Vehicle speed control method and device, vehicle and computer readable storage medium

Abstract

The invention relates to the field of vehicle control, in particular to a vehicle speed control method and device, a vehicle and a computer readable storage medium. The method comprises the steps of monitoring a first target event; the first target event comprises an event that a target vehicle appears in an adjacent lane in front of the current vehicle; if the first target event is monitored, determining first position information of a current vehicle, second position information of a target vehicle, a first motion state of the current vehicle and a second motion state of the target vehicle; controlling the speed of the current vehicle according to the first position information, the first motion state, the second position information and the second motion state; wherein the current vehicle is located in a target area after the vehicle speed is controlled, and the target area is located outside a view blind area of the target vehicle. The driving safety guarantee degree and the driving experience in the scene that vehicles exist in front of the adjacent lanes can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle speed control method, device, vehicle and computer-readable storage medium. Background Art

[0002] During vehicle driving, blind spots are an important factor affecting driving safety. When the current vehicle is in the blind spot of other vehicles in the adjacent lane and the other vehicle changes lanes, a collision is more likely to occur. Especially for large vehicles such as long trucks and buses, the blind spots are large. If they are located in their blind spots, the probability of collision is greater. At the same time, the blind spots of other vehicles driving in adjacent lanes may also cause a certain sense of oppression to the driver of the current vehicle, affecting the driving experience.

[0003] When the relevant vehicle speed control scheme detects that there are other vehicles in the adjacent lane with a slower speed than the vehicle itself, it generally only maintains the current speed and does not perform further speed control. It cannot effectively reduce the possibility of collision and improve the driving experience.

[0004] Therefore, a vehicle speed control solution that is safer and provides a better experience in scenarios where there is a vehicle ahead in an adjacent lane is needed. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a vehicle speed control method, device, vehicle and computer-readable storage medium, which can solve the problems of low safety and poor driving experience of the existing vehicle speed control scheme in the scenario where there is a vehicle in front of the adjacent lane.

[0006] In a first aspect, an embodiment of the present application provides a vehicle speed control method, the vehicle speed control method comprising: Monitoring a first target event; the first target event includes an event in which a target vehicle appears in an adjacent lane in front of the current vehicle; If the first target event is monitored, determining the first position information of the current vehicle and the second position information of the target vehicle, as well as the first motion state of the current vehicle and the second motion state of the target vehicle; The speed of the current vehicle is controlled according to the first position information and the first motion state of the current vehicle and the second position information and the second motion state of the target vehicle; wherein, after the speed control, the current vehicle is located in a target area, and the target area is outside a blind spot of the target vehicle.

[0007] By adopting the above technical solution, when a target vehicle appears in an adjacent lane in front of the current vehicle, the current vehicle is dynamically controlled in speed according to the first position information and the first motion state of the current vehicle, and the second position information and the second motion state of the target vehicle, so that the current vehicle is located outside the blind spot of the target vehicle after the speed control. This is different from the existing speed control scheme, which only mechanically maintains the current speed when detecting that there are other vehicles with a speed lower than the vehicle in front of the adjacent lane, and cannot make the current vehicle leave the blind spot of the other vehicles more quickly and efficiently, and thus cannot effectively avoid the collision risk caused by other vehicles changing lanes and the sense of oppression caused by other vehicles driving in the adjacent lane. In the embodiment of the method, according to the relative position information and relative running information of the current vehicle and the target vehicle, the speed that the current vehicle needs to take to leave the blind spot of the target vehicle more quickly and safely is determined, thereby providing a more secure and personalized speed control scheme with better driving experience for the scene where there are vehicles in front of the adjacent lane.

[0008] In some embodiments, the method further comprises: Compare the first position information with the second position information to obtain a first distance between the current vehicle and the target vehicle; Comparing the first motion state with the second motion state to obtain a first relative speed between the current vehicle and the target vehicle; If the first distance is less than a preset first threshold and the first relative speed is greater than a preset second threshold, the target vehicle is controlled to travel at a target speed; wherein the target speed is greater than a first current speed of the target vehicle; and the second threshold is greater than or equal to zero.

[0009] In some embodiments, the method further comprises: When the first distance is less than the first threshold and the first relative speed is less than or equal to the second threshold, detecting whether the current vehicle has a target intention to overtake the target vehicle; If the target intention is detected, controlling the current vehicle to travel at the target speed; And / or, when the first distance is less than the first threshold, and the first relative speed is greater than the second threshold, and the first relative speed is less than a third threshold, the target vehicle is controlled to travel at the first current vehicle speed; wherein the third threshold is greater than the second threshold.

