Vehicle following method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle following method and device, equipment and a storage medium, and relates to the technical field of machine learning. And the running comfort and safety of the vehicle using the ACC are improved. The method comprises the following steps: when a monocular camera recognizes that a second vehicle appears in a preset range of a first vehicle, comparing a magnitude relationship between a first speed corresponding to the first vehicle and a second speed corresponding to the second vehicle; the first vehicle is a target following vehicle before the current time; a target following vehicle is switched before the first vehicle and the second vehicle according to the change of the magnitude relation of the first speed and the second speed.

Description

[Technical field]

[0001] Embodiments of the present invention relate to the field of vehicle assisted driving technology, and in particular to a vehicle following method, device, equipment and storage medium. [Background technology]

[0002] Adaptive Cruise Control (ACC) is a widely used function of Advanced Driver Assistance Systems (ADAS).

[0003] At present, ADAS products use monocular driving assistance cameras as sensors. Monocular cameras are low-cost. After being calibrated with objects with known length, width, height, distance and other information in the real world, they can map the three-dimensional coordinate information of real-world objects into the two-dimensional space of camera imaging, thereby calculating the size, distance and other information of three-dimensional objects with the two-dimensional pixels of the imaging, and further calculating relative speed, acceleration, angle and other information through mathematical models, so as to achieve convenience. Monocular driving assistance cameras can recognize information about targets such as vehicles on the road, and can assist drivers in driving the vehicle more easily by controlling the acceleration and deceleration of the vehicle to maintain the distance from the vehicle in front.

[0004] However, since the monocular camera cannot recognize overlapping targets, it is unable to cope with the scenario where the vehicle in front changes direction, speed, and position in a complex manner. The vehicle can only passively choose to follow the vehicle, and it is easy to go from following the vehicle at a steady speed to sudden braking, which brings a bad driving experience and is prone to collision, which is a potential hidden danger. [Summary of the invention]

[0005] The embodiments of the present invention provide a vehicle following method, device, equipment and storage medium to improve the running comfort and safety of a vehicle using ACC.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle following method, which is applied to a vehicle control device. The method includes: when a monocular camera recognizes that a second vehicle appears within a preset range of a first vehicle, comparing the magnitude relationship between a first speed corresponding to the first vehicle and a second speed corresponding to the second vehicle; the first vehicle is a target following vehicle before the current time; and according to the transformation of the magnitude relationship between the first speed and the second speed, switching the target following vehicle between the first vehicle and the second vehicle.

[0007] The vehicle following method proposed in the embodiment of the present invention is based on the objective fact that the two vehicle targets in front overlap in the lateral coordinates and the monocular camera will not be able to recognize the information of the target further ahead. The change in the number of targets recognized by the monocular camera is used as a trigger condition. When the number of targets recognized by the monocular camera changes from one to multiple, the corresponding vehicle in front of the vehicle changes from an overlapping state to a non-overlapping state, and overtaking may occur. Therefore, the logical judgment and logical calculation of the scheme are responded to. Before the actual overtaking occurs, operations such as switching the vehicle to follow the target and slowing down the vehicle in advance are executed to improve the safety and comfort of vehicle operation.

[0008] In one possible implementation, switching the target following vehicle before the first vehicle and the second vehicle according to the change in the magnitude relationship between the first speed and the second speed includes:

[0009] If the monocular camera recognizes that the first speed is greater than the second speed, the target following vehicle is switched from the first vehicle to the second vehicle.

[0010] In one possible implementation, switching the target following vehicle before the first vehicle and the second vehicle according to the change in the magnitude relationship between the first speed and the second speed includes:

[0011] If the monocular camera recognizes that the first speed is greater than the second speed, and after switching the target following vehicle from the first vehicle to the second vehicle, recognizes that the first speed decreases and the first speed is still greater than the second speed, calculating a first acceleration corresponding to a vehicle decelerating from a current speed to a preceding vehicle based on the first distance from the first vehicle; the first distance is the distance from the first vehicle;

[0012] If the first acceleration is less than or equal to a first preset threshold, the target following vehicle is switched from the second vehicle to the first vehicle; the first preset threshold is to calibrate the first vehicle to decelerate to an acceleration not exceeding that of the second vehicle within a specific time period.

