Vehicle rear collision safety control method and device, related equipment and vehicle

Abstract

The invention relates to a vehicle rear collision safety control method and device, related equipment and a vehicle. When a target vehicle needs to be parked, area parameters of an avoiding area between the target vehicle and a front vehicle are obtained; and based on the area parameters and vehicle parameters of the target vehicle, determining a target wheel rotation angle of the target vehicle so as to control the wheel rotation angle of the target vehicle during parking to be not less than the target wheel rotation angle. Therefore, the area parameters of the avoiding area between the vehicle and the vehicle in front of the vehicle and the vehicle parameters of the vehicle are combined for analysis, the minimum value of the wheel turning angle of the vehicle during parking is determined, and the actual wheel turning angle of the vehicle during parking is controlled to be not smaller than the minimum value of the wheel turning angle. Therefore, the danger caused by the rear collision event when the vehicle is parked can be avoided, so that the safety of the vehicle during parking is improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle rear-end collision safety control method, device, related equipment and vehicle. Background Art

[0002] During the driving process, the vehicle can be driven safely by constantly controlling the vehicle speed to keep the vehicle at a safe distance from the vehicles in front and behind. However, when the vehicle is parked, since the vehicle is stationary, the vehicle speed cannot be controlled, which can easily lead to rear-end collisions and vehicle squeezing, causing serious injuries to the people in the vehicle. Therefore, the existing vehicle rear-end collision safety control method still has the problem of low safety. Summary of the invention

[0003] The embodiments of the present application provide a vehicle rear-end collision safety control method, device, electronic device, storage medium, computer program product and vehicle. By analyzing the area parameters of the avoidance area between the vehicle and the vehicle in front of it and the vehicle parameters of the vehicle, the minimum wheel angle of the vehicle when parking is determined, and the actual wheel angle of the vehicle when parking is controlled to be not less than the minimum wheel angle. The danger caused by the rear-end collision of the vehicle when parking can be avoided, thereby improving the safety of the vehicle when parking and improving the user experience.

[0004] The embodiment of the present application provides a vehicle rear collision safety control method, comprising:

[0005] When the target vehicle needs to stop, obtaining area parameters of the avoidance area between the target vehicle and the vehicle in front;

[0006] Based on the area parameters and the vehicle parameters of the target vehicle, a target wheel turning angle of the target vehicle is determined to control the wheel turning angle of the target vehicle to be not less than the target wheel turning angle when parking.

[0007] Accordingly, an embodiment of the present application provides a vehicle rear collision safety control device, comprising:

[0008] An area parameter acquisition module, used to acquire area parameters of an avoidance area between the target vehicle and the vehicle ahead when the target vehicle needs to stop;

[0009] The target wheel angle determination module is used to determine the target wheel angle of the target vehicle based on the area parameters and the vehicle parameters of the target vehicle, so as to control the wheel angle of the target vehicle to be not less than the target wheel angle when parking.

[0010] In addition, an embodiment of the present application also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the vehicle rear collision safety control method provided in an embodiment of the present application.

[0011] In addition, an embodiment of the present application also provides a storage medium, which stores a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute any vehicle rear-collision safety control method provided in the embodiment of the present application.

[0012] In addition, an embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any vehicle rear-end collision safety control method provided in the embodiment of the present application.

[0013] In addition, an embodiment of the present application also provides a vehicle, including the above-mentioned electronic device, or the above-mentioned storage medium, or the above-mentioned computer program product.

[0014] In the embodiment of the present application, when the target vehicle needs to stop, the regional parameters of the avoidance area between the target vehicle and the vehicle in front are obtained; based on the regional parameters and the vehicle parameters of the target vehicle, the target wheel angle of the target vehicle is determined to control the wheel angle of the target vehicle when parking to be not less than the target wheel angle. In this way, the regional parameters of the avoidance area between the vehicle and the vehicle in front of it and the vehicle parameters of the vehicle are combined for analysis to determine the minimum wheel angle of the vehicle when parking, and the actual wheel angle of the vehicle when parking is controlled to be not less than the minimum wheel angle, so as to avoid the danger caused by the rear collision incident of the vehicle when parking, thereby improving the safety of the vehicle when parking and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a schematic diagram of an implementation environment scenario of the vehicle rear collision safety control method provided in the embodiment of the present application;

[0017] Figure 2 It is a flow chart of a vehicle rear-end collision safety control method provided by an embodiment of the present application;

[0018] Figure 3This is a schematic diagram of a scenario of a vehicle rear-end collision safety control method provided by an embodiment of the present application;

[0019] Figure 4 It is a structural schematic diagram of calculating the target wheel angle of the vehicle by using a preset vehicle dynamics model in a vehicle rear collision safety control method provided by an embodiment of the present application;

