Deceleration determination method and device for preventing white hole effect

Abstract

The invention provides a deceleration determination method and device for preventing a white hole effect. When the current residual distance value is smaller than or equal to a preset deceleration distance threshold value, obtaining respective preset influence durations and respective factor weight values of various influence factors influencing the driving vision based on the current residual distance value; and obtaining a target deceleration value based on the respective preset influence durations and respective factor weight values of the multiple influence factors, the current speed value and a preset target speed value. After the positioning signal is lost, the target deceleration value of the vehicle is obtained in the complex environment of the tunnel, so that the vehicle is controlled to slow down in time before the vehicle is driven out of the exit of the tunnel, the influence of the white hole effect on a driver is reduced, the intelligent driving level and the driving safety are improved, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and more specifically, to a method, device, medium and electronic device for determining deceleration to prevent a white hole effect. Background Art

[0002] The intelligent driving system can automatically control the acceleration and deceleration of the vehicle in the longitudinal direction according to the traffic conditions in the direction of the vehicle's travel, as well as automatically control the steering of the vehicle in the lateral direction, thereby reducing the driver's operating burden.

[0003] However, in tunnel scenarios, the driver will experience a black hole effect when the vehicle enters the tunnel, and a white hole effect when the vehicle exits the tunnel, both of which will cause temporary blindness. The camera sensor in the intelligent driving system will also experience temporary exposure anomalies and will not be able to correctly identify the road conditions ahead. If there are people or vehicles ahead at this time, there will be a risk of collision.

[0004] Therefore, the present application provides a deceleration determination method for preventing the white hole effect to solve the above technical problems. Summary of the invention

[0005] The purpose of this application is to provide a method, device, medium and electronic device for determining deceleration to prevent the white hole effect, which can solve at least one of the technical problems mentioned above. The specific solution is as follows:

[0006] According to a specific implementation of the present application, in a first aspect, the present application provides a method for determining deceleration to prevent a white hole effect, comprising:

[0007] Get the current remaining distance and current speed of the vehicle traveling in the tunnel;

[0008] When the current remaining distance value is less than or equal to the preset deceleration distance threshold, obtaining the preset influence durations and the respective factor weight values ​​of the multiple influence factors affecting driving vision based on the current remaining distance value;

[0009] A target deceleration value is obtained based on the preset influence durations of the respective influence factors, the respective factor weight values, the current speed value and the preset target speed value.

[0010] Optionally, when the current remaining distance value is less than or equal to a preset deceleration distance threshold, obtaining preset influence durations and respective factor weight values ​​of multiple influence factors affecting driving vision based on the current remaining distance value includes:

[0011] When the current remaining distance value is less than or equal to a preset deceleration distance threshold, acquiring morphological parameter values ​​of remaining tunnels from a navigation electronic map based on the current remaining distance value;

[0012] Determining the preset impact durations and the preset impact factor parameter values ​​of the multiple impact factors affecting driving vision based on the morphological parameter values;

[0013] The factor weight value of the corresponding impact factor is determined based on the preset impact factor parameter value of each impact factor.

[0014] Optionally, the determining the factor weight value of the corresponding impact factor based on the preset impact factor parameter value of each impact factor includes:

[0015] When the preset influencing factor parameter value of each influencing factor is within any preset influencing value range of the corresponding influencing factor, it is determined that the factor weight value of the corresponding influencing factor is equal to the factor weight value corresponding to the any preset influencing value range.

[0016] Optionally, obtaining the target deceleration value based on the preset impact durations of the multiple impact factors, the respective factor weight values, the current speed value and the preset target speed value includes:

[0017] Obtaining a target deceleration duration based on the preset impact durations of the multiple impact factors and their respective factor weight values;

[0018] A target deceleration value is obtained based on the current speed value, a preset target speed value and the target deceleration duration.

[0019] Optionally, obtaining the target deceleration duration based on the preset impact durations of the multiple impact factors and their respective factor weight values ​​includes:

[0020] Calculate the product of the preset impact duration of each impact factor and the factor weight value of the corresponding impact factor;

[0021] The sum of the product values ​​of the multiple influencing factors is calculated to obtain the target deceleration time.

