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

Abstract

This application relates to the field of vehicle control, specifically to a vehicle speed control method, device, vehicle, and computer-readable storage medium. The method includes: monitoring a first target event; the first target event includes an event indicating the presence of a target vehicle in an adjacent lane ahead of the current vehicle; if the first target event is detected, determining first position information of the current vehicle and second position information of the target vehicle, as well as a first motion state of the current vehicle and a second motion state of the target vehicle; and controlling the vehicle speed based on the first position information and the first motion state, and the second position information and the second motion state; 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. This application can improve driving safety and driving experience in scenarios where a vehicle is present ahead in an adjacent lane.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a vehicle speed control method, device, vehicle, and computer-readable storage medium. Background Technology

[0002] Blind spots are a significant factor affecting driving safety. When a vehicle is in the blind spot of another vehicle in an adjacent lane and that vehicle changes lanes, a collision is more likely to occur. This is especially true for large vehicles such as long trucks and buses, whose blind spots are larger, increasing the probability of a collision if the driver is within their blind spot. Furthermore, being in the blind spot of another vehicle in an adjacent lane can create a sense of pressure for the driver of the current vehicle, negatively impacting their driving experience.

[0003] When the relevant speed control scheme detects other vehicles traveling at a lower speed in the adjacent lane, it generally only maintains the current speed and does not perform further speed control. This cannot effectively reduce the possibility of collisions or improve the driving experience.

[0004] Therefore, a safer and better-performing speed control solution is needed for scenarios where there are vehicles ahead in adjacent lanes. Summary of the Invention

[0005] In view of this, embodiments of this 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 existing vehicle speed control schemes in scenarios where there are vehicles in front of adjacent lanes.

[0006] In a first aspect, embodiments of this application provide a vehicle speed control method, the vehicle speed control method comprising:

[0007] Listen for the first target event; the first target event includes the event that a target vehicle appears in the adjacent lane in front of the current vehicle;

[0008] If the first target event is detected, determine the first location information of the current vehicle and the second location 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;

[0009] Based on the first location information and first motion state of the current vehicle, and the second location information and second motion state of the target vehicle, the speed of the current vehicle is controlled; wherein, after the speed control, the current vehicle is located in the target area, and the target area is outside the blind spot of the target vehicle.

[0010] By employing the above technical solution, when a target vehicle is detected in the adjacent lane ahead of the current vehicle, the vehicle speed is dynamically controlled based on the first position information and first motion state of the current vehicle, and the second position information and second motion state of the target vehicle. This ensures that the current vehicle is outside the target vehicle's blind spot after the speed control. This differs from existing speed control schemes that mechanically maintain the current speed when other vehicles traveling at lower speeds are detected in the adjacent lane. These schemes fail to allow the current vehicle to leave the blind spot of other vehicles more quickly and efficiently, thus failing to effectively avoid collision risks from other vehicles changing lanes and the oppressive feeling caused by other vehicles traveling in adjacent lanes. In this embodiment, the relative position and relative motion information between the current vehicle and the target vehicle adaptively determines the speed required for the current vehicle to leave the target vehicle's blind spot more quickly and safely. This provides a safer and more personalized speed control solution for scenarios where there are vehicles in the adjacent lane ahead.

[0011] In some embodiments, the method further includes:

[0012] The first location information is compared with the second location information to obtain the first distance between the current vehicle and the target vehicle;

[0013] The first motion state is compared with the second motion state to obtain the first relative speed between the current vehicle and the target vehicle;

[0014] If the first distance is less than a preset first threshold and the first relative speed is greater than a preset second threshold, the current vehicle is controlled to travel at a target speed; wherein the target speed is greater than the first current speed of the target vehicle; and the second threshold is greater than or equal to zero.

[0015] In some embodiments, the method further includes:

[0016] When the first distance is less than the first threshold and the first relative speed is less than or equal to the second threshold, detect whether the current vehicle has a target intention to overtake the target vehicle;

[0017] If the target intent is detected, control the current vehicle to travel at the target speed;

[0018] 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 the third threshold, the current vehicle is controlled to travel at the first current vehicle speed; wherein the third threshold is greater than the second threshold.

[0019] In some embodiments, the method further includes:

[0020] The estimated overtaking time is compared with a preset time threshold to obtain a first comparison result; the estimated overtaking time is determined based on the first relative speed and the first distance.