[0010] In some embodiments, the method further comprises: Comparing the estimated overtaking time with a preset time threshold to obtain a first comparison result; the estimated overtaking time is determined according to the first relative speed and the first distance; comparing the first relative speed with the first current vehicle speed to obtain a second comparison result; Comparing the first relative speed with a preset speed threshold to obtain a third comparison result; the speed threshold is used to represent the maximum relative speed between any two vehicles when a preset blind spot reminder event between any two vehicles is triggered; Determine a speed conversion coefficient according to at least one of the first comparison result, the second comparison result, and the third comparison result; The first current vehicle speed is transformed according to the speed transformation coefficient to obtain the target vehicle speed.

[0011] In some embodiments, the method further comprises: Monitoring a second target event; the second target event includes an obstacle vehicle appearing in front of the vehicle lane of the current vehicle; If the second target event is monitored, obtaining the third motion state and third position information of the obstacle vehicle; The target vehicle speed is adjusted according to the third motion state and the third position information.

[0012] In some embodiments, the method further comprises: Comparing the third position information with the first position information to obtain a second distance between the current vehicle and the target vehicle; Comparing the third motion state with the first motion state to obtain a second relative speed between the current vehicle and the target vehicle; Determine, according to the second distance and the second relative speed, a maximum speed of the target vehicle without a risk of collision with the obstacle vehicle; The target vehicle speed is adjusted according to the maximum vehicle speed and the second current vehicle speed of the obstacle vehicle.

[0013] In some embodiments, the method further comprises: comparing the second current vehicle speed, the maximum vehicle speed and the target vehicle speed respectively; If the target vehicle speed is less than the second current vehicle speed and the second current vehicle speed is less than the maximum vehicle speed, setting the target vehicle speed to be not less than the second current vehicle speed and not greater than the maximum vehicle speed; If the target vehicle speed is greater than the maximum vehicle speed, the target vehicle speed is set to be no greater than the maximum vehicle speed.

[0014] In a second aspect, an embodiment of the present application further provides a vehicle speed control device, the vehicle speed control device comprising: A monitoring module, used for monitoring a first target event; the first target event includes an event that a target vehicle appears in an adjacent lane in front of the current vehicle; A determination module, configured to determine, if the first target event is monitored, the first position information of the current vehicle and the second position information of the target vehicle, respectively, as well as the first motion state of the current vehicle and the second motion state of the target vehicle; A control module is used to control the speed of the current vehicle according to the first position information and the first motion state of the current vehicle, and the second position information and the second motion state of the target vehicle; wherein the current vehicle is located in a target area after the speed control, and the target area is outside the blind spot of the target vehicle.

[0015] In a third aspect, an embodiment of the present application further provides a vehicle, comprising a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the vehicle executes the vehicle speed control method as described in the first aspect.

[0016] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a processor, the processor executes the vehicle speed control method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The present invention is a flowchart of a vehicle speed control method according to an embodiment of the present application.

[0018] Figure 2 The present invention is a flowchart of a sub-step of a vehicle speed control method provided according to an embodiment of the present application.

[0019] Figure 3 The present invention is a flowchart of a sub-step of a vehicle speed control method provided according to an embodiment of the present application.

[0020] Figure 4 The present invention is a flowchart of a sub-step of a vehicle speed control method provided according to an embodiment of the present application.

[0021] Figure 5 The present invention is a flowchart of a sub-step of a vehicle speed control method provided according to an embodiment of the present application.

[0022] Figure 6 The present invention is a flowchart of a sub-step of a vehicle speed control method provided according to an embodiment of the present application.

[0023] Figure 7 The present invention is a flowchart of a sub-step of a vehicle speed control method provided according to an embodiment of the present application.

[0024] Figure 8 It is a schematic diagram of the structure of a vehicle speed control device provided according to an embodiment of the present application.

[0025] Fig. 9 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all of the implementations.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0029] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0030] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0031] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0032] Before describing the embodiments of the present application, the prior art and its existing problems are further described: Among the related technologies, intelligent driving assistance technologies mainly include ACC (Adaptive Cruise Control), LCC (Lane Centering Control) and blind spot reminders. Among them, ACC monitors the vehicle in front through radar and cameras, and automatically adjusts the speed of the vehicle according to the set speed and distance, so that the vehicle maintains a safe distance from the vehicle in front. LCC lane centering assistance uses a camera to identify lane lines and automatically adjusts the steering wheel to keep the vehicle in the center of the lane. Blind spot reminders are used to remind the current vehicle not to change lanes when other vehicles or other obstacles are detected in the blind spot of the current vehicle's field of vision, so as to avoid collisions with other vehicles and other obstacles in the blind spot of the field of vision.