[0022] Optionally, after obtaining the target deceleration value based on the preset impact durations of the multiple impact factors, the respective factor weight values, the current speed value and the preset target speed value, the method further includes:

[0023] Detecting the deceleration values ​​of neighboring vehicles, and obtaining historical deceleration values ​​based on the current speed value;

[0024] Determine a minimum deceleration value based on the target deceleration value, the historical deceleration value and the neighboring vehicle deceleration value;

[0025] A disabling signal of an accelerator pedal is output, and the vehicle deceleration is intelligently controlled based on the minimum deceleration value.

[0026] Optionally, the method further includes:

[0027] When it is detected that the current remaining distance value is zero, periodically detecting a pupil reduction change rate of the driver of the vehicle;

[0028] When the pupil reduction change rate is within a preset normal change rate range within a preset cycle range, an accelerator pedal enable signal is output.

[0029] Optionally, obtaining a current remaining distance value of a vehicle traveling in a tunnel includes:

[0030] Obtain the tunnel length value from the navigation electronic map;

[0031] Since the vehicle enters the tunnel, detecting the driving speed value of the vehicle in each detection cycle;

[0032] Obtaining a driving distance value of a corresponding detection period based on a driving speed value and a detection period duration of each detection period;

[0033] The current remaining distance value is obtained based on the difference between the tunnel length value and the driving distance value of each detection cycle.

[0034] Optionally, detecting the driving speed value of the vehicle in each detection cycle starting from the vehicle entering the tunnel includes:

[0035] When receiving information from the navigation electronic map that the vehicle is approaching the entrance of the tunnel, periodically detecting a pupil dilation change rate of the driver of the vehicle;

[0036] When the pupil enlargement change rate is greater than a preset enlargement change rate threshold within a preset period range, a periodic count value is obtained;

[0037] When the periodic count value is greater than a preset count threshold, the driving speed value of the vehicle in each detection period is detected.

[0038] According to a specific implementation of the present application, in a second aspect, the present application provides a deceleration determination device for preventing a white hole effect, comprising:

[0039] A first acquisition unit, used to acquire a current remaining distance value and a current speed value of a vehicle traveling in a tunnel;

[0040] A second acquisition unit is used to acquire, when the current remaining distance value is less than or equal to the preset deceleration distance threshold, the preset influence durations and the respective factor weight values ​​of the multiple influence factors affecting the driving vision based on the current remaining distance value;

[0041] The obtaining unit is used to obtain a target deceleration value based on the preset influence durations of the respective influence factors, the respective factor weight values, the current speed value and the preset target speed value.

[0042] Optionally, when the current remaining distance value is less than or equal to a preset deceleration distance threshold, obtaining preset influence durations and respective factor weight values ​​of multiple influence factors affecting driving vision based on the current remaining distance value includes:

[0043] When the current remaining distance value is less than or equal to a preset deceleration distance threshold, acquiring morphological parameter values ​​of remaining tunnels from a navigation electronic map based on the current remaining distance value;

[0044] Determining the preset impact durations and the preset impact factor parameter values ​​of the multiple impact factors affecting driving vision based on the morphological parameter values;

[0045] The factor weight value of the corresponding impact factor is determined based on the preset impact factor parameter value of each impact factor.

[0046] Optionally, the determining the factor weight value of the corresponding impact factor based on the preset impact factor parameter value of each impact factor includes:

[0047] When the preset influencing factor parameter value of each influencing factor is within any preset influencing value range of the corresponding influencing factor, it is determined that the factor weight value of the corresponding influencing factor is equal to the factor weight value corresponding to the any preset influencing value range.

[0048] Optionally, obtaining the target deceleration value based on the preset impact durations of the multiple impact factors, the respective factor weight values, the current speed value and the preset target speed value includes:

[0049] Obtaining a target deceleration duration based on the preset impact durations of the multiple impact factors and their respective factor weight values;

[0050] A target deceleration value is obtained based on the current speed value, a preset target speed value and the target deceleration duration.

[0051] Optionally, obtaining the target deceleration duration based on the preset impact durations of the multiple impact factors and their respective factor weight values ​​includes:

[0052] Calculate the product of the preset impact duration of each impact factor and the factor weight value of the corresponding impact factor;

[0053] The sum of the product values ​​of the multiple influencing factors is calculated to obtain the target deceleration time.