[0020] Figure 5 This is a schematic diagram of a scenario for determining a safe distance value between a target vehicle and a front vehicle in a vehicle rear collision safety control method provided by an embodiment of the present application;

[0021] Figure 6 This is another schematic diagram of a scenario for determining a safe distance value between a target vehicle and a front vehicle in a vehicle rear collision safety control method provided by an embodiment of the present application;

[0022] Figure 7 This is another scenario schematic diagram of a vehicle rear collision safety control method provided by an embodiment of the present application;

[0023] Figure 8 It is a flow chart of a vehicle rear-end collision safety control method provided by an embodiment of the present application;

[0024] Fig. 9 It is a structural schematic diagram of a vehicle rear collision safety control device provided by an embodiment of the present application;

[0025] Fig.10 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0027] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0028] The embodiments of the present application provide a vehicle rear collision safety control method, device, electronic device, storage medium, computer program product and vehicle. The vehicle rear collision safety control device can be integrated in an electronic device, which can be a server or a terminal.

[0029] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0030] The terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server may be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0031] See also Figure 1 , taking the vehicle rear collision safety control device integrated into the electronic equipment as an example, Figure 1 A schematic diagram of an implementation scenario of the vehicle rear-end collision safety control method provided in an embodiment of the present application, wherein the electronic device can be a terminal device, which obtains the area parameters of the avoidance area between the target vehicle and the vehicle in front when the target vehicle needs to stop; based on the area parameters and the vehicle parameters of the target vehicle, determines the target wheel angle of the target vehicle to control the wheel angle of the target vehicle when parking to be not less than the target wheel angle.

[0032] It should be noted that Figure 1 The schematic diagram of the implementation environment scenario of the vehicle rear collision safety control method shown is only an example. The implementation environment scenario of the vehicle rear collision safety control method described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of data processing and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0033] The solutions provided by the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0034] This embodiment will be described from the perspective of a vehicle rear-end collision safety control device. The vehicle rear-end collision safety control device may be specifically integrated into an electronic device, which may be a terminal and / or a server, and this application does not limit this.

[0035] See also Figure 2 , Figure 2 1 is a flow chart of a vehicle rear-end collision safety control method provided by an embodiment of the present application. The vehicle rear-end collision safety control method may include the following steps S101 to S102:

[0036] S101. When a target vehicle needs to stop, obtain area parameters of an avoidance area between the target vehicle and a vehicle ahead.

[0037] The target vehicle refers to the current vehicle that needs to stop, and the front vehicle refers to the vehicle in front of the target vehicle.

[0038] The avoidance zone is a relatively safe space between the target vehicle and the vehicle ahead, where the target vehicle can avoid collision when the target vehicle collides with the vehicle ahead. The avoidance zone is used to prevent rear-end collisions and vehicle squeezes.

[0039] The area parameters are used to indicate the size of the avoidance area or parameters such as the spatial change.

[0040] There are many ways to determine whether the target vehicle needs to stop, which can be adjusted according to actual conditions, and the embodiments of the present application are not limited.

[0041] For example, the situation where the target vehicle needs to stop includes a normal parking situation and an abnormal parking situation. Among them, the normal parking situation may include a situation where the target vehicle needs to stop due to a traffic light indication, a situation where the target vehicle needs to stop due to a traffic jam ahead, etc. The abnormal parking situation may include a situation where the target vehicle needs to stop due to an emergency brake of a vehicle ahead. Whether the target vehicle needs to stop can be determined based on information such as navigation, vehicle position, and surrounding road conditions during the driving process of the target vehicle.

[0042] S102: Determine a target wheel turning angle of the target vehicle based on the area parameters and the vehicle parameters of the target vehicle, so as to control the wheel turning angle of the target vehicle to be not less than the target wheel turning angle when parking.

[0043] The vehicle parameters are used to indicate parameters related to the target vehicle, which can be adjusted according to actual conditions and are not limited in the embodiments of the present application. For example, the vehicle parameters include vehicle driving parameters, vehicle attribute parameters, etc.

[0044] The target wheel angle is used to indicate the minimum wheel angle at which the target vehicle will not rub against the vehicle ahead when the target vehicle is turned at the target wheel angle after the target vehicle stops.

[0045] For example, see Figure 3 , Figure 3 It is a schematic diagram of a scenario of the vehicle rear-end collision safety control method provided in an embodiment of the present application. Figure 3 The θ in the equation is the target wheel turning angle. When turning at an angle of θ, the line crossed by the right front end point B of the target vehicle just happens to collide with the left rear end point A of the front vehicle without any scratches.