[0013] In one possible implementation, switching the target following vehicle before the first vehicle and the second vehicle according to the change in the magnitude relationship between the first speed and the second speed includes:

[0014] If the monocular camera recognizes that the first speed is greater than the second speed, and after switching the target following vehicle from the first vehicle to the second vehicle, recognizes that the first speed decreases and the first speed is less than the second speed, the target following vehicle is switched from the second vehicle to the first vehicle.

[0015] In one possible implementation, if the monocular camera recognizes that the first speed is greater than the second speed, after switching the target following vehicle from the first vehicle to the second vehicle, the method further includes:

[0016] calculating a second acceleration corresponding to the vehicle decelerating from a current speed to a front vehicle based on the second distance from the second vehicle;

[0017] If the second acceleration is less than a second preset threshold, the deceleration procedure is started; the second preset threshold is obtained by calibrating the acceleration of the vehicle decelerating from the current speed to a safe distance from the vehicle in front.

[0018] In one possible implementation, before calculating the vehicle decelerating from a current speed to a second acceleration corresponding to the leading vehicle based on the second distance from the second vehicle, the method further includes:

[0019] predicting a first driving trajectory of the second vehicle;

[0020] Determining whether a second driving trajectory of the vehicle intersects with the first driving trajectory;

[0021] If the second driving trajectory intersects with the first driving trajectory, calculating a delay time for the second driving trajectory to intersect with the first driving trajectory;

[0022] Calculating a second acceleration corresponding to the vehicle decelerating from a current speed to a front vehicle based on the second distance from the second vehicle, comprising:

[0023] Calculate, within the delay time, a second acceleration at which the vehicle decelerates from a current speed to a second acceleration corresponding to the preceding vehicle based on the second distance to the second vehicle;

[0024] The second acceleration is less than a second preset threshold corresponding to the intersection time, and the deceleration procedure is started.

[0025] In a second aspect, an embodiment of the present invention provides a vehicle following device, which is provided in a vehicle control device, and the device includes:

[0026] A comparison module, configured to compare the magnitude relationship between a first speed corresponding to the first vehicle and a second speed corresponding to the second vehicle when the monocular camera identifies that a second vehicle appears within a preset range of the first vehicle; the first vehicle is a target following vehicle before the current time;

[0027] The target switching module is used to switch the target following vehicle before the first vehicle and the second vehicle according to the change of the magnitude relationship between the first speed and the second speed.

[0028] In a third aspect, an embodiment of the present invention provides a vehicle control device, comprising: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method provided in the first aspect.

[0029] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method provided in the first aspect.

[0030] It should be understood that the second to fourth aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be described in detail.

Brief Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 is a flowchart of the steps of executing the vehicle following method according to an embodiment of the present application;

[0033] Figure 2 This is a schematic diagram of an example scenario of the present application;

[0034] Figure 3 is a schematic diagram of an example vehicle position of the present application;

[0035] Figure 4 is a functional module diagram of a vehicle following device proposed in an embodiment of the present invention;

[0036] Figure 5 A schematic structural diagram of a vehicle control device provided by an embodiment of the present invention. [Specific implementation method]

[0037] In order to better understand the technical solution of this specification, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0039] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0040] ACC is used to improve the comfort and safety of vehicle operation, but due to the complexity and diversity of real road scenes, the current control strategy cannot cover all scenes. For example, when facing a parallel vehicle in front of you in the same lane, the existing technical solution is that the vehicle will use the vehicle that is closer as the ACC following target. The defect of the existing solution is that in the face of the above-mentioned special parallel scenario, if the speed of the front vehicle increases quickly and surpasses the parallel vehicle in front, the target followed by the vehicle switches to the vehicle in front, and the relative speed with the target is greatly reduced. It is easy for the vehicle to go from following the vehicle at a steady speed to sudden braking, which brings a bad driving experience and is prone to collision. It is a potential hidden danger. This situation is most common when the front vehicle is a car and the vehicle in front is a two-wheeled vehicle.

[0041] The key reason for the above problem is that in the case of multiple targets ahead, such as two vehicles ahead with overlapping horizontal coordinates, the camera will not be able to identify the information of the target ahead, or the identified information is inaccurate, and the vehicle ahead is not considered a trusted target. In view of this, the embodiment of the present application reversely utilizes this objective technical defect as a factor for identifying the vehicle ahead to initiate overtaking, identifies the overtaking scenario, and starts to automatically switch the target to be followed according to the actual running speed and direction of the vehicle, thereby increasing the reaction time and improving the comfort and safety of vehicle operation.