[0054] Optionally, after obtaining the target deceleration value based on the preset impact durations of the multiple impact factors, the respective factor weight values, the current speed value and the preset target speed value, the method further includes:

[0055] A first detection unit, used for detecting the deceleration value of the neighboring vehicles, and obtaining the historical deceleration value based on the current speed value;

[0056] a determining unit, configured to determine a minimum deceleration value based on the target deceleration value, the historical deceleration value and the neighboring vehicle deceleration value;

[0057] The deceleration unit is used to output a disabling signal of the accelerator pedal and intelligently control the deceleration of the vehicle based on the minimum deceleration value.

[0058] Optionally, the device further comprises:

[0059] a second detection unit, configured to periodically detect a pupil reduction change rate of the driver of the vehicle when it is detected that the current remaining distance value is zero;

[0060] The enabling unit is used to output an enabling signal of the accelerator pedal when the pupil reduction change rate is within a preset normal change rate range within a preset cycle range.

[0061] Optionally, obtaining a current remaining distance value of a vehicle traveling in a tunnel includes:

[0062] Obtain the tunnel length value from the navigation electronic map;

[0063] Since the vehicle enters the tunnel, detecting the driving speed value of the vehicle in each detection cycle;

[0064] Obtaining a driving distance value of a corresponding detection period based on a driving speed value and a detection period duration of each detection period;

[0065] The current remaining distance value is obtained based on the difference between the tunnel length value and the driving distance value of each detection cycle.

[0066] Optionally, detecting the driving speed value of the vehicle in each detection cycle starting from the vehicle entering the tunnel includes:

[0067] When receiving information from the navigation electronic map that the vehicle is approaching the entrance of the tunnel, periodically detecting a pupil dilation change rate of the driver of the vehicle;

[0068] When the pupil enlargement change rate is greater than a preset enlargement change rate threshold within a preset period range, a periodic count value is obtained;

[0069] When the periodic count value is greater than a preset count threshold, the driving speed value of the vehicle in each detection period is detected.

[0070] According to a specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the deceleration determination method for preventing the white hole effect as described in any of the above items.

[0071] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the deceleration determination method for preventing the white hole effect as described in any of the above items.

[0072] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0073] The present application provides a deceleration determination method, device, medium and electronic device for preventing the white hole effect. When the current remaining distance value is less than or equal to the preset deceleration distance threshold, the preset impact duration and the respective factor weight values ​​of the various influencing factors affecting driving vision are obtained based on the current remaining distance value; the target deceleration value is obtained based on the preset impact durations of the various influencing factors, the respective factor weight values, the current speed value and the preset target speed value. After the positioning signal is lost, the target deceleration value of the vehicle is obtained in the complex environment of the tunnel, so that the vehicle can be decelerated in time before the vehicle exits the tunnel exit, reducing the impact of the white hole effect on the driver, improving the level of intelligent driving and driving safety, and improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 A flow chart of a method for determining deceleration to prevent a white hole effect according to an embodiment of the present application is shown;

[0075] Figure 2 A unit block diagram of a deceleration determination device for preventing a white hole effect according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0077] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0078] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0079] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0080] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0081] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0082] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0083] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0084] The embodiment provided in this application is an embodiment of a method for determining deceleration for preventing a white hole effect.

[0085] Combine the following Figure 1 The embodiments of the present application are described in detail.

[0086] Step S101, obtaining a current remaining distance value and a current speed value of a vehicle traveling in a tunnel.

[0087] The vehicle's real-time speed value can be measured through the vehicle's sensors.

[0088] The remaining distance value refers to the distance between a vehicle traveling in a tunnel and the tunnel exit.

[0089] However, after the vehicle enters the tunnel, the positioning module (including satellite positioning and / or mobile base station positioning) will not be able to receive the vehicle's positioning signal. Therefore, the current remaining distance value of the vehicle in the tunnel cannot be detected by the existing positioning module.

[0090] In some specific embodiments, obtaining the current remaining distance value of the vehicle traveling in the tunnel includes:

[0091] Step S101 - 1 , obtaining a tunnel length value from a navigation electronic map.

[0092] Since the navigation electronic map is an electronic map that has been accurately surveyed, the tunnel length value can be obtained through the navigation electronic map.

[0093] Step S101 - 2 , starting from when the vehicle enters the tunnel, detecting the driving speed value of the vehicle in each detection cycle.