[0046] It can be seen that the vehicle rear-end collision safety control method provided by the embodiment of the present application obtains the regional parameters of the avoidance area between the target vehicle and the vehicle in front when the target vehicle needs to stop; based on the regional parameters and the vehicle parameters of the target vehicle, the target wheel angle of the target vehicle is determined to control the wheel angle of the target vehicle when parking to be not less than the target wheel angle. In this way, the regional parameters of the avoidance area between the vehicle and the vehicle in front of it and the vehicle parameters of the vehicle are combined for analysis to determine the minimum wheel angle of the vehicle when parking, and the actual wheel angle of the vehicle when parking is controlled to be not less than the minimum wheel angle, so as to avoid the danger caused by the rear-end collision of the vehicle when parking, thereby improving the safety of the vehicle when parking and improving the user experience.

[0047] In some embodiments, the regional parameters may be expressed in a variety of forms, which may be adjusted according to actual conditions. The method for obtaining the regional parameters may also be adjusted according to the specific content of the regional parameters, and the embodiments of the present application do not limit this.

[0048] For example, the area parameter only includes the distance value between the target vehicle and the front vehicle in the vehicle driving direction, and the distance value between the target vehicle and the front vehicle in the vehicle driving direction can be directly obtained as the area parameter.

[0049] For another example, the area parameter may include a first distance value and a second distance value. The process of obtaining the area parameter of the avoidance area between the target vehicle and the front vehicle may be: obtaining the distance value between the target vehicle and the front vehicle in the vehicle driving direction as the first distance value; obtaining the maximum distance value that the target vehicle can safely travel in a direction perpendicular to the vehicle driving direction as the second distance value.

[0050] The vehicle's driving direction is used to indicate the direction of the lane line.

[0051] There are many ways to obtain the first distance value and the second distance value, which can be adjusted according to actual conditions, and the embodiments of the present application are not limited. For example, the first distance value can be determined by real-time detection of the distance value between the target vehicle and the vehicle in front in the direction of vehicle travel, and the second distance value can be determined by real-time detection of the maximum distance value that the target vehicle can safely travel in a direction perpendicular to the direction of vehicle travel. For another example, the first distance value can be updated by detecting the distance value between the target vehicle and the vehicle in front in the direction of vehicle travel at intervals of 2ms, and the second distance value can be updated by detecting the maximum distance value that the target vehicle can safely travel in a direction perpendicular to the direction of vehicle travel at intervals of 2ms.

[0052] The maximum safe driving distance value is used to indicate the maximum distance value in a direction perpendicular to the driving direction of the target vehicle, at which the target vehicle does not rub against the vehicle in front when turning at the target wheel angle after the target vehicle stops.

[0053] For example, see Figure 3 , Figure 3 The x in the figure is the first distance value, and the y in the figure is the second distance value.

[0054] In some embodiments, there are multiple ways to obtain the maximum distance value that the target vehicle can safely travel in a direction perpendicular to the driving direction of the vehicle as the second distance value, which can be adjusted according to actual conditions.

[0055] For example, in the case of not crossing the line, the amount of overlap between the target vehicle and the vehicle ahead in a direction perpendicular to the driving direction of the vehicle is determined, and the second distance value is determined at least based on the amount of overlap.

[0056] For another example, the steering information of the target wheel angle required by the target vehicle is determined; based on the steering information, the maximum distance value that the target vehicle can safely travel in a direction perpendicular to the driving direction of the vehicle is obtained as the second distance value.

[0057] The steering information refers to the steering of the target vehicle determined based on the wheel angle. For example, based on the wheel angle, it is determined that the target vehicle is turning left. For another example, based on the wheel angle, it is determined that the target vehicle is turning right.

[0058] by Figure 3 Provide explanations, Figure 3 The steering information of the target wheel angle shown is turning left, and the maximum distance that can be safely traveled is determined by the vertex of the right front end of the target vehicle and the vertex of the left rear end of the front vehicle.

[0059] In some embodiments, based on the area parameters and the vehicle parameters of the target vehicle, the process of determining the target wheel angle of the target vehicle may include: calculating the wheel angle of the target vehicle parameters and the first distance value and the second distance value of the target vehicle when parking by presetting a vehicle dynamics model to obtain the target wheel angle.

[0060] Among them, the preset vehicle dynamics model is used to determine the model of the target wheel angle.

[0061] It should be noted that the preset vehicle dynamics model refers to a digital model established by analyzing the movement of the vehicle. The preset vehicle dynamics model regards the vehicle as a rigid body, combines the vehicle parameters of the vehicle, and the first distance value and the second distance value of the target vehicle when it stops, and determines the minimum wheel angle at which the target vehicle does not rub against the vehicle in front when turning at a wheel angle after the target vehicle stops. It can be understood that the more accurate the preset vehicle dynamics model is, the more accurate the description of the vehicle's movement is, and the higher the accuracy of the target wheel angle of the vehicle is.

[0062] There are many ways to implement the preset vehicle dynamics model, which are determined according to actual conditions and are not limited in the embodiments of the present application. For example, the vehicle dynamics model is a linear two-degree-of-freedom model car model, and for another example, the vehicle dynamics model is a seven-degree-of-freedom model car model.

