A method and apparatus for determining deceleration to prevent white hole effect

Abstract

The application provides a method and device for determining deceleration to prevent white hole effect. When the current remaining distance value is less than or equal to a preset deceleration distance threshold, a plurality of influence factors affecting driving vision are obtained based on the current remaining distance value, each preset influence duration and each factor weight value; and a target deceleration value is obtained based on the plurality of influence factors, each preset influence duration, each factor weight value, the current speed value and a preset target speed value. After losing positioning signals, the target deceleration value of the vehicle in a complex tunnel environment is obtained, so that the vehicle can be timely controlled to decelerate before the vehicle exits the tunnel exit, the influence of the white hole effect on the driver is reduced, the level of intelligent driving and the safety of driving are improved, and the driving experience of the user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a deceleration determination method and device for preventing white-hole effect, a medium and an electronic device. BACKGROUND

[0002] An intelligent driving system can automatically control the acceleration and deceleration of a vehicle in the longitudinal direction and the steering of the vehicle in the lateral direction according to the traffic situation of the driving direction of the vehicle, and reduce the operation burden of the driver.

[0003] However, in a tunnel scenario, the driver will have a black-hole effect when the vehicle enters the tunnel, and the driver will have a white-hole effect when the vehicle exits the tunnel, both of which will cause a temporary blindness phenomenon. At the same time, the camera sensor in the intelligent driving system will also have a temporary exposure abnormality phenomenon, and cannot correctly identify the road conditions in front. If there is a person or vehicle in front at this time, there will be a collision risk.

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

[0005] The present application aims to provide a deceleration determination method for preventing white-hole effect, device, medium and electronic equipment, which can solve at least one of the above technical problems. The specific scheme is as follows:

[0006] According to the specific embodiment of the present application, in a first aspect, the present application provides a deceleration determination method for preventing white-hole effect, comprising:

[0007] obtaining a current remaining distance value and a current speed value of a vehicle driving in a tunnel;

[0008] when the current remaining distance value is less than or equal to a preset deceleration distance threshold, obtaining a preset influence time and a factor weight value of each of a plurality of influence factors affecting driving vision based on the current remaining distance value;

[0009] obtaining a target deceleration value based on the preset influence time, the factor weight value of each of the plurality of influence factors, the current speed value and a preset target speed value.

[0010] Optionally, when the current remaining distance value is less than or equal to the preset deceleration distance threshold, the method further comprises:

[0011] when the current remaining distance value is less than or equal to the preset deceleration distance threshold, obtaining a form parameter value of the remaining tunnel from a navigation electronic map based on the current remaining distance value;

[0012] determine a preset influence time length and a preset influence factor parameter value of each of the plurality of influence factors affecting the driving vision based on the morphological parameter value;

[0013] determine a factor weight value of each of the plurality of influence factors based on the preset influence factor parameter value of the corresponding influence factor.

[0014] Optionally, the method further comprises:

[0015] when the preset influence factor parameter value of each of the plurality of influence factors is within any preset influence value range of the corresponding influence factor, determining that the factor weight value of the corresponding influence factor is equal to the factor weight value corresponding to the any preset influence value range.

[0016] Optionally, the method further comprises:

[0017] obtaining a target deceleration time length based on the preset influence time length and the factor weight value of each of the plurality of influence factors.

[0018] obtaining a target deceleration value based on the current speed value, the preset target speed value and the target deceleration time length.

[0019] Optionally, the method further comprises:

[0020] calculating a product value of the preset influence time length of each of the plurality of influence factors and the factor weight value of the corresponding influence factor.

[0021] obtaining the target deceleration time length based on a sum value of the product values of the plurality of influence factors.

[0022] Optionally, the method further comprises:

[0023] detecting a neighboring vehicle deceleration value and obtaining a historical deceleration value based on the current speed value;

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

[0025] outputting a disable signal of an accelerator pedal and intelligently controlling the vehicle to decelerate based on the minimum deceleration value.

[0026] Optionally, the method further comprises:

[0027] detecting a pupil constriction change rate of a driver of the vehicle periodically when the current residual distance value is detected as zero;

[0028] outputting an enable signal of an accelerator pedal when the pupil constriction change rate is within a preset normal change rate range within a preset period range.