[0021] The first relative speed is compared with the first current vehicle speed to obtain a second comparison result;

[0022] The first relative speed is compared with a preset speed threshold to obtain a third comparison result; the speed threshold is used to characterize the maximum relative speed between any two vehicles when a preset blind spot warning event between any two vehicles is triggered.

[0023] The velocity transformation coefficient is determined based on at least one of the first comparison result, the second comparison result, and the third comparison result;

[0024] The first current vehicle speed is transformed according to the speed transformation coefficient to obtain the target vehicle speed.

[0025] In some embodiments, the method further includes:

[0026] Listen for a second target event; the second target event includes the appearance of an obstructing vehicle in front of the current vehicle's driving lane;

[0027] If the second target event is detected, obtain the third motion state and third position information of the obstacle vehicle;

[0028] The target vehicle speed is adjusted based on the third motion state and the third position information.

[0029] In some embodiments, the method further includes:

[0030] The third location information is compared with the first location information to obtain the second distance between the current vehicle and the target vehicle;

[0031] The third motion state is compared with the first motion state to obtain the second relative speed between the current vehicle and the target vehicle;

[0032] The maximum speed of the target vehicle without the risk of collision with the obstacle vehicle is determined based on the second distance and the second relative speed.

[0033] The target speed is adjusted based on the maximum speed and the second current speed of the obstacle vehicle.

[0034] In some embodiments, the method further includes:

[0035] The second current vehicle speed, the maximum vehicle speed, and the target vehicle speed are compared respectively.

[0036] 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 no less than the second current vehicle speed and no greater than the maximum vehicle speed.

[0037] 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.

[0038] Secondly, embodiments of this application also provide a vehicle speed control device, which includes:

[0039] The monitoring module is used to monitor the first target event; the first target event includes the event that a target vehicle appears in the adjacent lane in front of the current vehicle;

[0040] The determination module is used to determine, if the first target event is detected, the first location information of the current vehicle and the second location 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.

[0041] The control module is used to 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 the current vehicle is located in the target area after the speed control, and the target area is outside the blind spot of the target vehicle.

[0042] Thirdly, embodiments of this application also provide a vehicle, including 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 to cause the vehicle to execute the speed control method as described in the first aspect.

[0043] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores computer instructions that, when executed on a processor, cause the processor to perform the vehicle speed control method as described in the first aspect. Attached Figure Description

[0044] Figure 1 This is a flowchart of the steps of a vehicle speed control method according to an embodiment of this application.

[0045] Figure 2 This is a flowchart of a sub-step of a vehicle speed control method according to an embodiment of this application.

[0046] Figure 3This is a flowchart of a sub-step of a vehicle speed control method according to an embodiment of this application.

[0047] Figure 4 This is a flowchart of a sub-step of a vehicle speed control method according to an embodiment of this application.

[0048] Figure 5 This is a flowchart of a sub-step of a vehicle speed control method according to an embodiment of this application.

[0049] Figure 6 This is a flowchart of a sub-step of a vehicle speed control method according to an embodiment of this application.

[0050] Figure 7 This is a flowchart of a sub-step of a vehicle speed control method according to an embodiment of this application.

[0051] Figure 8 This is a schematic diagram of the vehicle speed control device provided according to an embodiment of this application.

[0052] Figure 9 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0053] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0054] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0056] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0057] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0058] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0059] Before describing the embodiments of this application, the prior art and its problems will be further explained:

[0060] Among related technologies, intelligent driving assistance technologies mainly include ACC (Adaptive Cruise Control), LCC (Lane Centering Control), and blind spot warning. ACC uses radar and cameras to monitor vehicles ahead and automatically adjusts the vehicle's speed based on set speed and distance parameters to maintain a safe distance. LCC uses cameras to identify lane lines and automatically adjusts the steering wheel to keep the vehicle centered in the lane. Blind spot warning alerts the vehicle not to change lanes when other vehicles or obstacles are detected in the blind spot, preventing collisions.