[0033] In the ACC and LCC solutions, if it is detected that there are other vehicles with a lower speed than the vehicle in the adjacent lane in front of the current vehicle, the current vehicle will be controlled to continue to travel at the current speed. The existing problems include at least: although the speed of the current vehicle is higher than that of other vehicles, if the speed difference between the current vehicle and other vehicles is not much, the current vehicle will be in the blind spot of other vehicles for a long time, and there may be a risk of collision with other vehicles changing lanes, and the passengers will also feel a strong sense of oppression when driving next to other vehicles. The above problems are more serious when the other vehicles are large vehicles such as buses and trucks.

[0034] It can be seen from the above that the existing vehicle speed control scheme in the scenario where there is a vehicle in front of the adjacent lane is relatively mechanical and fixed, which is not ideal for ensuring the driving safety of the vehicle and improving the driving experience.

[0035] In view of this, the embodiments of the present application provide a vehicle speed control method, device, computer-readable storage medium and vehicle, which can improve driving safety and driving experience, and are particularly suitable for scenarios where there are vehicles ahead in adjacent lanes.

[0036] See also Figure 1, which is a flowchart of the steps of the vehicle speed control method provided in one embodiment of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The embodiment of the present application can be executed based on a preset electronic device, which has certain data processing, data storage and communication capabilities. Specifically, the electronic device may include devices such as cruise control devices, driving assistance devices, etc., which are not limited by the embodiment of the present application.

[0037] See also Figure 1 As shown, the vehicle speed control method may include the following steps: Step 101: monitoring a first target event; the first target event includes an event that a target vehicle appears in an adjacent lane in front of the current vehicle.

[0038] Among them, the front refers to the front of the driving direction of the current vehicle. The target road on which the current vehicle is traveling may include multiple drivable lanes, the lane on which the current vehicle is traveling may be recorded as the own vehicle lane, and the adjacent lane includes at least one of the other drivable lanes except the own vehicle lane. Preferably, considering that when the target vehicle is far away from the current vehicle, such as when the target vehicle is separated from the current vehicle by one or more lanes, even if the target vehicle changes lanes, the risk of collision with the current vehicle in the blind spot of the target vehicle is relatively small, therefore, the adjacent lanes may be the lanes on the left and right sides of the own vehicle lane.

[0039] The target vehicle may be any type of vehicle. Preferably, considering that large vehicles such as buses and trucks have a larger length and / or width, their corresponding blind spots are larger than those of ordinary small cars. The larger the blind spot, the longer it takes to leave the blind spot and the greater the sense of oppression caused by the blind spot. The risk of collision is greater and the requirements for speed control are higher. Therefore, the target vehicle may be a vehicle whose length and / or width is greater than a preset threshold, such as a large vehicle such as a bus or truck.

[0040] Optionally, considering that if the current vehicle has contacted or entered the blind spot of the target vehicle, the risk of collision with the target vehicle may be high, and the timeliness and effectiveness of the vehicle speed control are required to be high at this time, therefore, the first target event can be the appearance of the target vehicle in the adjacent lane in front of the current vehicle and the first distance between the target vehicle and the current vehicle is less than the preset safety distance threshold. Specifically, considering that if the current vehicle is located in the blind spot of the rear side of the target vehicle, when the target vehicle changes lanes, it is not aware of the existence of the current vehicle on the rear side, if the current vehicle is close to the target vehicle, the two may collide. Therefore, the safety distance threshold can be the minimum avoidance distance required to avoid the risk of collision. For example, when the target vehicle is a large vehicle, its length is generally 18 to 20 meters, and the existing blind spot reminder system will be triggered when the speed difference between the target vehicle and the current vehicle is less than 15 kilometers per hour, so the safety distance threshold can be set to 50 meters.

[0041] The detection of the first target event may include the following process: collecting image data in front of the adjacent lane of the current vehicle through the camera on the current vehicle. Performing image enhancement processing on the collected image data, such as adjusting brightness and contrast, and performing noise filtering, etc., to improve image quality. Performing feature extraction on the image data after image enhancement, such as extracting features of the image data, such as the shape, size, color, etc. of the target included in the image, through image processing algorithms such as edge detection and corner point detection. Finally, using a deep learning algorithm such as a convolutional neural network, the extracted image features are analyzed to identify the target vehicle contained in the image. After the target vehicle is identified, the target vehicle is continuously tracked to monitor whether the first target event occurs. Optionally, the detection of the first target event can be based on a preset target detection technology, which is not limited in the embodiments of the present application.