[0094] In some specific embodiments, detecting the driving speed value of the vehicle in each detection cycle starting from when the vehicle enters the tunnel includes:

[0095] Step S101 - 21 , when receiving the information that the vehicle is approaching the entrance of the tunnel fed back from the navigation electronic map, periodically detecting the pupil dilation change rate of the driver of the vehicle.

[0096] The "when receiving the information of the vehicle approaching the entrance of the tunnel fed back by the navigation electronic map" can be understood as when receiving any distance value predicted from the tunnel entrance by the navigation electronic map. Since the closer the vehicle is to the tunnel entrance, the more strongly the positioning signal of the positioning module is interfered by the surrounding mountains, it is preferred that when receiving the distance value predicted from the tunnel entrance by the navigation electronic map for the first time. In order to ensure accurate triggering of the periodic detection of the change rate of the pupil dilation of the driver of the vehicle.

[0097] The closer the vehicle is to the tunnel entrance, the more interference the positioning module's positioning signal will receive from the surrounding mountains, and the less accurate the positioning signal will be. The navigation electronic map cannot accurately determine whether the vehicle has entered the tunnel entrance through the positioning module. When the vehicle enters the tunnel, the driver will experience a black hole effect, and the pupil will dilate sharply. This specific embodiment determines whether the vehicle has entered the tunnel entrance through this physiological phenomenon.

[0098] Step S101-22, when the pupil enlargement change rate within the preset period range is greater than the preset enlargement change rate threshold, a periodic count value is obtained.

[0099] Step S101-23, when the periodic count value is greater than a preset count threshold, detecting the driving speed value of the vehicle in each detection period.

[0100] This specific embodiment determines whether the driver's pupil continues to dilate within a certain period of time through periodic counting values, so as to eliminate the influence of short-term abnormal dilation on the judgment result, thereby ensuring the accuracy of the judgment result. When the driver's pupil continues to dilate within a certain period of time, it is determined that the vehicle has entered the tunnel entrance, and the driving speed value of the vehicle in each detection cycle is detected.

[0101] Step S101 - 3 , obtaining a driving distance value of a corresponding detection period based on the driving speed value and the detection period duration of each detection period.

[0102] For example, i =v i ⅹt, where d i represents the driving distance value of the i-th detection cycle, v i represents the driving speed value of the i-th detection cycle, and t represents the duration of the detection cycle.

[0103] Step S101 - 4 , obtaining the current remaining distance value based on the difference between the tunnel length value and the driving distance value of each detection cycle.

[0104] For example,

[0105]

[0106] Among them, Δl represents the current remaining distance value, L represents the tunnel length value, N represents the number of current detection cycles, and d i Represents the driving distance value of the i-th detection cycle.

[0107] This specific implementation calculates the driving distance value of the vehicle in the lane through the cumulative value of the driving distance values ​​of all detection cycles, and then subtracts the driving distance value from the tunnel length value to obtain the current remaining distance value.

[0108] Step S102, when the current remaining distance value is less than or equal to the preset deceleration distance threshold, the preset influence durations and the respective factor weight values ​​of the various influence factors affecting driving vision are obtained based on the current remaining distance value.

[0109] The preset deceleration distance threshold is an empirical value obtained through experiments. It is safer to start decelerating at the preset deceleration distance threshold.

[0110] In some specific embodiments, when the current remaining distance value is less than or equal to the preset deceleration distance threshold, the preset influence durations and respective factor weight values ​​of the multiple influence factors affecting driving vision are obtained based on the current remaining distance value, including:

[0111] Step S102-1: when the current remaining distance value is less than or equal to a preset deceleration distance threshold, acquiring the morphological parameter values ​​of the remaining tunnels from the navigation electronic map based on the current remaining distance value.

[0112] Since the road data in the navigation electronic map are obtained through precise measurement, the morphological parameter values ​​of the remaining tunnels can be obtained through the navigation electronic map.

[0113] Step S102-2, determining the preset impact durations and the preset impact factor parameter values ​​of the multiple impact factors affecting driving vision based on the morphological parameter values.

[0114] Step S102 - 3 , determining a factor weight value of a corresponding impact factor based on a preset impact factor parameter value of each impact factor.