[0061] In ACC and LCC systems, if an adjacent vehicle traveling at a lower speed is detected in the lane ahead, the system will control the current vehicle to continue traveling at its current speed. The problems include at least the following: even if the current vehicle's speed is higher than other vehicles, if the speed difference is not significant, the current vehicle will be in the blind spot of other vehicles for an extended period, potentially posing a risk of collision when other vehicles change lanes. Furthermore, occupants may experience a strong sense of unease when driving alongside other vehicles. These problems are exacerbated when the other vehicle is a large vehicle such as a bus or truck.

[0062] As can be seen from the above, the existing speed control schemes for scenarios where there are vehicles in the adjacent lane ahead are relatively mechanical and fixed, and their effectiveness in ensuring vehicle driving safety and improving the driving experience is not ideal.

[0063] In view of this, embodiments of this 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 in front of adjacent lanes.

[0064] Please see Figure 1 This is a flowchart illustrating the steps of a vehicle speed control method according to an embodiment of this application. The order of the steps in the flowchart can be changed, and some steps can be omitted, depending on different requirements. This embodiment of the 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 and driving assistance devices; this embodiment of the application does not impose any limitations on this.

[0065] See Figure 1 As shown, the vehicle speed control method may include the following steps:

[0066] Step 101: Listen for the first target event; the first target event includes the event that a target vehicle appears in the adjacent lane in front of the current vehicle.

[0067] Here, "ahead" refers to the direction in front of the current vehicle's travel. The target road on which the current vehicle is traveling may include multiple drivable lanes. The lane on which the current vehicle is traveling can be denoted as the driving lane, and adjacent lanes include at least one of the other drivable lanes besides the driving lane. Preferably, considering that when the target vehicle is far from the current vehicle, such as when there is a gap of one or more lanes between the target vehicle and the current vehicle, even if the target vehicle changes lanes, the risk of collision with the current vehicle, which is in the target vehicle's blind spot, is relatively small, the adjacent lanes can be the lanes on the left and right sides of the driving lane.

[0068] The target vehicle can be any type of vehicle. Preferably, considering that large vehicles such as buses and trucks have a greater length and / or width, their blind spots are larger than those of small cars. The larger the blind spot, the greater the time required to leave the blind spot and the greater the sense of oppression caused by the blind spot, resulting in a greater risk of collision and higher requirements for speed control. Therefore, the target vehicle can be a vehicle with a length and / or width greater than the preset threshold, such as buses and trucks.

[0069] Optionally, considering that if the current vehicle has already contacted or entered the target vehicle's blind spot, the risk of collision with the target vehicle may already be high. In this case, the timeliness and effectiveness of speed control are crucial. Therefore, the first target event can be the appearance of a target vehicle in the adjacent lane in front of the current vehicle, and the first distance between the target vehicle and the current vehicle being less than a preset safe distance threshold. Specifically, considering that if the current vehicle is located in the blind spot behind the target vehicle, and the target vehicle is unaware of the current vehicle's presence when changing lanes, a collision may occur if the current vehicle and the target vehicle are close together. Therefore, the safe 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 18-20 meters, and existing blind spot warning systems trigger when the speed difference between the target vehicle and the current vehicle is less than 15 km / h, the safe distance threshold can be set to 50 meters.

[0070] The detection of the first target event may include the following process: First, image data of the area in front of the current vehicle in the adjacent lane is acquired using a camera on the current vehicle. Second, image enhancement processing is performed on the acquired image data, such as adjusting brightness and contrast, and filtering noise, to improve image quality. Third, feature extraction is performed on the enhanced image data, such as using image processing algorithms like edge detection and corner detection, to extract features such as the shape, size, and color of targets included in the image. Finally, deep learning algorithms such as convolutional neural networks are used to analyze the extracted image features and identify the target vehicle contained in the image. After identifying the target vehicle, it is continuously tracked to monitor whether the first target event has occurred. Optionally, the detection of the first target event can be based on a preset target detection technology, which is not limited in this embodiment.

[0071] Step 102: If the first target event is detected, determine the first location information of the current vehicle and the second location 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.

[0072] The first location information may include absolute location information such as latitude and longitude, and the position of the vehicle in its lane. It may also include the vehicle's relative position within its lane, such as being 20 meters from the intersection ahead. The first motion state may include information such as speed, acceleration, and direction of travel. It is understood that, for ease of subsequent comparison, the location information of the current vehicle and the target vehicle can be in the same dimension; similarly, the motion states of the current vehicle and the target vehicle can be in the same dimension. That is, the second location information may include absolute location information such as latitude and longitude, and the position of the vehicle in its lane. It may also include the vehicle's relative position within its lane, such as being 20 meters from the intersection ahead. The second motion state may include information such as speed, acceleration, and direction of travel.