[0063] Exemplarily, by using a preset vehicle dynamics model, the wheel angle is calculated for the vehicle parameters of the target vehicle, and the first distance value and the second distance value of the target vehicle when parking, and the process of obtaining the target wheel angle includes: obtaining the wheelbase and the front axle wheelbase of the target vehicle; by using a preset vehicle dynamics model, the wheel angle is calculated for the wheelbase, the front axle wheelbase, and the first distance value and the second distance value of the target vehicle when parking, to obtain the target wheel angle.

[0064] Among them, the front axle wheelbase refers to the distance from the center of mass of the vehicle to the front wheel. The track refers to the distance from the front wheel to the rear wheel of the vehicle.

[0065] Specifically, the vehicle dynamics model can be expressed according to the following formula (1).

[0066]

[0067] in, It refers to the steady-state yaw rate gain of the vehicle, ωr is the yaw rate, θ refers to the wheel angle of the vehicle, u refers to the steering speed of the vehicle, L refers to the wheelbase of the vehicle, a refers to the distance from the center of mass of the vehicle to the front wheel, b refers to the distance from the center of mass of the vehicle to the rear wheel, k1 refers to the cornering stiffness of the front wheel tire of the vehicle, k2 refers to the cornering stiffness of the rear wheel tire of the vehicle, and m refers to the vehicle's total mass.

[0068] It should be noted that the relationship between the stability factor K and the front wheel slip angle α1 and the rear wheel slip angle α2 of the vehicle can be expressed according to the following formula (2):

[0069]

[0070] Among them, a yIt refers to the component of the absolute acceleration of the vehicle's center of mass on the Oy-axis of the vehicle coordinate system.

[0071] When a car is turning at low speed, the centrifugal force is very small, the lateral reaction force Fr1 from the ground acting on the front wheel, and the lateral reaction force Fr2 from the ground acting on the rear wheel are very small, the front wheel slip angle α1 and the rear wheel slip angle α2 are approximately equal to 0, and the vehicle performs neutral steering at this time.

[0072] Specifically, in this scenario, the vehicle dynamics model can be further derived, and the specific derivation process can be expressed according to the following formula (3):

[0073]

[0074] Wherein, R is the turning radius of the vehicle. At this time, the turning radius R0 of the vehicle is the same as the neutral turning radius R.

[0075] See also Figure 4 , Figure 4 A schematic structural diagram of a vehicle rear-end collision safety control method provided in an embodiment of the present application, in which a target wheel angle of the vehicle is calculated by using a preset vehicle dynamics model.

[0076] according to Figure 4 It can be seen that the target wheel angle can be calculated according to the following formula (4):

[0077] 2Ly=(x+a) 2 θ (4)

[0078] Wherein, L refers to the wheelbase of the target vehicle, a refers to the front axle wheelbase, that is, the distance from the center of mass of the target vehicle to the front wheel, x refers to the first distance value of the target vehicle when parking, y refers to the second distance value of the target vehicle when parking, and θ refers to the target wheel turning angle of the target vehicle.

[0079] In some embodiments, the vehicle rear-end collision safety control method further includes: obtaining a safety distance value between the target vehicle and the vehicle in front; and controlling the distance value between the target vehicle and the vehicle in front before stopping to be no less than the safety distance value.

[0080] There are many ways to obtain the safety distance value, which can be adjusted according to actual conditions and are not limited in the embodiments of the present application.

[0081] Exemplarily, the vehicle length of the target vehicle can be obtained, and the safety distance value between the target vehicle and the vehicle in front can be determined based on the vehicle length of the target vehicle. For example, the vehicle length of the target vehicle is used as the safety distance value between the target vehicle and the vehicle in front. For another example, a value is taken at more than half of the vehicle length of the target vehicle to obtain the safety distance value between the target vehicle and the vehicle in front.

[0082] See also Figure 5 , Figure 5 1 is a schematic diagram of a scenario for determining the safe distance value between the target vehicle and the front vehicle in the vehicle rear collision safety control method provided in the embodiment of the present application. Figure 5 As shown, the vehicle length of the target vehicle is x1, and the safety distance value x between the target vehicle and the vehicle ahead is set to be no less than the vehicle length x1.

[0083] When the target vehicle is seriously rear-ended, the rear vehicle pushes the target vehicle forward at a turning angle of θ and then drives a distance x just to avoid the front vehicle. Figure 5 The middle lane position is moved to the dotted line position to avoid the dangerous state of the target vehicle being squeezed by the vehicles in front and behind. At the same time, if the vehicle in front has an emergency and cannot move, or even in other / dangerous situations, the target vehicle can have enough space to bypass the vehicle in front and move forward, preventing the target vehicle from being in danger of a rear collision, thereby improving the safety of the vehicle when parking and improving the user experience.