[0042] Step 102: If the first target event is monitored, determine the first position information of the current vehicle and the second position information of the target vehicle, as well as the first motion state of the current vehicle and the second motion state of the target vehicle.

[0043] Among them, the first position information may include absolute position information such as longitude and latitude information, the lane position in which the vehicle is traveling, and may also include the relative position of the vehicle in its lane, such as the vehicle is located 20 meters away from the intersection in front of the lane, and the first motion state may include information such as speed, acceleration, and driving direction. It is understandable that, in order to facilitate subsequent comparison, the position information of the current vehicle and the target vehicle may be in the same dimension, and similarly, the motion state of the current vehicle and the target vehicle may be in the same dimension. That is, the second position information may include absolute position information such as longitude and latitude information, the lane position in which the vehicle is traveling, and may also include the relative position of the vehicle in its lane, such as the vehicle is located 20 meters away from the intersection in front of the lane, and the second motion state may include information such as speed, acceleration, and driving direction.

[0044] Step 103: Control the speed of the current vehicle based on the first position information and the first motion state of the current vehicle and the second position information and the second motion state of the target vehicle; wherein, after the speed control, the current vehicle is located in a target area, and the target area is outside the blind spot of the target vehicle.

[0045] Specifically, considering that if the target vehicle changes lanes when the current vehicle is in its blind spot, there will be a greater risk of collision between it and the current vehicle, and if the current vehicle is in the blind spot of the target vehicle for a long time, it will be subject to a strong sense of oppression, and the driving experience and safety will be affected. Therefore, in an embodiment of the present application, the speed of the current vehicle is controlled so that it can cross and leave the blind spot of the target vehicle faster than before the speed control, thereby more effectively avoiding the risk of collision and improving the driving experience. Specifically, considering that the speed at which the current vehicle crosses the blind spot of the target vehicle is related to the distance and relative speed between the current vehicle and the target vehicle. Therefore, the relative speed and relative distance between the current vehicle and the target vehicle can be determined based on the first position information and the first motion state of the current vehicle, and the second position information and the second motion state of the target vehicle, so as to determine the speed that the current vehicle needs to reach in order to effectively leave the blind spot of the target vehicle.

[0046] Optionally, considering that there may be other obstacle vehicles in front of the lane where the current vehicle is located, the obstacle vehicles may hinder the acceleration of the current vehicle and may even cause a forward collision. Therefore, in some embodiments, the motion state and position information of the obstacle vehicle in front of the lane where the current vehicle is located can also be detected, and the speed of the current vehicle can be controlled according to the relative motion state and relative position relationship between the current vehicle and the target vehicle, as well as the relative motion state and relative position relationship between the current vehicle and the obstacle vehicle.

[0047] In some embodiments, Figure 2 As shown, step 103 also includes: Step 1031: Compare the first position information with the second position information to obtain a first distance between the current vehicle and the target vehicle.

[0048] Considering that the target vehicle and the current vehicle are located in different lanes, the first distance may be the sum of the lateral distance and the longitudinal distance between the target vehicle and the current vehicle, wherein the lateral distance is determined according to the distance between the target vehicle and the lane where the current vehicle is located. The longitudinal distance is determined according to the difference in position coordinates between the target vehicle and the current vehicle in the lane of the vehicle.

[0049] Step 1032: Compare the first motion state with the second motion state to obtain a first relative speed between the current vehicle and the target vehicle.

[0050] The first relative speed may be obtained by subtracting the current speed of the target vehicle from the current speed of the current vehicle.

[0051] Step 1033: If the first distance is less than a preset first threshold and the first relative speed is greater than a preset second threshold, control the target vehicle to travel at a target speed; wherein the target speed is greater than a first current speed of the target vehicle; and the second threshold is greater than or equal to zero.

[0052] Among them, the first threshold value can be the minimum avoidance distance required to avoid a collision between the current vehicle due to the target vehicle changing lanes. If the first distance is less than the first threshold value, it indicates that there is a collision risk between the current vehicle and the target vehicle, so it may be necessary to accelerate and quickly leave the blind spot to eliminate the collision risk.

[0053] Considering that in general, the driver of the current vehicle is able to perceive the existence of the target vehicle in front of its adjacent lane, and generally will take the initiative to adopt strategies such as slowing down to follow or accelerating to overtake, therefore, the first current speed can characterize the type of avoidance strategy of the driver of the current vehicle for the blind spot of vision. Considering that some drivers may not have the intention to overtake, in this case, controlling the current vehicle to accelerate to overtake may affect the driving experience of the current vehicle. Therefore, in the embodiment of the present application, the current vehicle is controlled to accelerate only when the first relative speed is greater than the second threshold, that is, when the speed of the target vehicle is lower than the speed of the current vehicle, so that the current vehicle can more quickly cross and leave the blind spot of the target vehicle, thereby improving the efficiency of driving safety.