[0042] Figure 1 is a flowchart of the steps of executing the vehicle following method in an embodiment of the present application, such as Figure 1 As shown, the steps are as follows:

[0043] S11: When the monocular camera identifies that a second vehicle appears within a preset range of the first vehicle, a first speed corresponding to the first vehicle and a second speed corresponding to the second vehicle are compared; the first vehicle is a target following vehicle before the current time.

[0044] The first vehicle is the vehicle that is traveling in front of the vehicle and is closest to the vehicle. When the driving scene of the vehicle is stable, the vehicle follows the first vehicle using ACC. The second vehicle is the vehicle that is traveling in front of the first vehicle.

[0045] Figure 2 This is a schematic diagram of an example scenario of the present application, such as Figure 2As shown in the figure, the second vehicle and the first vehicle are traveling in lane 1. At the target time, the first vehicle travels from lane 1 to lane 2. There is no overlap between the second vehicle and the first vehicle. The monocular camera recognizes two targets, and the first vehicle has the intention to overtake the second vehicle. If the intention of the first vehicle to overtake the second vehicle is not recognized in advance, after the first vehicle overtakes the second vehicle and switches to lane 1, the monocular camera can only recognize the second vehicle at this time, and the ACC of the ego vehicle passively switches the following vehicle to the second vehicle. However, since the ego vehicle has been following the first vehicle before, the ego vehicle speed is calculated based on the non-collision with the first vehicle. Therefore, it is very easy for the ego vehicle to catch up with the second vehicle at this speed. Even if it does not catch up with the second vehicle, it will also need a larger deceleration in a short period of time due to the excessive speed, resulting in reduced comfort for passengers riding in the vehicle.

[0046] The embodiment of the present application promptly identifies that the first vehicle has the intention to overtake, begins to judge the complex changes between the first vehicle and other vehicles when the first vehicle starts to initiate the overtaking process, and promptly adjusts the driving logic of the vehicle to improve the driving safety and comfort of the vehicle.

[0047] S12: Switching a target following vehicle before the first vehicle and the second vehicle according to a change in the magnitude relationship between the first speed and the second speed.

[0048] When the ego vehicle recognizes that after the first vehicle initiates overtaking, the first speed decreases, resulting in the first speed being less than the second speed, it can be concluded that the first vehicle may give up the intention of overtaking; when the ego vehicle recognizes that after the first vehicle initiates overtaking, the first speed remains unchanged or increases, it can be concluded that the first vehicle has always intended to overtake.

[0049] After the vehicle following method of the embodiment of the present application identifies the overtaking intention of the first vehicle, it starts to judge the speed relationship between the first vehicle and the second vehicle in real time, so as to judge whether the overtaking intention of the first vehicle has changed. According to the change of the overtaking intention of the first vehicle, the driving strategy of the own vehicle is adjusted in time, so that the own driving strategy always matches the operating state of the vehicle in front, thereby improving the driving comfort and safety of the own vehicle.

[0050] An embodiment of the present application provides the sub-steps of executing step S12:

[0051] S121: If the monocular camera recognizes that the first speed is greater than the second speed, the target following vehicle is switched from the first vehicle to the second vehicle.

[0052] By identifying that the first speed is greater than the second speed, it can be determined that the first vehicle maintains the intention to overtake, and the following target can be switched to the second vehicle in advance; since the second speed of the second vehicle is less than the first speed, the self-vehicle uses the second speed as the speed adjustment standard, and the self-vehicle can avoid collision with the first vehicle and the second vehicle at the same time.

[0053] S122: If the monocular camera recognizes that the first speed is less than the second speed, the tracking target may be kept as the first vehicle.

[0054] Steps S121 and S122 are in parallel relationship; the embodiment of the present application also provides execution of S121, recognizes that the first speed is greater than the second speed, and after switching to follow the target, steps S123 and S124 can also be executed to decelerate in advance to increase the deceleration time, thereby reducing the acceleration during the deceleration process and improving the driving comfort of the vehicle.

[0055] S123: Calculate a second acceleration corresponding to the vehicle decelerating from the current speed to the front vehicle based on the second distance from the second vehicle.

[0056] S124: If the second acceleration is less than a second preset threshold, the deceleration procedure is started; the second preset threshold is obtained by calibrating the acceleration of the vehicle decelerating from the current speed to a safe distance from the vehicle in front.