[0084] Exemplarily, the braking distance value of the target vehicle may be determined according to the current speed of the target vehicle; and the safety distance value may be determined according to the difference between the first distance value and the braking distance value.

[0085] The braking distance value refers to the braking force and braking distance required to maintain a safe distance x at the current vehicle speed.

[0086] Wherein, according to the difference between the first distance value and the braking distance value, the process of determining the safety distance value may be: subtracting the braking distance value from the first distance value to obtain the safety distance value. According to the difference between the first distance value and the braking distance value, the process of determining the safety distance value may also be: subtracting the braking distance value from the first distance value to obtain the difference, and setting the safety distance value to a specific value not less than the difference.

[0087] It should be noted that the safety distance value can be set to a larger value to ensure sufficient safety. When the target vehicle stops, the distance value between the target vehicle and the vehicle in front is at least equal to the safety distance.

[0088] See also Figure 6 , Figure 6 1 is another schematic diagram of a scenario for determining the safe distance value between the target vehicle and the front vehicle in the vehicle rear collision safety control method provided in the embodiment of the present application. Figure 6 As shown, the braking distance value determined by the target vehicle at the current vehicle speed v is s, the first distance value between the target vehicle and the vehicle ahead in the vehicle driving direction is D, and the safety distance value x is not less than Ds.

[0089] In some embodiments, before determining the target wheel turning angle of the target vehicle based on the area parameters and the vehicle parameters of the target vehicle, the vehicle rear-end collision safety control method also includes: determining whether the vehicle in front is a large vehicle; if the vehicle in front is a large vehicle, analyzing based on the lane information acquired by the target vehicle to determine whether there is an available lane; if there is no available lane, when the target vehicle needs to stop, executing the step of acquiring the area parameters of the avoidance area between the target vehicle and the vehicle in front.

[0090] There are many ways to determine whether the vehicle ahead is a large vehicle, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it. For example, an image of the vehicle ahead is collected by an image acquisition device, and the image is analyzed to determine whether the vehicle ahead is a large vehicle. For another example, the sound amplitude and sound frequency of the vehicle ahead (such as the frequency and amplitude of the air-conditioning sound of the vehicle ahead, the frequency and amplitude of the powertrain sound of the vehicle ahead) are collected by a sound acquisition device, and the sound amplitude and sound frequency are analyzed to determine whether the vehicle ahead is a large vehicle.

[0091] Among them, the available lane refers to the lane other than the lane where the target vehicle is located, which can be used for the target vehicle to park.

[0092] There are many ways to determine whether there is an available lane, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it. For example, based on the navigation information and the location information of the target vehicle, all lanes available in the vehicle's driving direction and the lane where the target vehicle is located are confirmed, and the information around the vehicle is obtained to determine whether there are other vehicles on the available lanes, etc., to avoid affecting the driving of other vehicles. For another example, the lane information around the target vehicle is collected by a sensor, and it is determined whether there is an available lane based on the collected lane information.

[0093] If there is no available lane, when the target vehicle needs to stop, before executing the step of obtaining the area parameters of the avoidance area between the target vehicle and the vehicle in front, the driver can be reminded to keep a sufficient safety distance between the target vehicle and the vehicle in front, or the target vehicle can be controlled to keep a sufficient safety distance between the target vehicle and the vehicle in front through the automatic driving controller.

[0094] In some embodiments, the vehicle rear-end collision safety control method also includes: if there is an available lane, when the target vehicle needs to stop, the step of obtaining the area parameters of the avoidance area between the target vehicle and the vehicle in front is not executed, and the step of controlling the target vehicle to drive to the available lane is executed.

[0095] For details, please refer to Figure 7 , Figure 7FIG. 2 is another schematic diagram of a vehicle rear-end collision safety control method provided in an embodiment of the present application. Figure 7 As shown, the left lane of the target vehicle is an available lane. When the target vehicle needs to stop, the target vehicle is controlled to drive to the left lane without executing the step of obtaining the area parameters of the avoidance area between the target vehicle and the vehicle in front.

[0096] The following is an explanation with a specific embodiment. Figure 8 , Figure 8 is a flow chart of a vehicle rear collision safety control method provided by an embodiment of the present application, combined with Figure 8 It can be seen that the vehicle rear collision safety control method provided in the embodiment of the present application may include the following steps S201 to S206:

[0097] S201, determine whether the target vehicle needs to stop. If yes, execute step S202. Otherwise, continue to execute step S201.

[0098] S202, determine whether the vehicle ahead is a large vehicle. If the vehicle ahead is a large vehicle, execute step S203. Otherwise, continue to execute step S201.

[0099] S203, determine whether there are other available lanes for the target vehicle. If yes, execute step S204. If no, execute step S205.

[0100] S204: Prompt the driver to change lanes to an available lane, or control the vehicle to change lanes to an available lane through the automatic driving controller.