[0029] Optionally, the current residual distance value of the vehicle driving in the tunnel is obtained by:

[0030] obtaining a tunnel length value from a navigation electronic map;

[0031] detecting a driving speed value of the vehicle in each detection period since the vehicle enters the tunnel;

[0032] obtaining a driving distance value of a corresponding detection period based on the driving speed value of each detection period and a detection period length;

[0033] obtaining the current residual distance value based on a difference value between the tunnel length value and the driving distance value of each detection period.

[0034] Optionally, the driving speed value of the vehicle in each detection period is detected since the vehicle enters the tunnel by:

[0035] detecting a pupil dilation change rate of a driver of the vehicle periodically when receiving the information that the vehicle approaches the entrance of the tunnel fed back by the navigation electronic map;

[0036] obtaining a periodic count value when the pupil dilation change rate is greater than a preset dilation change rate threshold value within a preset period range;

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

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

[0039] a first obtaining unit, configured to obtain a current residual distance value and a current speed value of a vehicle driving in a tunnel;

[0040] a second obtaining unit, configured to obtain a preset influence time length and a factor weight value of each of a plurality of influence factors affecting driving vision based on the current residual distance value when the current residual distance value is less than or equal to a preset deceleration distance threshold value;

[0041] obtain a target deceleration value based on the preset influence duration of each of the plurality of influence factors, the factor weight value of each of the plurality of influence factors, the current speed value, and a preset target speed value.

[0042] Optionally, when the current remaining distance value is less than or equal to a preset deceleration distance threshold, the preset influence duration and the factor weight value of each of the plurality of influence factors affecting driving vision are obtained based on the current remaining distance value, including:

[0043] When the current remaining distance value is less than or equal to a preset deceleration distance threshold, a morphological parameter value of a remaining tunnel is obtained from a navigation electronic map based on the current remaining distance value.

[0044] The preset influence duration and the preset influence factor parameter value of each of the plurality of influence factors affecting driving vision are determined based on the morphological parameter value.

[0045] The factor weight value of each of the plurality of influence factors is determined based on the preset influence factor parameter value of each of the plurality of influence factors.

[0046] Optionally, the factor weight value of each of the plurality of influence factors is determined based on the preset influence factor parameter value of each of the plurality of influence factors, including:

[0047] When the preset influence factor parameter value of each of the plurality of influence factors is within any preset influence value range of the corresponding influence factor, the factor weight value of the corresponding influence factor is determined to be equal to the factor weight value corresponding to the any preset influence value range.

[0048] Optionally, the target deceleration value is obtained based on the preset influence duration of each of the plurality of influence factors, the factor weight value of each of the plurality of influence factors, the current speed value, and a preset target speed value, including:

[0049] The target deceleration duration is obtained based on the preset influence duration of each of the plurality of influence factors and the factor weight value of each of the plurality of influence factors.

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

[0051] Optionally, the target deceleration duration is obtained based on the preset influence duration of each of the plurality of influence factors and the factor weight value of each of the plurality of influence factors, including:

[0052] The product value of the preset influence duration of each of the plurality of influence factors and the factor weight value of the corresponding influence factor is calculated.

[0053] The sum value of the product values of the plurality of influence factors is calculated to obtain the target deceleration duration.

[0054] Optionally, after obtaining the target deceleration value based on the preset influence time length, the factor weight value, the current speed value and the preset target speed value of each of the plurality of influence factors, the method further comprises:

[0055] detecting a surrounding neighbor vehicle deceleration value, and obtaining a historical deceleration value based on the current speed value;

[0056] determining a minimum deceleration value based on the target deceleration value, the historical deceleration value and the neighbor vehicle deceleration value;

[0057] controlling the vehicle to decelerate intelligently based on the minimum deceleration value.

[0058] Optionally, the device further comprises:

[0059] periodically detecting a pupil constriction change rate of a driver of the vehicle when the current remaining distance value is detected to be zero;

[0060] outputting an enable signal of an accelerator pedal when the pupil constriction change rate is within a preset normal change rate range within a preset period range.

[0061] Optionally, the current remaining distance value of the vehicle driving in the tunnel is obtained by:

[0062] obtaining a tunnel length value from a navigation electronic map;

[0063] detecting a driving speed value of the vehicle in each detection period since the vehicle enters the tunnel;

[0064] obtaining a driving distance value of each detection period based on the driving speed value of each detection period and a detection period length;

[0065] obtaining the current remaining distance value based on a difference between the tunnel length value and the driving distance value of each detection period.