[0073] Step 103: Based on the first position information and first motion state of the current vehicle, and the second position information and second motion state of the target vehicle, the speed of the current vehicle is controlled; wherein, after the speed control, the current vehicle is located in the target area, and the target area is outside the blind spot of the target vehicle.

[0074] Specifically, considering that if a target vehicle changes lanes while the current vehicle is in its blind spot, there is a significant risk of collision between them, and that if the current vehicle remains in the target vehicle's blind spot for an extended period, it will experience a strong sense of oppression, impacting both driving experience and safety. Therefore, in this embodiment, the speed of the current vehicle is controlled to allow it to cross and leave the target vehicle's blind spot faster than before speed control, thereby more effectively avoiding collision risks and improving the driving experience. Specifically, considering that the speed at which the current vehicle crosses the target vehicle's blind spot is related to the distance and relative speed between the two vehicles, the relative speed and relative distance between them can be determined based on the first position information and first motion state of the current vehicle, and the second position information and second motion state of the target vehicle. This allows for the determination of the required speed for the current vehicle to effectively leave the target vehicle's blind spot.

[0075] Optionally, considering that there may be other obstacle vehicles in front of the current vehicle's lane, which may hinder the acceleration of the current vehicle or even cause a frontal collision, in some embodiments, the motion state and position information of the obstacle vehicles in front of the current vehicle's lane can also be detected, and the speed of the current vehicle can be controlled based on 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 vehicles.

[0076] In some embodiments, such as Figure 2 As shown, step 103 also includes:

[0077] Step 1031: Compare the first location information with the second location information to obtain the first distance between the current vehicle and the target vehicle.

[0078] Since the target vehicle and the current vehicle are located in different lanes, the first distance can be the sum of the lateral distance and the longitudinal distance between the target vehicle and the current vehicle. The lateral distance is determined based on the distance between the lanes in which the target vehicle and the current vehicle are located. The longitudinal distance is determined based on the difference in position coordinates between the target vehicle and the current vehicle within their respective lanes.

[0079] Step 1032: Compare the first motion state with the second motion state to obtain the first relative speed between the current vehicle and the target vehicle.

[0080] The first relative speed can be obtained by subtracting the current speed of the target vehicle from the current speed of the current vehicle.

[0081] 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 current vehicle to travel at a target speed; wherein the target speed is greater than the first current speed of the target vehicle; and the second threshold is greater than or equal to zero.

[0082] The first threshold can be the minimum avoidance distance required to avoid a collision between the current vehicles when the target vehicle changes lanes. If the first distance is less than the first threshold, it indicates that there is already 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.

[0083] Considering that, under normal circumstances, the driver of the current vehicle is able to perceive the presence of a target vehicle in the adjacent lane ahead, and will generally take strategies such as slowing down to follow or accelerating to overtake, the first current speed can characterize the type of avoidance strategy the driver of the current vehicle has regarding blind spots. Considering that some drivers may not intend to overtake, in this case, controlling the current vehicle to accelerate to overtake may actually negatively impact the driving experience. Therefore, in this embodiment, the current vehicle is only accelerated when the first relative speed is greater than the second threshold, i.e., when the target vehicle's speed is lower than the current vehicle's own speed, so that the current vehicle can more quickly pass through and leave the target vehicle's blind spot, improving the efficiency of driving safety.

[0084] In some embodiments, such as Figure 3 As shown, the process of determining the target vehicle speed includes:

[0085] Step 201: Compare the estimated overtaking time with a preset time threshold to obtain a first comparison result; the estimated overtaking time is determined based on the first relative speed and the first distance.

[0086] The estimated overtaking time is determined by dividing the first distance by the first relative speed. A preset time threshold can be the shortest time required for the current vehicle to brake in order to avoid a collision between the target vehicle and the current vehicle after the target vehicle changes lanes. The first comparison result can include the difference between the estimated overtaking time and the preset time threshold.

[0087] Step 202: Compare the first relative speed with the first current vehicle speed to obtain a second comparison result.