[0101] S205: Remind the driver to maintain a sufficient safe distance, or calculate the safe distance between the driver and the vehicle in front through the perception system. Then, execute step S206.

[0102] S206. Remind the driver to turn the steering wheel to a wheel angle according to the distance between the target vehicle and the vehicle ahead, or control the vehicle to turn the steering wheel to a wheel angle through the automatic driving controller.

[0103] Wherein, the steering wheel is deflected to a wheel turning angle which is not less than the target wheel turning angle mentioned in the above embodiment.

[0104] The above-mentioned embodiment determines the type of vehicle ahead to remind the driver or the automatic driving controller to take safety measures such as changing lanes, maintaining a safe distance, and setting a steering wheel angle. When the target vehicle is parked, the target vehicle is prevented from being in danger of a rear-end collision, thereby improving the safety of the vehicle when parking and improving the user experience.

[0105] In order to facilitate better implementation of the vehicle rear collision safety control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above vehicle rear collision safety control method. The meanings of the terms are the same as those in the above vehicle rear collision safety control method, and the specific implementation details can refer to the description in the method embodiment.

[0106] For example, Fig. 9 As shown, the vehicle rear collision safety control device may include a region parameter acquisition module 301 and a target wheel angle determination module 302, which are specifically as follows:

[0107] The area parameter acquisition module 301 is used to acquire the area parameters of the avoidance area between the target vehicle and the vehicle in front when the target vehicle needs to stop;

[0108] The target wheel angle determination module 302 is used to determine the target wheel angle of the target vehicle based on the area parameters and the vehicle parameters of the target vehicle, so as to control the wheel angle of the target vehicle to be not less than the target wheel angle when parking.

[0109] In an embodiment of the present application, the above-mentioned area parameter includes a first distance value and a second distance value.

[0110] In this embodiment, the above-mentioned regional parameter acquisition module 301 includes:

[0111] A first distance value acquisition unit, used to acquire a distance value between the target vehicle and the front vehicle in the vehicle travel direction as a first distance value;

[0112] The second distance value acquisition unit is used to acquire a maximum distance value that the target vehicle can safely travel in a direction perpendicular to the vehicle's travel direction as a second distance value.

[0113] In an embodiment of the present application, the second distance value obtaining unit specifically includes:

[0114] Determine steering information of a target wheel angle required by the target vehicle;

[0115] According to the steering information, a maximum distance value that the target vehicle can safely travel in a direction perpendicular to the driving direction of the vehicle is obtained as a second distance value.

[0116] In one embodiment of the present application, the target wheel angle determination module 302 includes:

[0117] The target wheel angle determination unit is used to calculate the wheel angle of the target vehicle parameters and the first distance value and the second distance value of the target vehicle when parking by using a preset vehicle dynamics model to obtain the target wheel angle.

[0118] In one embodiment of the present application, the target wheel angle determination unit specifically includes:

[0119] Get the wheelbase and front axle wheelbase of the target vehicle;

[0120] By presetting the vehicle dynamics model, the wheel angle is calculated for the wheelbase, the front axle wheelbase, and the first distance value and the second distance value of the target vehicle when parking, so as to obtain the target wheel angle.

[0121] In one embodiment of the present application, the vehicle rear collision safety control device further includes:

[0122] A safety distance value acquisition module is used to obtain the safety distance value between the target vehicle and the vehicle in front;

[0123] The control module is used to control the distance between the target vehicle and the vehicle in front to be no less than the safety distance value before the target vehicle stops.

[0124] In one embodiment of the present application, the safety distance value acquisition module includes:

[0125] A braking distance value determination unit, used to determine a braking distance value of a target vehicle according to a current vehicle speed of the target vehicle;

[0126] The safety distance value determining unit is used to determine the safety distance value according to the difference between the first distance value and the braking distance value.

[0127] In one embodiment of the present application, before the target wheel angle determination module 302, the vehicle rear collision safety control device further includes:

[0128] A vehicle type determination module, used to determine whether the vehicle ahead is a large vehicle;

[0129] An available lane determination module is used to determine whether there is an available lane based on the lane information obtained by the target vehicle if the vehicle ahead is a large vehicle;

[0130] The first execution control module is used to execute the step of obtaining the area parameters of the avoidance area between the target vehicle and the vehicle in front when the target vehicle needs to stop if there is no available lane.

[0131] In one embodiment of the present application, the vehicle rear collision safety control device further includes:

[0132] The second execution control module is used for, if there is an available lane and the target vehicle needs to stop, not executing the step of obtaining the area parameters of the avoidance area between the target vehicle and the vehicle in front, but executing the step of controlling the target vehicle to drive to the available lane.