[0057] The second preset threshold is the acceleration of the vehicle decelerating from the current speed to a safe distance from the vehicle ahead. It can refer to: pre-calibration: when the vehicle acceleration is -1.5≤a≤0 (unit: m / s^2), that is, the deceleration is between 0 and 1.5, the braking sensation will be more comfortable. The greater the deceleration, the more urgent the braking sensation will become. The second preset threshold can be set to a=-1.5, and the threshold is adjustable.

[0058] Figure 3 is a schematic diagram of an example vehicle position of the present application, based on Figure 3 The process of "calculating the vehicle's deceleration from the current speed to the second acceleration corresponding to the front vehicle based on the second distance from the second vehicle" is described, and the vehicle speed is V 0 , the first vehicle speed is V c , the speed of the second vehicle is V m , X gap It is the distance that ACC needs to maintain for stable following. It is a constant that changes with the speed of the vehicle. Different ADAS products define X gap The value will be different. The distance between the vehicle and the second vehicle is X om , the distance between the vehicle and the first vehicle is X oc , the distance between the first vehicle and the second vehicle is X cm . According to the velocity displacement formula Vm 2 -V 0 2 =2a 2 (X om -X gap ).

[0059] When the second acceleration a 2 When ≤-1.5, it can be estimated that there is a risk of sudden braking when the current following distance is decelerated to the target speed, and the deceleration procedure is executed.

[0060] In one example, during the execution of step S121, the above embodiment can also be used based on Figure 3 In the illustrated manner, a second acceleration corresponding to a deceleration of the own vehicle from a current speed to a front vehicle based on the second distance to the second vehicle is calculated, and a timing of switching the following target is accurately determined based on the acceleration.

[0061] An embodiment of the present application also provides that before executing S123: calculating the vehicle's deceleration from the current speed to the second acceleration corresponding to the leading vehicle based on the second distance from the second vehicle, it can also be determined whether the driving trajectory of the second vehicle is likely to intersect with the own vehicle's trajectory within a specific length of time in the future. If it is determined whether the driving trajectory of the second vehicle intersects with the own vehicle's trajectory, that is, the second vehicle will invade the own vehicle's trajectory, then the time when the own vehicle is likely to collide with the second vehicle is further calculated as the delay time.

[0062] If it is estimated that the second vehicle will invade the trajectory of the own vehicle after 500ms and the delay time is determined to be 500ms, then only by increasing the second acceleration can the collision between the own vehicle and the second vehicle be avoided.

[0063] Before calculating the vehicle decelerating from a current speed to a second acceleration corresponding to a preceding vehicle based on the second distance from the second vehicle, the method further includes:

[0064] predicting a first driving trajectory of the second vehicle;

[0065] Determining whether a second driving trajectory of the vehicle intersects with the first driving trajectory;

[0066] If the second driving trajectory intersects with the first driving trajectory, a delay time of whether the second driving trajectory intersects with the first driving trajectory is calculated.

[0067] When the target of following the vehicle is about to be switched, a delayed judgment is made on whether the vehicle in front has invaded the trajectory of the vehicle (the trajectory of the vehicle is the trajectory of the vehicle estimated by the camera based on the current parameters of the vehicle body and the steering wheel angle. The target that invades the trajectory of the vehicle may have the risk of colliding with the vehicle). The delayed judgment time is recorded, and the second acceleration required to decelerate to smoothly follow the vehicle in front is divided into segments:

[0068] The calibration method can also be used to determine the second acceleration corresponding to different delay times. If the delay time is t = 500ms, -2 ≤ a 2 ≤-1.5, if the delay time is t=300ms, -2.5≤a 2 <-2, if the delay time is t = 100ms, a 2 <-2.5.

[0069] S123 includes sub-steps:

[0070] S1231: Calculate the second acceleration of the vehicle decelerating from the current speed to the front vehicle based on the second distance to the second vehicle within the delay time;

[0071] S1232: The second acceleration is less than a second preset threshold corresponding to the intersection time, and a deceleration procedure is started.

[0072] If the front vehicle is still within the trajectory of the ego vehicle after the delayed judgment time and there is a risk of collision, the ego vehicle switches its following target to the front vehicle and brakes in advance.

[0073] During the actual driving process of the vehicles, a scenario may also occur: after the first vehicle initiates the intention to overtake, it may be affected by the road conditions or actual driving and give up overtaking.