[0054] In some embodiments, Figure 3 As shown in FIG. 1 , the process of determining the target vehicle speed includes: Step 201: Compare the estimated overtaking time with a preset time threshold to obtain a first comparison result; the estimated overtaking time is determined according to the first relative speed and the first distance.

[0055] The estimated overtaking time is determined according to a quotient obtained by dividing the first distance by the first relative speed. The preset time threshold may be the shortest time required for the current vehicle to take braking action in order to avoid a collision between the target vehicle and the current vehicle after changing lanes. The first comparison result may include a difference between the estimated overtaking time and the preset time threshold.

[0056] Step 202: Compare the first relative speed with the first current vehicle speed to obtain a second comparison result.

[0057] The second comparison result may include a ratio of the first relative speed to the first current vehicle speed.

[0058] Step 203: Compare the first relative speed with a preset speed threshold to obtain a third comparison result; the speed threshold is used to represent the maximum relative speed between any two vehicles when a preset blind spot warning event between any two vehicles is triggered.

[0059] Among them, the third comparison result may include the difference between the first relative speed and the speed threshold. It is understandable that the speed threshold can be determined according to the existing blind spot reminder function. Taking the blind spot reminder function applied to the target vehicle as an example, when the first relative speed between the target vehicle and the current vehicle is greater than or equal to the speed threshold, the blind spot reminder for the target vehicle will not be triggered, and when the first relative speed between the target vehicle and the current vehicle is less than the speed threshold, the blind spot reminder for the target vehicle will be triggered. The blind spot reminder is used to remind the target vehicle that there are other vehicles in the blind spot of its field of vision, and the target vehicle should not change lanes.

[0060] Step 204: Determine a speed conversion coefficient according to at least one of the first comparison result, the second comparison result, and the third comparison result.

[0061] Among them, the speed conversion coefficient is used to characterize the degree of acceleration based on the first current vehicle speed. The larger the speed conversion coefficient, the greater the degree of acceleration. Considering that the closer the expected overtaking time is to the time threshold, the stronger the time urgency of the current vehicle to take braking action is. Therefore, the difference between the expected overtaking time and the preset time threshold can be set to be inversely proportional to the speed conversion coefficient, that is, the larger the expected overtaking time is compared with the time threshold, the smaller the speed conversion coefficient, that is, the smaller the degree of acceleration is required. Correspondingly, the larger the ratio of the first relative speed to the first current vehicle speed, the greater the speed difference between the current vehicle and the target vehicle. At this time, if the current vehicle is accelerated significantly, the speed may be too large, affecting the corresponding riding experience of the current vehicle. Therefore, the ratio of the first relative speed to the first current vehicle speed is inversely proportional to the speed conversion coefficient, that is, when the speed of the current vehicle is relatively close to that of the target vehicle, the degree of acceleration can be appropriately increased. Correspondingly, the difference between the first relative speed and the speed threshold can be inversely proportional to the speed conversion coefficient, that is, the smaller the possibility of triggering the blind spot reminder function of the target vehicle due to the existence of the current vehicle, the smaller the degree of acceleration.

[0062] Optionally, in order to ensure that the target vehicle speed does not affect the riding experience of passengers while ensuring driving safety, a speed conversion coefficient may be obtained by performing weighted voting based on at least two of the first comparison result, the second comparison result, and the third comparison result.

[0063] Step 205: transform the first current vehicle speed according to the speed transformation coefficient to obtain the target vehicle speed.

[0064] Specifically, the product of the speed conversion coefficient and the first current vehicle speed is determined as the target vehicle speed.

[0065] In some embodiments, considering that the driving environment of the current vehicle may be relatively complex, there may be vehicles in front of it, such as Figure 4 As shown, the target speed adjustment process may include the following steps: Step 210: monitoring a second target event; the second target event includes an obstacle vehicle appearing in front of the lane of the current vehicle.

[0066] The obstacle vehicle is a vehicle located in front of the vehicle lane of the current vehicle and causing an obstacle to the acceleration of the current vehicle. The reason why the obstacle vehicle causes an obstacle to the acceleration of the current vehicle may include being located on the driving path of the current vehicle or being close to the speed of the current vehicle or being close to the current vehicle. The first target event can be determined by an existing forward collision warning function, and the embodiment of the present invention does not limit this.