[0133] It can be seen that the vehicle rear-end collision safety control device provided by the embodiment of the present application obtains the regional parameters of the avoidance area between the target vehicle and the vehicle in front when the target vehicle needs to stop through the regional parameter acquisition module 301; the target wheel angle determination module 302 determines the target wheel angle of the target vehicle based on the regional parameters and the vehicle parameters of the target vehicle, so as to control the wheel angle of the target vehicle when parking to be not less than the target wheel angle. In this way, the regional parameters of the avoidance area between the vehicle and the vehicle in front of it and the vehicle parameters of the vehicle are combined for analysis to determine the minimum wheel angle of the vehicle when parking, and control the actual wheel angle of the vehicle when parking to be not less than the minimum wheel angle, so as to avoid the danger caused by the rear-end collision event of the vehicle when parking, thereby improving the safety of the vehicle when parking and improving the user experience.

[0134] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0135] The embodiment of the present application also provides an electronic device, wherein the operating system of the electronic device includes a first operating system and a second operating system. Fig.10 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0136] The electronic device may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more storage media, a power supply 403, and an input unit 404. Those skilled in the art will appreciate that Fig.10 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0137] in:

[0138] The processor 401 is the control center of the electronic device, which uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing computer programs and / or modules stored in the memory 402, and calling data stored in the memory 402. Optionally, the processor 401 may include one or more processing cores; preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 401.

[0139] The memory 402 can be used to store computer programs and modules. The processor 401 executes various functional applications and vehicle rear collision safety control by running the computer programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 402 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0140] The electronic device also includes a power supply 403 for supplying power to each component. Preferably, the power supply 403 can be logically connected to the processor 401 through a power management system, so as to manage charging, discharging, power consumption and other functions through the power management system. The power supply 403 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.

[0141] The electronic device may further include an input unit 404, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0142] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 401 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 402 according to the following instructions, and the processor 401 will run the computer programs stored in the memory 402, thereby realizing various functions, such as:

[0143] When the target vehicle needs to stop, obtain the area parameters of the avoidance area between the target vehicle and the vehicle in front;

[0144] Based on the area parameters and the vehicle parameters of the target vehicle, a target wheel turning angle of the target vehicle is determined to control the wheel turning angle of the target vehicle to be not less than the target wheel turning angle when parking.

[0145] It can be seen that the electronic device provided in the embodiment of the present application obtains the regional parameters of the avoidance area between the target vehicle and the vehicle in front when the target vehicle needs to stop; based on the regional parameters and the vehicle parameters of the target vehicle, the target wheel angle of the target vehicle is determined to control the wheel angle of the target vehicle when parking to be not less than the target wheel angle. In this way, the regional parameters of the avoidance area between the vehicle and the vehicle in front of it and the vehicle parameters of the vehicle are combined for analysis to determine the minimum wheel angle of the vehicle when parking, and the actual wheel angle of the vehicle when parking is controlled to be not less than the minimum wheel angle, so as to avoid the danger caused by the rear collision incident of the vehicle when parking, thereby improving the safety of the vehicle when parking and improving the user experience.

[0146] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the vehicle rear-end collision safety control method above, which will not be elaborated here.

[0147] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a storage medium and loaded and executed by a processor.

[0148] To this end, an embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any vehicle rear collision safety control method provided in the embodiment of the present application. For example, the computer program can execute the following steps:

[0149] When the target vehicle needs to stop, obtain the area parameters of the avoidance area between the target vehicle and the vehicle in front;

[0150] Based on the area parameters and the vehicle parameters of the target vehicle, a target wheel turning angle of the target vehicle is determined to control the wheel turning angle of the target vehicle to be not less than the target wheel turning angle when parking.

[0151] It can be seen that the storage medium provided in the embodiment of the present application obtains the regional parameters of the avoidance area between the target vehicle and the vehicle in front when the target vehicle needs to stop; based on the regional parameters and the vehicle parameters of the target vehicle, the target wheel angle of the target vehicle is determined to control the wheel angle of the target vehicle when parking to be not less than the target wheel angle. In this way, the regional parameters of the avoidance area between the vehicle and the vehicle in front of it and the vehicle parameters of the vehicle are combined for analysis to determine the minimum wheel angle of the vehicle when parking, and the actual wheel angle of the vehicle when parking is controlled to be not less than the minimum wheel angle, so as to avoid the danger caused by the rear collision incident of the vehicle when parking, thereby improving the safety of the vehicle when parking and improving the user experience.

[0152] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0153] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0154] Since the computer program stored in the storage medium can execute the steps in any one of the vehicle rear-collision safety control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the vehicle rear-collision safety control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0155] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, and the computer instructions are stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned vehicle rear collision safety control method.

[0156] The embodiment of the present application also provides a vehicle, which includes the above-mentioned vehicle rear collision safety control device, or the above-mentioned electronic device, or the above-mentioned computer program product. The specific structure of the vehicle is not limited in this application. The specific implementation methods of the above operations of the electronic device and the corresponding beneficial effects are also applicable to the vehicle. For details, please refer to the detailed description of the vehicle rear collision safety control method above, which will not be repeated here.