[0074] When the front vehicle suddenly brakes and gives up overtaking, the monocular driving assistance camera continuously obtains the first acceleration required for the vehicle to change speed to the front vehicle through the speed displacement formula, which is recorded as a 1 , if the front vehicle overtakes the front vehicle normally, a 1 Should be small or positive (steady speed or following acceleration). If the front vehicle suddenly slows down and gives up overtaking during the overtaking process, a 1 When ≤-1 (adjustable value), the ACC target changes back to the nearest target.

[0075] Therefore, if the front vehicle suddenly decelerates but is still faster than the vehicle in front, the self-vehicle can switch the main target of following the vehicle back to the front vehicle and brake in time to avoid a collision caused by the front vehicle suddenly braking hard and the self-vehicle failing to switch the target back. When there is no danger of collision with the front vehicle and the conditions are still met, the main target can be switched to the front vehicle again and brake in advance.

[0076] If the front vehicle suddenly slows down and its speed is lower than that of the front vehicle, the applicable scenario is not met and the self-vehicle follows the front vehicle normally.

[0077] Therefore, the embodiment of the present application further proposes the following transformation of the magnitude relationship between the first speed and the second speed, and the strategy of switching the target following vehicle between the first vehicle and the second vehicle:

[0078] If the monocular camera recognizes that the first speed is greater than the second speed, and after switching the target following vehicle from the first vehicle to the second vehicle, recognizes that the first speed decreases and the first speed is still greater than the second speed, calculating a first acceleration corresponding to a vehicle decelerating from a current speed to a preceding vehicle based on the first distance from the first vehicle; the first distance is the distance from the first vehicle;

[0079] If the first acceleration is less than or equal to a first preset threshold, the target following vehicle is switched from the second vehicle to the first vehicle; the first preset threshold is to calibrate the first vehicle to decelerate to an acceleration not exceeding that of the second vehicle within a specific time period.

[0080] According to the change of the magnitude relationship between the first speed and the second speed, switching the target following vehicle between the first vehicle and the second vehicle includes:

[0081] If the monocular camera recognizes that the first speed is greater than the second speed, and after switching the target following vehicle from the first vehicle to the second vehicle, recognizes that the first speed decreases and the first speed is less than the second speed, the target following vehicle is switched from the second vehicle to the first vehicle.

[0082] Figure 4 is a functional module diagram of a vehicle following device proposed in an embodiment of the present invention, which is arranged in a vehicle control device, such as Figure 4 As shown, the device comprises:

[0083] A comparison module 41 is used for comparing the magnitude relationship between a first speed corresponding to the first vehicle and a second speed corresponding to the second vehicle when the monocular camera recognizes that a second vehicle appears within a preset range of the first vehicle; the first vehicle is a target following vehicle before the current time;

[0084] The target switching module 42 is used to switch the target following vehicle between the first vehicle and the second vehicle according to the change of the magnitude relationship between the first speed and the second speed.

[0085] Figure 4 The vehicle following device provided in the embodiment shown can be used to implement the present invention Figures 1 to 3 The technical solution of the method embodiment shown, its implementation principle and technical effects can be further referred to the relevant description in the method embodiment.

[0086] Optionally, the target switching module is specifically configured to switch the target following vehicle from the first vehicle to the second vehicle if the monocular camera recognizes that the first speed is greater than the second speed.

[0087] Optionally, the target switching module is specifically configured to calculate a first acceleration corresponding to a vehicle decelerating from a current speed to a preceding vehicle based on the first distance from the first vehicle if the monocular camera recognizes that the first speed is greater than the second speed, and recognizes that the first speed decreases and the first speed is still greater than the second speed after the target following vehicle is switched from the first vehicle to the second vehicle; the first distance is the distance from the first vehicle;

[0088] If the first acceleration is less than or equal to a first preset threshold, the target following vehicle is switched from the second vehicle to the first vehicle; the first preset threshold is to calibrate the first vehicle to decelerate to an acceleration not exceeding that of the second vehicle within a specific time period.

[0089] Optionally, the target switching module is specifically used to switch the target following vehicle from the second vehicle to the first vehicle if the monocular camera recognizes that the first speed is greater than the second speed, and after switching the target following vehicle from the first vehicle to the second vehicle, recognizes that the first speed decreases and the first speed is less than the second speed.