[0115] In this specific embodiment, the morphological parameter values ​​of the remaining tunnels determine the preset impact durations and factor weight values ​​of the various influencing factors that affect driving vision. Different morphological parameter values ​​of the remaining tunnels obtain different preset impact durations and preset impact factor parameter values ​​of the various influencing factors, and different preset impact factor parameter values ​​determine different factor weight values. The same morphological parameter value can obtain the same preset impact duration and preset impact factor parameter value of the various influencing factors, and the same preset impact factor parameter value determines the same factor weight value.

[0116] Each preset impact duration is an empirical value obtained through experiments.

[0117] Each preset influencing factor parameter value is an empirical value obtained through experiments.

[0118] The morphological parameter values ​​can be used to look up a table to determine the preset impact durations and the preset impact factor parameter values ​​of the various impact factors that affect driving vision.

[0119] In some specific embodiments, determining the factor weight value of a corresponding influencing factor based on the preset influencing factor parameter values of each influencing factor includes:

[0120] Step S102-3a, when the preset influencing factor parameter values of each influencing factor are within any preset influencing value range of the corresponding influencing factor, determining that the factor weight value of the corresponding influencing factor is equal to the factor weight value corresponding to the any preset influencing value range.

[0121] For example, the influencing factors include the historical pupil recovery factor. When the preset pupil recovery duration of the historical pupil recovery factor > T1, the factor weight value of the historical pupil recovery factor is q1. When the preset pupil recovery duration of the historical pupil recovery factor ∈ [T2, T1], the factor weight value of the historical pupil recovery factor is [0, q1], and the specific factor weight value of the historical pupil recovery factor is obtained by linear interpolation. When the preset pupil recovery duration of the historical pupil recovery factor < T2, the factor weight value of the historical pupil recovery factor is q1; the influencing factors also include the lane curvature rate factor. When the preset curvature rate value of the lane curvature rate factor > K1, the factor weight value of the lane curvature rate factor is q2. When the preset curvature rate value of the lane curvature rate factor ∈ [K2, K1], the factor weight value of the lane curvature rate factor is [0, q3], and the specific factor weight value of the lane curvature rate factor is obtained by linear interpolation. When the preset curvature rate value of the lane curvature rate factor < K2, the factor weight value of the lane curvature rate factor is 0. This specific embodiment is not limited thereto. For example, the influencing factors also include the distance factor of the vehicle ahead.

[0122] Step S103, obtaining a target deceleration value based on the preset influence durations, respective factor weight values, the current speed value, and the preset target speed value of the multiple influencing factors.

[0123] After obtaining the target deceleration value, a disabling signal of the accelerator pedal can be output, and the vehicle is intelligently controlled to decelerate based on the target deceleration value. After the accelerator pedal obtains the disabling signal, it loses its acceleration function, and the deceleration control right of the vehicle is handed over to the vehicle to intelligently control the vehicle to accelerate.

[0124] In some specific embodiments, obtaining the target deceleration value based on the preset influence durations, respective factor weight values, the current speed value, and the preset target speed value of the multiple influencing factors includes:

[0125] Step S103-1, obtaining a target deceleration duration based on the preset influence durations and respective factor weight values of the multiple influencing factors.

[0126] In some specific embodiments, obtaining the target deceleration duration based on the preset influence durations and respective factor weight values of the multiple influencing factors includes:

[0127] Step S103 - 11 , calculating the product of the preset impact duration of each impact factor and the factor weight value of the corresponding impact factor.

[0128] For example, t j =t j 'ⅹq j ; where t j represents the product value of the jth impact factor, t j ' represents the preset impact duration of the jth impact factor, q j Represents the factor weight value of the j-th influencing factor.

[0129] Step S103-12, calculating the sum of the product values ​​of the multiple influencing factors to obtain the target deceleration duration.

[0130] For example,

[0131]

[0132] Where t represents the target deceleration time, t j It represents the product value of the j-th influencing factor, and M represents the number of types of influencing factors.

[0133] Step S103-2, obtaining a target deceleration value based on the current speed value, the preset target speed value and the target deceleration duration.

[0134] Regarding the step of obtaining the target deceleration value based on the current speed value, the preset target speed value and the target deceleration duration, please refer to the prior art, and this specific embodiment will not be repeated.