[0067] Step 211: If the second target event is monitored, the third motion state and third position information of the obstacle vehicle are obtained.

[0068] The motion state of the obstructing vehicle may include speed, acceleration, etc. The position information of the obstructing vehicle may include absolute position information such as latitude and longitude information and the lane position on which the obstructing vehicle is traveling, and may also include the relative position of the obstructing vehicle in its lane.

[0069] Step 212: Adjust the target vehicle speed according to the third motion state and the third position information.

[0070] Among them, taking into account the risk of collision with an obstacle vehicle in front when the current vehicle is accelerating, the target vehicle speed is adjusted according to the relative position information and relative motion state between the obstacle vehicle and the current vehicle, so that the current vehicle will not be affected by the target vehicle and will not have the risk of collision with the obstacle vehicle.

[0071] Therefore, in some embodiments, Figure 5 As shown, considering that the target vehicle in the lane adjacent to the current vehicle has a certain possibility of not changing lanes, and when the target vehicle does not change lanes, even if the current vehicle is in the blind spot of the target vehicle, the possibility of a collision between the two is small, step 212 also includes: Step 2121: Compare the third position information with the first position information to obtain a second distance between the current vehicle and the target vehicle.

[0072] The second distance is obtained by subtracting the position coordinate value of the current vehicle from the position coordinate value of the obstacle vehicle. For example, the second distance may be 15 meters, that is, the obstacle vehicle is 15 meters in front of the current vehicle.

[0073] Step 2122: Compare the third motion state with the first motion state to obtain a second relative speed between the current vehicle and the target vehicle.

[0074] The difference between the speed value of the obstacle vehicle and the speed value of the current vehicle is determined as the second relative speed.

[0075] Step 2123: Determine the maximum speed of the target vehicle without a risk of collision with the obstacle vehicle based on the second distance and the second relative speed.

[0076] The maximum vehicle speed is determined according to a preset forward collision warning algorithm combined with the second distance and the second relative speed. The forward collision warning algorithm is used to calculate the distance and / or speed difference that should be maintained between the two vehicles when there is no risk of collision. The maximum vehicle speed is determined according to the speed difference and the second current vehicle speed of the obstacle vehicle. For example, the second current vehicle speed may be 12 km / h, the speed difference is 2 km / h, and the maximum vehicle speed may be 14 km / h.

[0077] Step 2124: Adjust the target vehicle speed according to the maximum vehicle speed and the second current vehicle speed of the obstacle vehicle.

[0078] Among them, considering that the target vehicle in the adjacent lane of the current vehicle has a certain possibility of not changing lanes, and when the target vehicle does not change lanes, even if the current vehicle is in the blind spot of the target vehicle, the possibility of collision between the two is small. Correspondingly, since the obstacle vehicle is located in front of the current vehicle, if the current vehicle accelerates to exceed the maximum speed, it will collide with the obstacle vehicle with a high probability. Therefore, it is necessary to control the target speed below the maximum speed. On this basis, when the second current speed is less than the maximum speed, the target speed can be controlled to be greater than the second current speed so that the current vehicle can overtake the obstacle vehicle.

[0079] In some embodiments, Figure 6 As shown, in order to prevent the current vehicle from colliding with the obstacle vehicle in front during the process of accelerating through the blind spot of the target vehicle, step 2124 also includes: Step 220: Compare the second current vehicle speed, the maximum vehicle speed and the target vehicle speed respectively.

[0080] The second current vehicle speed, the maximum vehicle speed and the target vehicle speed are compared in pairs to obtain comparison results.

[0081] Step 221: If the target vehicle speed is less than the second current vehicle speed and the second current vehicle speed is less than the maximum vehicle speed, the target vehicle speed is set to be not less than the second current vehicle speed and not greater than the maximum vehicle speed.

[0082] Among them, setting the target speed to be no less than the second current speed can make the current vehicle pass through the blind spot of the target vehicle more efficiently. Setting the target speed to be no greater than the maximum speed can ensure that the current vehicle does not collide with an obstacle vehicle during the process of passing through the blind spot.

[0083] Step 222: If the target vehicle speed is greater than the maximum vehicle speed, set the target vehicle speed to be no greater than the maximum vehicle speed.

[0084] Setting the target vehicle speed to no greater than the maximum vehicle speed can ensure that the current vehicle does not collide with an obstacle vehicle when passing through the blind spot.

[0085] In some embodiments, Figure 7 As shown, in order to avoid acceleration causing a bad experience for the passengers and driver in the current vehicle, the process of controlling the speed of the current vehicle may also include: Step 301: When the first distance is less than the first threshold and the first relative speed is less than or equal to the second threshold, detecting whether the current vehicle has an intention to overtake the target vehicle.

