, and the vehicle speed of the current vehicle; In response to the target acceleration being present, controlling the current vehicle to move at the target acceleration; In response to the absence of the target acceleration, the current vehicle is controlled to perform a lane change operation.

8. The method according to claim 2, characterized in that: The step of determining a preset rear vehicle safety time according to the vehicle type of the rear vehicle includes: In response to the vehicle type of the rear vehicle being a target type vehicle, determining the preset rear vehicle safety time to be a first safety time; In response to the vehicle type of the rear vehicle being a non-target type vehicle, determining the preset rear vehicle safety time to be a second safety time; The first safety time is greater than the second safety time.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the vehicle control method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 9.

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