[0066] Optionally, the driving speed value of the vehicle in each detection period is detected since the vehicle enters the tunnel by:

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

[0068] obtaining a periodic count value when the pupil dilation change rate is greater than a preset dilation change rate threshold within a preset period range;

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

[0070] According to the specific embodiments of the present application, in a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the white-hole effect prevention deceleration determination method according to any one of the preceding aspects.

[0071] According to the specific embodiments 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, which, when executed by the one or more processors, cause the one or more processors to implement the white-hole effect prevention deceleration determination method according to any one of the preceding aspects.

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

[0073] The present application provides a white-hole effect prevention deceleration determination method, device, medium and electronic device. When the current remaining distance value is less than or equal to a preset deceleration distance threshold value, the preset influence time and the factor weight value of each of a plurality of influence factors affecting driving vision are obtained based on the current remaining distance value; and the target deceleration value is obtained based on the preset influence time, the factor weight value of each of the plurality of influence factors, the current speed value and a preset target speed value. After losing the positioning signal, the target deceleration value of the vehicle is obtained in the complex environment of the tunnel, so as to timely control the vehicle to decelerate before the vehicle exits the tunnel exit, reduce the influence of the white-hole effect on the driver, improve the level of intelligent driving and driving safety, and improve the user's driving experience. BRIEF DESCRIPTION OF DRAWINGS

[0074] Figure 1 A flowchart of a white-hole effect prevention deceleration determination method according to an embodiment of the present application is shown;

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

[0076] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be described in further detail below with reference to the drawings. Obviously, the described embodiments are only a 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 a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0077] The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of the application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be understood that the terms "and / or," "at least one of," and "one or more of" as used herein refer to and encompass any possible combination of one or more of the associated listed items, including but not limited to the full set of one or more of the associated listed items.

[0078] It should be understood that the term "and / or" as used herein is merely an associative relationship of the associated objects, and means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally means that the front and rear associated objects are in an "or" relationship.

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

[0080] Depending on the context, the word "if" as used herein can be interpreted to mean "when" or "while" or "in response to determining" or "in response to detecting." Similarly, the phrase "if it is determined" or "if a stated condition or event occurs" can be interpreted to mean "when it is determined" or "in response to determining" or "when a stated condition or event occurs" or "in response to detecting a stated condition or event."

[0081] It should also be noted that the terms "comprising", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that the product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such product or device. Without more limitations, the element defined by the sentence "including a" does not exclude the presence of other identical elements in the product or device including the element.

[0082] It should be particularly noted that the symbols and / or numbers present in the specification, if not marked in the description of the drawings, are not drawing reference numbers.

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

[0084] The embodiments provided by the application are a white hole effect prevention deceleration determination method.

[0085] The embodiments of the application are described in detail below with reference to the accompanying drawings. Figure 1 The embodiments of the application are described in detail.

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

[0087] The real-time speed value of the vehicle can be measured by a sensor of the vehicle.

[0088] The remaining distance value refers to a distance value of the vehicle driving in the tunnel to the tunnel exit.

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

[0090] In some embodiments, the obtaining of the current remaining distance value of the vehicle driving in the tunnel comprises:

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

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

[0093] Step S101-2, detecting a driving speed value of the vehicle in each detection period since the vehicle enters the tunnel.

[0094] In some embodiments, the detecting of the driving speed value of the vehicle in each detection period since the vehicle enters the tunnel comprises:

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

[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 of the distance from the vehicle to the tunnel entrance predicted by the navigation electronic map. Since the vehicle is closer to the tunnel entrance, the positioning signal of the positioning module is more strongly interfered by the surrounding mountains, and therefore, preferably, when receiving the distance value of the distance from the vehicle to the tunnel entrance predicted by the navigation electronic map for the first time. In order to be able to ensure accurate triggering of the periodically detecting of the pupil dilation change rate of the driver of the vehicle.

[0097] As the vehicle approaches the tunnel entrance, the positioning module's signal becomes increasingly susceptible to interference from the surrounding mountains, resulting in less accurate positioning. Navigation maps, relying solely on the positioning module, cannot accurately determine whether the vehicle has entered the tunnel entrance. Furthermore, the driver experiences a "black hole effect" when entering a tunnel, causing their pupils to dilate dramatically. This specific embodiment utilizes this physiological phenomenon to determine whether the vehicle has entered the tunnel entrance.

[0098] Steps S101-22: When the pupil dilation rate of change is greater than the preset dilation rate of change threshold within the preset period range, a periodic count value is obtained.