[0157] The above is a detailed introduction to a vehicle rear collision safety control method, device, electronic device, storage medium and vehicle provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle rear-end collision safety control method, characterized in that: The method comprises: When the target vehicle needs to stop, obtaining area parameters of the avoidance area between the target vehicle and the vehicle in front; Based on the area parameters and the vehicle parameters of the target vehicle, a target wheel turning angle of the target vehicle is determined to control the wheel turning angle of the target vehicle to be not less than the target wheel turning angle when parking.

2. The vehicle rear collision safety control method according to claim 1, characterized in that: The area parameter includes a first distance value and a second distance value, and the step of obtaining the area parameter of the avoidance area between the target vehicle and the front vehicle includes: Acquire a distance value between the target vehicle and the front vehicle in the vehicle travel direction as the first distance value; The maximum distance value that the target vehicle can safely travel in a direction perpendicular to the driving direction of the vehicle is obtained as the second distance value.

3. The vehicle rear collision safety control method according to claim 2, characterized in that: The obtaining, as the second distance value, a maximum distance value that the target vehicle can safely travel in a direction perpendicular to the driving direction of the vehicle includes: Determining steering information of a target wheel angle required by the target vehicle; According to the steering information, a maximum distance value that the target vehicle can safely travel in a direction perpendicular to the driving direction of the vehicle is obtained as the second distance value.

4. The vehicle rear collision safety control method according to claim 2, characterized in that: The step of determining a target wheel angle of the target vehicle based on the area parameter and the vehicle parameter of the target vehicle comprises: By presetting a vehicle dynamics model, the wheel angle is calculated for the vehicle parameters of the target vehicle and the first distance value and the second distance value of the target vehicle when parking, so as to obtain a target wheel angle.

5. The vehicle rear collision safety control method according to claim 4, characterized in that: The method calculates the wheel angle of the target vehicle by presetting the vehicle dynamics model, and the first distance value and the second distance value of the target vehicle when the target vehicle is parked, to obtain the target wheel angle, including: Obtaining the wheelbase and front axle wheelbase of the target vehicle; By presetting a vehicle dynamics model, a wheel angle is calculated for the wheelbase, the front axle wheelbase, and the first distance value and the second distance value of the target vehicle when parking, so as to obtain a target wheel angle.

6. The vehicle rear collision safety control method according to any one of claims 1 to 5, characterized in that: The method further comprises: Obtaining a safety distance value between the target vehicle and the vehicle in front; The target vehicle is controlled to have a distance value from the vehicle in front not less than the safety distance value before stopping.

7. The vehicle rear collision safety control method according to claim 6, characterized in that: The obtaining of the safety distance value between the target vehicle and the front vehicle includes: Determining a braking distance value of the target vehicle according to the current speed of the target vehicle; A safety distance value is determined according to a difference between the first distance value and the braking distance value.

8. The vehicle rear-end collision safety control method according to any one of claims 1 to 5, characterized in that: Before determining the target wheel angle of the target vehicle based on the area parameter and the vehicle parameter of the target vehicle, the method further includes: determining whether the front vehicle is a large vehicle; If the vehicle ahead is a large vehicle, analyzing the lane information acquired by the target vehicle to determine whether there is an available lane; If there is no available lane, when the target vehicle needs to stop, the step of obtaining the area parameters of the avoidance area between the target vehicle and the vehicle ahead is performed.

9. The vehicle rear collision safety control method according to claim 8, characterized in that: The method further comprises: If there is an available lane, when the target vehicle needs to stop, the step of obtaining the area parameters of the avoidance area between the target vehicle and the vehicle ahead is not performed, and the step of controlling the target vehicle to travel to the available lane is performed.

10. A vehicle rear collision safety control device, characterized in that: The device comprises: An area parameter acquisition module, used to acquire area parameters of an avoidance area between the target vehicle and the vehicle ahead when the target vehicle needs to stop; The target wheel angle determination module is used to determine the target wheel angle of the target vehicle based on the area parameters and the vehicle parameters of the target vehicle, so as to control the wheel angle of the target vehicle to be not less than the target wheel angle when parking.

11. An electronic device, characterized in that: The invention comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the vehicle rear collision safety control method according to any one of claims 1 to 9.

12. A storage medium, characterized in that: It comprises a computer program, and when the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of the vehicle rear collision safety control method according to any one of claims 1 to 9.

13. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed by a processor, implements the steps of the vehicle rear collision safety control method as described in any one of claims 1 to 9.

14. A vehicle, characterized in that: The vehicle includes the vehicle rear collision safety control device as claimed in claim 10, or the electronic device as claimed in claim 11, or the storage medium as claimed in claim 12, or the computer program product as claimed in claim 13.

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