[0086] When the first distance is less than the first threshold, it indicates that there is a risk of collision between the current vehicle and the target vehicle, so it may be necessary to accelerate and quickly leave the blind spot to eliminate the risk of collision.

[0087] Considering that when the first relative speed is less than or equal to the second threshold, it may indicate that the driver of the current vehicle has no intention to accelerate to overtake the target vehicle. The reason for the lack of intention may be that the driver is in a choice of driving behavior preference, or the driver may not realize that the vehicle is in the blind spot of the target vehicle or that the driver is not aware of the potential driving safety hazards caused by the blind spot, and does not realize the need to quickly pass through the blind spot to avoid danger. Therefore, when the first relative speed is less than or equal to the second threshold, it is possible to actively monitor whether the current vehicle has the target intention to overtake the target vehicle. Among them, the detection method of the target intention can be to send a preset prompt message to the current vehicle, which is used to prompt the driver of the current vehicle that the current vehicle is in the blind spot of the target vehicle and ask whether it is necessary to accelerate to quickly pass through the blind spot. Specifically, the second threshold can be 15 kilometers per hour.

[0088] Step 302: If the target intention is detected, control the current vehicle to travel at the target speed.

[0089] The feedback information of the current vehicle in response to the above prompt information is monitored, and whether there is a target intention is determined according to the feedback information. When the target intention is detected, the current vehicle is controlled to travel at the target speed, so as to quickly pass through the blind spot.

[0090] Step 303: And / or, when the first distance is less than the first threshold, and the first relative speed is greater than the second threshold, and the first relative speed is less than a third threshold, control the target vehicle to travel at the first current vehicle speed; wherein the third threshold is greater than the second threshold.

[0091] The third threshold is used to represent the maximum speed that the vehicle can reach without affecting the riding comfort. Specifically, the third threshold can be 20 kilometers per hour. When the first relative speed is greater than the second threshold but less than the third threshold, it represents that the first current vehicle speed is fast enough to effectively avoid a collision with the target vehicle. At this time, if the acceleration is continued, it may affect the riding experience of the passengers in the current vehicle. Therefore, when the first distance is less than the first threshold and the first relative speed is greater than the second threshold but less than the third threshold, the target vehicle can be controlled to travel at the first current vehicle speed.

[0092] Please refer to Figure 8 , is a schematic diagram of the hardware structure of the vehicle speed control device 50 provided in the embodiment of the present application. Figure 8 As shown, the vehicle speed control device 50 may include: The monitoring module 501 is used to monitor a first target event; the first target event includes an event that a target vehicle appears in an adjacent lane in front of the current vehicle; A determination module 502 is used to determine the first position information of the current vehicle and the second position information of the target vehicle, and the first motion state of the current vehicle and the second motion state of the target vehicle if the first target event is monitored; The control module 503 is used to control the speed of the current vehicle according to the first position information and the first motion state of the current vehicle, and the second position information and the second motion state of the target vehicle; wherein, after the speed control, the current vehicle is located in a target area, and the target area is outside the blind spot of the target vehicle.

[0093] Please refer to Fig. 9 , is a schematic diagram of the hardware structure of a vehicle 60 provided in an embodiment of the present application. Fig. 9 As shown, the vehicle 60 may include a processor 601 and a memory 602. The memory 602 is used to store one or more computer programs 603. The one or more computer programs 603 are configured to be executed by the processor 601. The one or more computer programs 603 include instructions, and the above instructions can be used to implement the above vehicle speed control method in the vehicle 60.

[0094] It is understood that the structure shown in this embodiment does not constitute a specific limitation on the vehicle 60. In other embodiments, the vehicle 60 may include more or fewer components than shown, or combine some components, or separate some components, or arrange the components differently.

[0095] The processor 601 may include one or more processing units, for example, the processor 601 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0096] The processor 601 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 601 is a cache memory. The memory may store instructions or data that the processor 601 has just used or circulated. If the processor 601 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 601, and thus improves the efficiency of the system.

[0097] In some embodiments, the processor 601 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0098] In some embodiments, the processor 601 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

[0099] In some embodiments, the memory 602 may include a high-speed random access memory and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0100] This embodiment also provides a computer-readable storage medium, in which computer instructions are stored. When the instructions are executed on a processor, the processor executes the above-mentioned related method steps to implement the vehicle speed control method in the above-mentioned embodiment.

[0101] Among them, the vehicle speed control device and computer storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0102] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0103] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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.