[0099] Steps S101-23: When the periodic count value is greater than the preset count threshold, the driving speed value of the vehicle in each detection cycle is detected.

[0100] This specific embodiment determines whether the driver's pupils are continuously dilated within a certain period of time by using periodic count values, in order 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 pupils are continuously dilated within a certain period of time, it is determined that the vehicle has entered the tunnel entrance, and the vehicle's driving speed value is detected in each detection cycle.

[0101] Step S101-3: Obtain the driving distance value for the corresponding detection cycle based on the driving speed value and detection cycle duration for each detection cycle.

[0102] For example, d i =v i xt, where d i v represents the travel distance value in the i-th detection period. i Let t represent the driving speed value in the i-th detection cycle, and t represent the detection cycle duration.

[0103] Step S101-4: Based on the difference between the tunnel length value and the travel distance value of each detection cycle, obtain the current remaining distance value.

[0104] For example,

[0105]

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

[0107] This specific implementation calculates the travel distance of vehicles within the lane by accumulating the travel distance values ​​across all detection cycles, and then subtracts the travel distance value from the tunnel length value to obtain the current remaining distance value.

[0108] In step S102, when the current remaining distance value is less than or equal to a preset deceleration distance threshold, preset influence time lengths and preset factor weight values of the plurality of 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 deceleration when the preset deceleration distance threshold is reached.

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

[0111] In step S102-1, when the current remaining distance value is less than or equal to a preset deceleration distance threshold, a form parameter value of a remaining tunnel is obtained from a navigation electronic map based on the current remaining distance value.

[0112] Since the road data in the navigation electronic map are obtained through accurate measurement, the form parameter value of the remaining tunnel can be obtained through the navigation electronic map.

[0113] In step S102-2, the preset influence time lengths and preset influence factor parameter values of the plurality of influence factors affecting driving vision are determined based on the form parameter value.

[0114] In step S102-3, the factor weight values of the corresponding influence factors are determined based on the preset influence factor parameter values of the respective influence factors.

[0115] In this embodiment, the form parameter value of the remaining tunnel determines the preset influence time lengths and preset factor weight values of the plurality of influence factors affecting driving vision. Different form parameter values of the remaining tunnel obtain different preset influence time lengths and preset influence factor parameter values of the plurality of influence factors, and different preset influence factor parameter values determine different factor weight values. The same form parameter value can obtain the same preset influence time lengths and preset influence factor parameter values of the plurality of influence factors, and the same preset influence factor parameter values determine the same factor weight values.

[0116] Each preset influence time length is an empirical value obtained through experiments.

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

[0118] The form parameter value can be used to look up the preset influence time lengths and preset influence factor parameter values of the plurality of influence factors affecting driving vision.

[0119] In some embodiments, the determining the factor weight value of the corresponding influence factor based on the preset influence factor parameter value of the influence factor comprises:

[0120] In step S102-3a, when the preset influence factor parameter value of the influence factor is within any preset influence value range of the corresponding influence factor, the factor weight value of the corresponding influence factor is determined to be equal to the factor weight value corresponding to the any preset influence value range.

[0121] For example, the influence factor includes a historical pupil recovery factor. When the preset pupil recovery duration of the historical pupil recovery factor is greater than 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 is within [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 calculated by linear interpolation. When the preset pupil recovery duration of the historical pupil recovery factor is less than T2, the factor weight value of the historical pupil recovery factor is q1. The influence factor also includes a lane curve rate factor. When the preset curve rate value of the lane curve rate factor is greater than K1, the factor weight value of the lane curve rate factor is q2. When the preset curve rate value of the lane curve rate factor is within [K2, K1], the factor weight value of the lane curve rate factor is [0, q3], and the specific factor weight value of the lane curve rate factor is calculated by linear interpolation. When the preset curve rate value of the lane curve rate factor is less than K2, the factor weight value of the lane curve rate factor is 0. The embodiments are not limited thereto. For example, the influence factor also includes a front vehicle distance factor.

[0122] In step S103, a target deceleration value is obtained based on the preset influence duration of each of the plurality of influence factors, the factor weight value of each of the plurality of influence factors, the current speed value, and a preset target speed value.

[0123] After the target deceleration value is obtained, a disable 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 disable signal, the accelerator function is lost, and the control right of the vehicle deceleration is given to the vehicle, and the vehicle is intelligently controlled to accelerate.