[0090] Optionally, the device further comprises:

[0091] an acceleration calculation module, configured to calculate a second acceleration corresponding to the vehicle decelerating from a current speed to a front vehicle based on the second distance from the second vehicle;

[0092] The deceleration module is used to start the deceleration program if the second acceleration is less than a second preset threshold; the second preset threshold is obtained by calibrating the acceleration of the vehicle decelerating from the current speed to a safe distance from the vehicle in front.

[0093] Optionally, the device further comprises:

[0094] a trajectory prediction module, configured to predict a first driving trajectory of the second vehicle;

[0095] A judging module, used for judging whether a second driving track of the vehicle intersects with the first driving track;

[0096] a time calculation module, configured to calculate a delay time of whether the second driving trajectory intersects with the first driving trajectory if the second driving trajectory intersects with the first driving trajectory;

[0097] The acceleration calculation module is specifically used to calculate the second acceleration corresponding to the vehicle decelerating from the current speed to the front vehicle based on the second distance with the second vehicle within the delay time; when the second acceleration is less than the second preset threshold corresponding to the intersection time, the deceleration procedure is started.

[0098] The device provided in the above-mentioned embodiment is used to execute the technical solution of the above-mentioned method embodiment. Its implementation principle and technical effect can be further referred to the relevant description in the method embodiment, which will not be repeated here.

[0099] The device provided in the above embodiment can be, for example, a chip or a chip module. The device provided in the above embodiment is used to execute the technical solution of the above method embodiment. Its implementation principle and technical effect can be further referred to the relevant description in the method embodiment, which will not be repeated here.

[0100] Regarding the various modules / units included in the various devices described in the above embodiments, they can be software modules / units, or hardware modules / units, or they can be partially software modules / units and partially hardware modules / units. For example, for various devices applied to or integrated in a chip, the various modules / units included therein can all be implemented in the form of hardware such as circuits, or at least some of the modules / units can be implemented in the form of software programs, which run on a processor integrated inside the chip, and the remaining modules / units can be implemented in the form of hardware such as circuits; for various devices applied to or integrated in a chip module, the various modules / units included therein can all be implemented in the form of hardware such as circuits, and different modules / units can be located in the same component of the chip module (such as a chip, circuit module, etc.) or in different components, or at least some of the modules / units can be implemented in the form of software programs. The software program may be implemented in the form of a program, which runs on a processor integrated in the chip module, and the remaining modules / units may be implemented in the form of hardware such as circuits; for each device applied to or integrated in the electronic terminal device, each module / unit contained therein may be implemented in the form of hardware such as circuits, and different modules / units may be located in the same component (for example, a chip, a circuit module, etc.) or in different components in the electronic terminal device, or at least some modules / units may be implemented in the form of a software program, which runs on a processor integrated in the electronic terminal device, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits.

[0101] Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention, the device 500 includes a processor 510, a memory 511, and a computer program stored in the memory 511 and executable on the processor 510. The processor 510 implements the steps in the aforementioned method embodiment when executing the program. The server provided in the embodiment can be used to execute the technical solution of the method embodiment shown above. The implementation principle and technical effects thereof can be further referred to the relevant description in the method embodiment, which will not be repeated here.

[0102] An embodiment of the present invention provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the instructions of the present invention. Figure 1 to Figure 3 The model compression method provided by the illustrated embodiment. The computer readable storage medium may refer to a non-volatile computer storage medium.

[0103] The above-mentioned non-transient computer-readable storage medium can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, - but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (read only memory, ROM), erasable programmable read-only memories (erasable programmable read only memory, EPROM) or flash memory, optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0104] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0105] The program code embodied on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0106] Computer program code for performing the operations of the present specification may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0107] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0108] In the description of the embodiments of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0109] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this specification, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0110] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of this specification includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of this specification belong.

[0111] The word "if" as used herein 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.

[0112] It should be noted that the terminals involved in the embodiments of the present invention may include but are not limited to personal computers (PCs), personal digital assistants (PDAs), wireless handheld devices, tablet computers, mobile phones, MP3 players, MP4 players, etc.

[0113] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0114] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0115] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of this specification. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.

[0116] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A vehicle following method, characterized in that: The method comprises: When the monocular camera identifies that a second vehicle appears within a preset range of the first vehicle, a magnitude relationship between a first speed corresponding to the first vehicle and a second speed corresponding to the second vehicle is compared; the first vehicle is a target following vehicle before the current time; According to the change in the magnitude relationship between the first speed and the second speed, the target following vehicle is switched before the first vehicle and the second vehicle.