[0104] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0105] In addition, each functional unit in each embodiment of the present application 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-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0106] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0107] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A vehicle speed control method, characterized in that: The method comprises: Monitoring a first target event; the first target event includes an event that a target vehicle appears in an adjacent lane in front of the current vehicle; If the first target event is monitored, determining the first position information of the current vehicle and the second position information of the target vehicle, as well as the first motion state of the current vehicle and the second motion state of the target vehicle; The speed of the current vehicle is controlled according to the first position information and the first motion state of the current vehicle and the second position information and the second motion state of the target vehicle; wherein, after the speed control, the current vehicle is located in a target area, and the target area is outside the blind spot of the target vehicle.

2. The method according to claim 1, characterized in that The vehicle speed control process of the current vehicle includes: Compare the first position information with the second position information to obtain a first distance between the current vehicle and the target vehicle; Comparing the first motion state with the second motion state to obtain a first relative speed between the current vehicle and the target vehicle; If the first distance is less than a preset first threshold and the first relative speed is greater than a preset second threshold, the target vehicle is controlled to travel at a target speed; wherein the target speed is greater than a first current speed of the target vehicle; and the second threshold is greater than or equal to zero.

3. The method according to claim 2, characterized in that The vehicle speed control process of the current vehicle also includes: When the first distance is less than the first threshold and the first relative speed is less than or equal to the second threshold, detecting whether the current vehicle has a target intention to overtake the target vehicle; If the target intention is detected, controlling the current vehicle to travel at the target speed; And / or, when the first distance is less than the first threshold, and the first relative speed is greater than the second threshold, and the first relative speed is less than a third threshold, the target vehicle is controlled to travel at the first current vehicle speed; wherein the third threshold is greater than the second threshold.

4. The method according to claim 2 or 3, characterized in that: The target vehicle speed determination process further includes: Comparing the estimated overtaking time with a preset time threshold to obtain a first comparison result; the estimated overtaking time is determined according to the first relative speed and the first distance; comparing the first relative speed with the first current vehicle speed to obtain a second comparison result; Comparing the first relative speed with a preset speed threshold to obtain a third comparison result; the speed threshold is used to represent the maximum relative speed between any two vehicles when a preset blind spot reminder event between any two vehicles is triggered; Determine a speed conversion coefficient according to at least one of the first comparison result, the second comparison result, and the third comparison result; The first current vehicle speed is transformed according to the speed transformation coefficient to obtain the target vehicle speed.

5. The method according to claim 4, characterized in that The target vehicle speed determination process further includes: Monitoring a second target event; the second target event includes an obstacle vehicle appearing in front of the vehicle lane of the current vehicle; If the second target event is monitored, obtaining the third motion state and third position information of the obstacle vehicle; The target vehicle speed is adjusted according to the third motion state and the third position information.

6. The method according to claim 5, characterized in that The target vehicle speed adjustment process further includes: Compare the third position information with the first position information to obtain a second distance between the current vehicle and the obstacle vehicle; Comparing the third motion state with the first motion state to obtain a second relative speed between the current vehicle and the obstacle vehicle; Determine, according to the second distance and the second relative speed, a maximum speed of the target vehicle without a risk of collision with the obstacle vehicle; The target vehicle speed is adjusted according to the maximum vehicle speed and the second current vehicle speed of the obstacle vehicle.

7. The method according to claim 6, characterized in that The target vehicle speed adjustment process further includes: comparing the second current vehicle speed, the maximum vehicle speed and the target vehicle speed respectively; If the target vehicle speed is less than the second current vehicle speed and the second current vehicle speed is less than the maximum vehicle speed, setting the target vehicle speed to be not less than the second current vehicle speed and not greater than the maximum vehicle speed; If the target vehicle speed is greater than the maximum vehicle speed, the target vehicle speed is set to be no greater than the maximum vehicle speed.

8. A vehicle speed control device, characterized in that: The vehicle speed control device comprises: A monitoring module, used for monitoring a first target event; the first target event includes an event that a target vehicle appears in an adjacent lane in front of the current vehicle; A determination module, configured to determine, if the first target event is monitored, the first position information of the current vehicle and the second position information of the target vehicle, as well as the first motion state of the current vehicle and the second motion state of the target vehicle; A control module is used to control the speed of the current vehicle according to the first position information and the first motion state of the current vehicle, and the second position information and the second motion state of the target vehicle; wherein the current vehicle is located in a target area after the speed control, and the target area is outside the blind spot of the target vehicle.

9. A vehicle, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the vehicle executes the vehicle speed control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a processor, the processor is caused to execute the vehicle speed control method according to any one of claims 1 to 7.

Images