[0124] In some embodiments, the obtaining of the target deceleration value based on the preset influence duration of each of the plurality of influence factors, the factor weight value of each of the plurality of influence factors, the current speed value, and a preset target speed value comprises:

[0125] In step S103-1, a target deceleration duration is obtained based on the preset influence duration of each of the plurality of influence factors and the factor weight value of each of the plurality of influence factors.

[0126] In some embodiments, the obtaining of the target deceleration duration based on the preset influence duration of each of the plurality of influence factors and the factor weight value of each of the plurality of influence factors comprises:

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

[0128] For example, t j = t j x q j ; wherein, t j represents the product value of the jth influence factor, t j ' represents the preset influence duration of the jth influence factor, and q j represents the factor weight value of the jth influence factor.

[0129] Step S103-12, calculating the sum value of the product values of the plurality of influence factors to obtain the target deceleration duration.

[0130] For example,

[0131]

[0132] wherein, t represents the target deceleration duration, t j represents the product value of the jth influence factor, and M represents the category number value of the influence 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] For the step of obtaining a 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 the specific embodiments will not be described here.

[0135] In some embodiments, after the target deceleration value is obtained based on the preset influence duration, the factor weight value, the current speed value, and the preset target speed value of each of the plurality of influence factors, the method further comprises:

[0136] Step S104, detecting a surrounding neighbor vehicle deceleration value and obtaining a historical deceleration value based on the current speed value.

[0137] The surrounding neighbor vehicle deceleration value is detected by a vehicle body sensing module (such as a vehicle body camera).

[0138] The historical deceleration value refers to the deceleration value obtained by the vehicle in the past 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 neighbor vehicle deceleration value.

[0140] In step S106, an acceleration pedal disable signal is outputted, and the vehicle is intelligently controlled to decelerate based on the minimum deceleration value.

[0141] In the embodiments, the plurality of deceleration values are obtained in various ways, and the minimum deceleration value is selected from the plurality of deceleration values to intelligently control the vehicle to decelerate. The smaller the deceleration value, the faster the deceleration. Thus, the influence of the white hole effect on the driver's vision is minimized, and the driving safety is ensured.

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

[0143] In step S111, when it is detected that the current remaining distance value is zero, the rate of change of the driver's pupil constriction of the vehicle is periodically detected.

[0144] In step S112, when the rate of change of the pupil constriction is within a preset normal rate range within a preset period range, an acceleration pedal enable signal is outputted.

[0145] In the embodiments, 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 is constricted to adapt to the strong light environment. Therefore, the rate of change of the driver's pupil constriction is detected.

[0146] The preset period range (for example, the preset period range is 5 detection periods) is suitable for determining whether the driver's pupil is continuously constricted within a certain time period, so as to exclude the influence of short-term abnormal constriction on the judgment result, thereby ensuring the accuracy of the judgment result. When the driver's pupil is continuously constricted within a certain time period, the rate of change of the pupil constriction is stable within the preset normal rate range, it is determined that the driver has adapted to the light outside the tunnel exit, and then the acceleration pedal enable signal is outputted to restore the function of the acceleration pedal, and the driver can control the use of the acceleration pedal.

[0147] In the embodiments, when the current remaining distance value is less than or equal to the preset deceleration distance threshold, the preset influence time and the factor weight value of each of the plurality of influence factors affecting the driving vision are obtained based on the current remaining distance value; and the target deceleration value is obtained based on the preset influence time, the factor weight value of each of the plurality of influence factors, 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 as to timely control the vehicle to decelerate before the vehicle exits the tunnel exit, reduce the influence of the white hole effect on the driver, improve the level of intelligent driving and driving safety, and improve the user's driving experience.

[0148] The application also provides a device embodiment for implementing the method steps of the above embodiments, based on the same name meaning explanation as the above embodiments, with the same technical effects as the above embodiments, which will not be repeated here.

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

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

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

[0152] An obtaining unit 203 is configured to obtain a target deceleration value based on the preset influence time, the preset factor weight value, the current speed value, and a preset target speed value of each of the plurality of influence factors.