2. The method according to claim 1, characterized in that According to the change of the magnitude relationship between the first speed and the second speed, switching the target following vehicle between the first vehicle and the second vehicle includes: If the monocular camera recognizes that the first speed is greater than the second speed, the target following vehicle is switched from the first vehicle to the second vehicle.

3. The method according to claim 1, characterized in that According to the change of the magnitude relationship between the first speed and the second speed, switching the target following vehicle between the first vehicle and the second vehicle includes: If the monocular camera recognizes that the first speed is greater than the second speed, and after switching the target following vehicle from the first vehicle to the second vehicle, recognizes that the first speed decreases and the first speed is still greater than the second speed, calculating a first acceleration corresponding to a vehicle decelerating from a current speed to a preceding vehicle based on the first distance from the first vehicle; the first distance is the distance from the first vehicle; If the first acceleration is less than or equal to a first preset threshold, the target following vehicle is switched from the second vehicle to the first vehicle; the first preset threshold is to calibrate the first vehicle to decelerate to an acceleration not exceeding that of the second vehicle within a specific time period.

4. The method according to claim 1, characterized in that According to the change of the magnitude relationship between the first speed and the second speed, switching the target following vehicle between the first vehicle and the second vehicle includes: If the monocular camera recognizes that the first speed is greater than the second speed, and after switching the target following vehicle from the first vehicle to the second vehicle, recognizes that the first speed decreases and the first speed is less than the second speed, the target following vehicle is switched from the second vehicle to the first vehicle.

5. The method according to claim 2, characterized in that: If the monocular camera recognizes that the first speed is greater than the second speed, after switching the target following vehicle from the first vehicle to the second vehicle, the method further includes: calculating a second acceleration corresponding to the vehicle decelerating from a current speed to a front vehicle based on the second distance from the second vehicle; If the second acceleration is less than a second preset threshold, the deceleration procedure is started; the second preset threshold is obtained by calibrating the acceleration of the vehicle decelerating from the current speed to a safe distance from the vehicle in front.

6. The method according to claim 5, characterized in that Before calculating the vehicle decelerating from a current speed to a second acceleration corresponding to a preceding vehicle based on the second distance from the second vehicle, the method further includes: predicting a first driving trajectory of the second vehicle; Determining whether a second driving trajectory of the vehicle intersects with the first driving trajectory; If the second driving trajectory intersects with the first driving trajectory, calculating a delay time for the second driving trajectory to intersect with the first driving trajectory; Calculating a second acceleration corresponding to the vehicle decelerating from a current speed to a front vehicle based on the second distance from the second vehicle, comprising: Calculate, within the delay time, a second acceleration at which the vehicle decelerates from a current speed to a second acceleration corresponding to the preceding vehicle based on the second distance to the second vehicle; The second acceleration is less than a second preset threshold corresponding to the intersection time, and the deceleration procedure is started.

7. A vehicle following device, characterized in that: The device comprises: A comparison module, configured to compare the magnitude relationship between a first speed corresponding to the first vehicle and a second speed corresponding to the second vehicle when the monocular camera identifies that a second vehicle appears within a preset range of the first vehicle; the first vehicle is a target following vehicle before the current time; The target switching module is used to switch the target following vehicle before the first vehicle and the second vehicle according to the change of the magnitude relationship between the first speed and the second speed.

8. The vehicle following device according to claim 7, characterized in that: The device also includes: a trajectory prediction module, configured to predict a first driving trajectory of the second vehicle; A judging module, used for judging whether a second driving track of the vehicle intersects with the first driving track; a time calculation module, configured to calculate a delay time of whether the second driving trajectory intersects with the first driving trajectory if the second driving trajectory intersects with the first driving trajectory; The acceleration calculation module is specifically used to calculate the second acceleration corresponding to the vehicle decelerating from the current speed to the front vehicle based on the second distance with the second vehicle within the delay time; when the second acceleration is less than the second preset threshold corresponding to the intersection time, the deceleration procedure is started.

9. A vehicle control device, comprising: at least one processor; as well as At least one memory in communication with the processor, characterized in that: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 6 by calling the program instructions.

10. A computer-readable storage medium storing computer instructions, characterized in that: The computer instructions enable the computer to execute the method according to any one of claims 1 to 6.

Images