[0135] In some specific embodiments, after obtaining the target deceleration value based on the preset impact durations of the multiple impact factors, the respective factor weight values, the current speed value and the preset target speed value, the method further includes:

[0136] Step S104, detecting the deceleration values ​​of neighboring vehicles, and acquiring historical deceleration values ​​based on the current speed value.

[0137] The deceleration values ​​of neighboring vehicles are detected through a body sensor module (such as a body camera).

[0138] The historical deceleration value refers to the deceleration value historically obtained by the vehicle at the current speed value.

[0139] Step S105: determining a minimum deceleration value based on the target deceleration value, the historical deceleration value and the neighboring vehicle deceleration value.

[0140] Step S106, outputting a disabling signal of the accelerator pedal, and intelligently controlling the vehicle to decelerate based on the minimum deceleration value.

[0141] This specific embodiment obtains multiple deceleration values ​​through multiple ways, selects the minimum deceleration value from the multiple deceleration values, and intelligently controls the vehicle to decelerate. The smaller the deceleration value, the faster the deceleration. This minimizes the impact of the white hole effect on the driver's vision and ensures driving safety.

[0142] In some specific embodiments, the method further comprises:

[0143] Step S111, when it is detected that the current remaining distance value is zero, periodically detecting the pupil reduction change rate of the driver of the vehicle.

[0144] Step S112: when the pupil reduction change rate is within a preset normal change rate range within a preset cycle range, an accelerator pedal enable signal is output.

[0145] In this specific embodiment, if the current remaining distance value is zero, it indicates that the vehicle has exited the tunnel exit. When the vehicle exits the tunnel, the driver's pupil shrinks to adapt to the strong light environment. Therefore, the driver's pupil shrinkage change rate is detected.

[0146] The preset cycle range (for example, the preset cycle range is 5 detection cycles) is suitable for determining whether the driver's pupil continues to shrink within a certain period of time, so as to eliminate the influence of short-term abnormal shrinkage on the judgment result, thereby ensuring the accuracy of the judgment result. When the driver's pupil continues to shrink for a certain period of time, the pupil shrinkage change rate is stable within the preset normal change rate range, and it is determined that the driver has adapted to the light outside the tunnel exit, then the accelerator pedal enable signal is output, the accelerator pedal function is restored, and the driver can control the use of the accelerator pedal.

[0147] In the embodiment of the present application, when the current remaining distance value is less than or equal to the preset deceleration distance threshold, the preset impact duration and the respective factor weight values ​​of the various influencing factors affecting driving vision are obtained based on the current remaining distance value; the target deceleration value is obtained based on the preset impact durations of the various influencing factors, the respective factor weight values, the current speed value and the preset target speed value. After the positioning signal is lost, the target deceleration value of the vehicle is obtained in the complex environment of the tunnel, so that the vehicle can be decelerated in time before the vehicle exits the tunnel exit, reducing the impact of the white hole effect on the driver, improving the level of intelligent driving and driving safety, and improving the user's driving experience.

[0148] The present application also provides a device embodiment that is based on the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0149] like Figure 2 As shown, the present application provides a deceleration determination device 200 for preventing a white hole effect, comprising:

[0150] A first acquisition unit 201 is used to acquire a current remaining distance value and a current speed value of a vehicle traveling in a tunnel;

[0151] A second acquisition unit 202 is configured to acquire, when the current remaining distance value is less than or equal to a preset deceleration distance threshold, respective preset influence durations and respective factor weight values ​​of multiple influence factors affecting driving vision based on the current remaining distance value;

[0152] The obtaining unit 203 is used to obtain a target deceleration value based on the preset influence durations of the respective influence factors, the respective factor weight values, the current speed value and the preset target speed value.

[0153] Optionally, when the current remaining distance value is less than or equal to a preset deceleration distance threshold, obtaining preset influence durations and respective factor weight values ​​of multiple influence factors affecting driving vision based on the current remaining distance value includes:

[0154] When the current remaining distance value is less than or equal to a preset deceleration distance threshold, acquiring morphological parameter values ​​of remaining tunnels from a navigation electronic map based on the current remaining distance value;

[0155] Determining the preset impact durations and the preset impact factor parameter values ​​of the multiple impact factors affecting driving vision based on the morphological parameter values;

[0156] The factor weight value of the corresponding impact factor is determined based on the preset impact factor parameter value of each impact factor.