[0153] Optionally, when the current remaining distance value is less than or equal to the preset deceleration distance threshold value, the second acquisition unit 202 is configured to acquire the preset influence time and the preset factor weight value of each of the plurality of influence factors affecting driving vision based on the current remaining distance value, comprising:

[0154] When the current remaining distance value is less than or equal to the preset deceleration distance threshold value, the second acquisition unit 202 is configured to acquire a morphological parameter value of a remaining tunnel from a navigation electronic map based on the current remaining distance value;

[0155] The second acquisition unit 202 is configured to determine the preset influence time and a preset influence factor parameter value of each of the plurality of influence factors affecting driving vision based on the morphological parameter value;

[0156] The second acquisition unit 202 is configured to determine the factor weight value of each of the plurality of influence factors based on the preset influence factor parameter value of each of the plurality of influence factors.

[0157] Optionally, the second acquisition unit 202 is configured to determine the factor weight value of each of the plurality of influence factors based on the preset influence factor parameter value of each of the plurality of influence factors, comprising:

[0158] When the preset influence factor parameter value of each of the plurality of influence factors is within any preset influence value range of the corresponding influence factor, the second acquisition unit 202 is configured to determine that the factor weight value of the corresponding influence factor is equal to a factor weight value corresponding to the any preset influence value range.

[0159] Optionally, the obtaining unit 203 is configured to obtain the target deceleration value based on the preset influence time, the preset factor weight value, the current speed value, and the preset target speed value of each of the plurality of influence factors, comprising:

[0160] obtaining a target deceleration time length based on the preset influence time length of each of the plurality of influence factors and the factor weight value of each of the plurality of influence factors;

[0161] obtaining a target deceleration value based on the current speed value, a preset target speed value and the target deceleration time length.

[0162] Optionally, the obtaining of the target deceleration time length based on the preset influence time length of each of the plurality of influence factors and the factor weight value of each of the plurality of influence factors comprises:

[0163] calculating a product value of the preset influence time length of each of the plurality of influence factors and the factor weight value of each of the plurality of influence factors;

[0164] calculating a sum value of the product values of the plurality of influence factors to obtain the target deceleration time length.

[0165] Optionally, after the obtaining of the target deceleration value based on the preset influence time length of each of the plurality of influence factors, the factor weight value of each of the plurality of influence factors, the current speed value and the preset target speed value, the method further comprises:

[0166] detecting a neighboring vehicle deceleration value and obtaining a historical deceleration value based on the current speed value;

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

[0168] outputting a disable signal of an accelerator pedal and intelligently controlling the vehicle to decelerate based on the minimum deceleration value.

[0169] Optionally, the device further comprises:

[0170] periodically detecting a pupil constriction change rate of a driver of the vehicle when the current remaining distance value is detected to be zero;

[0171] outputting an enable signal of the accelerator pedal when the pupil constriction change rate is within a preset normal change rate range within a preset period range.

[0172] Optionally, the obtaining of the current remaining distance value of the vehicle driving in the tunnel comprises:

[0173] obtaining a tunnel length value from a navigation electronic map;

[0174] detecting a driving speed value of the vehicle in each detection period since the vehicle enters the tunnel;

[0175] obtain a driving distance value of the corresponding detection period based on the driving speed value of each detection period and the detection period length;

[0176] obtain the current remaining distance value based on a difference value between the tunnel length value and the driving distance value of each detection period.

[0177] Optionally, the driving speed value of the vehicle in each detection period is detected since the vehicle enters the tunnel, including:

[0178] periodically detect a pupil dilation change rate of a driver of the vehicle when receiving the vehicle approaching the entrance of the tunnel information fed back by the navigation electronic map;

[0179] obtain a periodic count value when the pupil dilation change rate is greater than a preset dilation change rate threshold within a preset period range;

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

[0181] In the embodiment of the application, when the current remaining distance value is less than or equal to a preset deceleration distance threshold, a preset influence time length and a factor weight value of each of a plurality of influence factors affecting driving vision are obtained based on the current remaining distance value; and a target deceleration value is obtained based on the preset influence time length, the factor weight value, the current speed value and a preset target speed value of each of the plurality of influence factors. After losing the positioning signal, the target deceleration value of the vehicle in the complex environment of the tunnel is obtained, so that the vehicle can be controlled to decelerate in time before the vehicle exits the tunnel exit, the influence of the white hole effect on the driver is reduced, the level of intelligent driving and the safety of driving are improved, and the driving experience of the user is improved.

[0182] Embodiment 3

[0183] The embodiment provides an electronic device, including: at least one processor; and a memory in communication connection with 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 to enable the at least one processor to perform the method steps of the above embodiments.

[0184] Embodiment 4

[0185] The embodiment of the application provides a non-volatile computer storage medium, and the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps of the above embodiments.