[0157] Optionally, the determining the factor weight value of the corresponding impact factor based on the preset impact factor parameter value of each impact factor includes:

[0158] When the preset influencing factor parameter value of each influencing factor is within any preset influencing value range of the corresponding influencing factor, it is determined that the factor weight value of the corresponding influencing factor is equal to the factor weight value corresponding to the any preset influencing value range.

[0159] Optionally, obtaining the target deceleration value based on the preset impact durations of the multiple impact factors, the respective factor weight values, the current speed value and the preset target speed value includes:

[0160] Obtaining a target deceleration duration based on the preset impact durations of the multiple impact factors and their respective factor weight values;

[0161] A target deceleration value is obtained based on the current speed value, a preset target speed value and the target deceleration duration.

[0162] Optionally, obtaining the target deceleration duration based on the preset impact durations of the multiple impact factors and their respective factor weight values ​​includes:

[0163] Calculate the product of the preset impact duration of each impact factor and the factor weight value of the corresponding impact factor;

[0164] The sum of the product values ​​of the multiple influencing factors is calculated to obtain the target deceleration time.

[0165] Optionally, after obtaining the target deceleration value based on the preset impact durations of the multiple impact factors, the respective factor weight values, the current speed value and the preset target speed value, the method further includes:

[0166] A first detection unit, used for detecting the deceleration value of the neighboring vehicles, and obtaining the historical deceleration value based on the current speed value;

[0167] a determining unit, configured to determine a minimum deceleration value based on the target deceleration value, the historical deceleration value and the neighboring vehicle deceleration value;

[0168] The deceleration unit is used to output a disabling signal of the accelerator pedal and intelligently control the deceleration of the vehicle based on the minimum deceleration value.

[0169] Optionally, the device further comprises:

[0170] a second detection unit, configured to periodically detect a pupil reduction change rate of the driver of the vehicle when it is detected that the current remaining distance value is zero;

[0171] The enabling unit is used to output an enabling signal for the accelerator pedal when the pupil reduction change rate is within a preset normal change rate range within a preset cycle range.

[0172] Optionally, obtaining a current remaining distance value of a vehicle traveling in a tunnel includes:

[0173] Obtain the tunnel length value from the navigation electronic map;

[0174] Starting from the moment the vehicle enters the tunnel, detecting a driving speed value of the vehicle in each detection cycle;

[0175] Obtaining a driving distance value of a corresponding detection period based on a driving speed value and a detection period duration of each detection period;

[0176] The current remaining distance value is obtained based on the difference between the tunnel length value and the driving distance value of each detection cycle.

[0177] Optionally, detecting the driving speed value of the vehicle in each detection cycle starting from the vehicle entering the tunnel includes:

[0178] When receiving information from the navigation electronic map that the vehicle is approaching the entrance of the tunnel, periodically detecting a pupil dilation change rate of the driver of the vehicle;

[0179] When the pupil enlargement change rate is greater than a preset enlargement change rate threshold within a preset period range, obtaining a periodic count value;

[0180] When the periodic count value is greater than a preset count threshold, the driving speed value of the vehicle in each detection period is detected.

[0181] In the embodiment of the present application, when the current remaining distance value is less than or equal to the preset deceleration distance threshold, the preset impact duration and the respective factor weight values ​​of the various influencing factors affecting driving vision are obtained based on the current remaining distance value; the target deceleration value is obtained based on the preset impact durations of the various influencing factors, the respective factor weight values, the current speed value and the preset target speed value. After the positioning signal is lost, the target deceleration value of the vehicle is obtained in the complex environment of the tunnel, so that the vehicle can be decelerated in time before the vehicle exits the tunnel exit, reducing the impact of the white hole effect on the driver, improving the level of intelligent driving and driving safety, and improving the user's driving experience.

[0182] Example 3

[0183] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0184] Example 4

[0185] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0186] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0187] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining deceleration to prevent white hole effect, characterized in that: include: Get the current remaining distance and current speed of the vehicle traveling in the tunnel; When the current remaining distance value is less than or equal to the preset deceleration distance threshold, obtaining the preset influence durations and the respective factor weight values ​​of the multiple influence factors affecting driving vision based on the current remaining distance value; A target deceleration value is obtained based on the preset influence durations of the respective influence factors, the respective factor weight values, the current speed value and the preset target speed value.

2. The method according to claim 1, characterized in that When the current remaining distance value is less than or equal to the preset deceleration distance threshold, obtaining the preset influence durations and the respective factor weight values ​​of the multiple influence factors affecting driving vision based on the current remaining distance value, including: When the current remaining distance value is less than or equal to a preset deceleration distance threshold, acquiring morphological parameter values ​​of remaining tunnels from a navigation electronic map based on the current remaining distance value; Determining the preset impact durations and the preset impact factor parameter values ​​of the multiple impact factors affecting driving vision based on the morphological parameter values; The factor weight value of the corresponding impact factor is determined based on the preset impact factor parameter value of each impact factor.

3. The method according to claim 2, characterized in that The step of determining the factor weight value of the corresponding impact factor based on the preset impact factor parameter value of each impact factor includes: When the preset influencing factor parameter value of each influencing factor is within any preset influencing value range of the corresponding influencing factor, it is determined that the factor weight value of the corresponding influencing factor is equal to the factor weight value corresponding to the any preset influencing value range.

4. The method according to claim 1, characterized in that: The obtaining of the target deceleration value based on the preset influence durations of the respective influence factors, the respective factor weight values, the current speed value and the preset target speed value comprises: Obtaining a target deceleration duration based on the preset impact durations of the multiple impact factors and their respective factor weight values; A target deceleration value is obtained based on the current speed value, a preset target speed value and the target deceleration duration.

5. The method according to claim 4, characterized in that The obtaining of the target deceleration duration based on the preset influence durations of the multiple influence factors and the respective factor weight values ​​includes: Calculate the product of the preset impact duration of each impact factor and the factor weight value of the corresponding impact factor; The sum of the product values ​​of the multiple influencing factors is calculated to obtain the target deceleration time.

6. The method according to claim 1, characterized in that After obtaining the target deceleration value based on the preset influence durations of the multiple influence factors, the respective factor weight values, the current speed value and the preset target speed value, the method further includes: Detecting the deceleration values ​​of neighboring vehicles, and obtaining historical deceleration values ​​based on the current speed value; Determine a minimum deceleration value based on the target deceleration value, the historical deceleration value and the neighboring vehicle deceleration value; A disabling signal of an accelerator pedal is output, and the vehicle deceleration is intelligently controlled based on the minimum deceleration value.

7. The method according to claim 1, characterized in that The method further comprises: When it is detected that the current remaining distance value is zero, periodically detecting a pupil reduction change rate of the driver of the vehicle; When the pupil reduction change rate is within a preset normal change rate range within a preset cycle range, an accelerator pedal enable signal is output.

8. The method according to claim 1, characterized in that The obtaining of the current remaining distance value of the vehicle traveling in the tunnel comprises: Obtain the tunnel length value from the navigation electronic map; Starting from the moment the vehicle enters the tunnel, detecting a driving speed value of the vehicle in each detection cycle; Obtaining a driving distance value of a corresponding detection period based on a driving speed value and a detection period duration of each detection period; The current remaining distance value is obtained based on the difference between the tunnel length value and the driving distance value of each detection cycle.

9. The method according to claim 8, characterized in that The detecting of the driving speed value of the vehicle in each detection cycle starting from the vehicle entering the tunnel comprises: When receiving information from the navigation electronic map that the vehicle is approaching the entrance of the tunnel, periodically detecting a pupil dilation change rate of the driver of the vehicle; When the pupil enlargement change rate is greater than a preset enlargement change rate threshold within a preset period range, obtaining a periodic count value; When the periodic count value is greater than a preset count threshold, the driving speed value of the vehicle in each detection period is detected.

10. A deceleration determination device for preventing white hole effect, characterized in that: include: A first acquisition unit, used to acquire a current remaining distance value and a current speed value of a vehicle traveling in a tunnel; A second acquisition unit is used to acquire, when the current remaining distance value is less than or equal to the preset deceleration distance threshold, the preset influence durations and the respective factor weight values ​​of the multiple influence factors affecting the driving vision based on the current remaining distance value; The obtaining unit is used to obtain a target deceleration value based on the preset influence durations of the respective influence factors, the respective factor weight values, the current speed value and the preset target speed value.

Images