[0186] It should be noted that the various embodiments described in the specification are intended to be illustrative only and are not in any way limiting. Although the present application has been described in considerable detail, various modifications and changes can be made to the present application by one skilled in the art and it is intended that the application not be limited to any one embodiment, but encompass numerous alternatives, modifications and equivalents. Therefore, the scope of the application should be determined by the broadest permissible interpretation of the claims so as to encompass all such alternatives, modifications and equivalents.

[0187] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent replacements; and the modifications or replacements do not make the essence of the corresponding technical solutions deviate 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 the white hole effect, characterized in that, include: Obtain the current remaining distance and current speed of vehicles traveling in the tunnel; When the current remaining distance value is less than or equal to the preset deceleration distance threshold, the shape parameter value of the remaining tunnel is obtained from the navigation electronic map based on the current remaining distance value; Based on the morphological parameter values, the preset duration of each of the various influencing factors affecting driving vision and their preset parameter values ​​are determined. The factor weight value of each impact factor is determined based on the preset impact factor parameter values ​​of each impact factor. Calculate the product of the preset duration of influence for each influencing factor and the factor weight value of the corresponding influencing factor; The target deceleration time is obtained by calculating the sum of the product values ​​of the various influencing factors. The target deceleration value is obtained based on the current speed value, the preset target speed value, and the target deceleration duration.

2. The method according to claim 1, characterized in that, The process of determining the factor weight value of the corresponding impact factor based on the preset impact factor parameter values ​​of each impact factor includes: When the preset impact factor parameter value of each impact factor is within any preset impact value range of the corresponding impact factor, the factor weight value of the corresponding impact factor is determined to be equal to the factor weight value corresponding to any preset impact value range.

3. The method according to claim 1, characterized in that, After obtaining the target deceleration value based on the preset influence duration of each of the multiple influencing factors, their respective factor weight values, the current velocity value, and the preset target velocity value, the method further includes: Detect the deceleration values ​​of neighboring vehicles and obtain historical deceleration values ​​based on the current speed value; The minimum deceleration value is determined based on the target deceleration value, the historical deceleration value, and the deceleration value of the adjacent vehicle. Output an accelerator pedal disabling signal and intelligently control the vehicle to decelerate based on the minimum deceleration value.

4. The method according to claim 1, characterized in that, The method further includes: When the current remaining distance value is detected to be zero, the rate of change in pupil constriction of the driver of the vehicle is periodically detected; When the pupil constriction rate is within the preset normal rate of change within the preset period range, an enable signal for the accelerator pedal is output.

5. The method according to claim 1, characterized in that, The step of obtaining the current remaining distance value of a vehicle traveling in the tunnel includes: Obtain the tunnel length value from the navigation electronic map; From the moment the vehicle enters the tunnel, the vehicle's speed is detected in each detection cycle; The driving distance value for each detection cycle is obtained based on the driving speed value and the detection cycle duration. The current remaining distance value is obtained based on the difference between the tunnel length value and the travel distance value in each detection cycle.

6. The method according to claim 5, characterized in that, The process of detecting the vehicle's speed in each detection cycle, starting from when the vehicle enters the tunnel, includes: When the vehicle receives information from the navigation electronic map that it is approaching the entrance of the tunnel, the driver's pupil dilation rate is periodically detected. When the pupil dilation rate of change within a preset period is greater than a preset dilation rate of change threshold, a periodic count value is obtained; When the periodic count value is greater than a preset count threshold, the vehicle's driving speed value in each detection cycle is detected.

7. A deceleration determination device for preventing the white hole effect, characterized in that, include: The first acquisition unit is used to acquire the current remaining distance and current speed of the vehicle traveling in the tunnel; The second acquisition unit is used to acquire the shape parameter value of the remaining tunnel from the navigation electronic map based on the current remaining distance value when the current remaining distance value is less than or equal to a preset deceleration distance threshold. Based on the morphological parameter values, the preset duration of each of the various influencing factors affecting driving vision and their preset parameter values ​​are determined. The factor weight value of each impact factor is determined based on the preset impact factor parameter values ​​of each impact factor. The unit is used to calculate the product of the preset duration of influence of each influence factor and the factor weight value of the corresponding influence factor. The target deceleration time is obtained by calculating the sum of the product values ​​of the various influencing factors. The target deceleration value is obtained based on the current speed value, the preset target speed value, and the target deceleration duration.

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