[0088] The second comparison result may include the ratio of the first relative speed to the first current vehicle speed.

[0089] Step 203: Compare the first relative speed with a preset speed threshold to obtain a third comparison result; the speed threshold is used to characterize the maximum relative speed between any two vehicles when a preset blind spot warning event between any two vehicles is triggered.

[0090] The third comparison result may include the difference between the first relative speed and the speed threshold. It is understood that the speed threshold can be determined based on existing blind spot warning functions. Taking a target vehicle equipped with this blind spot warning function 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, a blind spot warning for the target vehicle will not be triggered. However, when the first relative speed between the target vehicle and the current vehicle is less than the speed threshold, a blind spot warning for the target vehicle will be triggered. The blind spot warning is used to remind the target vehicle that there are other vehicles in its blind spot, and the target vehicle should not change lanes.

[0091] Step 204: Determine the velocity transformation coefficient based on at least one of the first comparison result, the second comparison result, and the third comparison result.

[0092] The speed transformation coefficient characterizes the degree of acceleration based on the current vehicle speed; a larger coefficient indicates greater acceleration. Considering that the closer the estimated overtaking time is to the time threshold, the greater the urgency for the vehicle to brake. Therefore, the difference between the estimated overtaking time and the preset time threshold can be inversely proportional to the speed transformation coefficient. That is, the larger the estimated overtaking time relative to the time threshold, the smaller the speed transformation coefficient, and thus the less 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. In this case, a significant acceleration might cause the current vehicle to travel too fast, affecting the passenger experience. Therefore, the ratio of the first relative speed to the first current vehicle speed is inversely proportional to the speed transformation coefficient; that is, when the speeds of the current vehicle and the target vehicle are relatively close, the acceleration can be appropriately increased. Correspondingly, the difference between the first relative speed and the speed threshold can also be inversely proportional to the speed transformation coefficient; that is, the lower the probability of triggering the target vehicle's blind spot warning function due to the presence of the current vehicle, the less acceleration is required.

[0093] Optionally, in order to ensure that the target vehicle speed does not affect the passenger's riding experience while guaranteeing driving safety, a speed transformation coefficient can be obtained by weighted voting based on at least two of the first comparison result, the second comparison result, and the third comparison result.

[0094] Step 205: Transform the first current vehicle speed according to the speed transformation coefficient to obtain the target vehicle speed.

[0095] Specifically, the target speed is determined by multiplying the speed transformation coefficient by the first current vehicle speed.

[0096] In some embodiments, considering that the current driving environment of the vehicle may be relatively complex, and there may be other vehicles in front of it, such as Figure 4 As shown, the process of adjusting the target speed may include the following steps:

[0097] Step 210: Listen for a second target event; the second target event includes the appearance of an obstructing vehicle in front of the current vehicle's lane.

[0098] The obstacle vehicle is defined as a vehicle located in front of the current vehicle in its own lane that obstructs the current vehicle's accelerated forward movement. The reason the obstacle vehicle obstructs the current vehicle's accelerated forward movement may be that it is located on the current vehicle's travel path or at a similar speed or close distance. The determination of the first target event can be achieved using existing forward collision warning functions; this embodiment of the invention does not impose limitations on this.

[0099] Step 211: If the second target event is detected, obtain the third motion state and third position information of the obstacle vehicle.

[0100] The motion status of the obstacle vehicle can include speed, acceleration, etc. The location information of the obstacle vehicle can include absolute location information such as latitude and longitude and the lane it is traveling in, and can also include the relative position of the obstacle vehicle within its lane.

[0101] Step 212: Adjust the target vehicle speed according to the third motion state and the third position information.

[0102] In this regard, considering the risk of collision with an obstacle vehicle ahead when the current vehicle is accelerating, the target speed is adjusted based on the relative position and relative motion of the obstacle vehicle and the current vehicle, so that the current vehicle is not affected by the target vehicle and does not have the risk of collision with the obstacle vehicle.

[0103] Therefore, in some embodiments, such as Figure 5 As shown, considering that the target vehicle in the adjacent lane may not change lanes, and that even if the current vehicle is in the target vehicle's blind spot, the probability of a collision between the two is relatively small when the target vehicle does not change lanes, step 212 further includes:

[0104] Step 2121: Compare the third location information with the first location information to obtain the second distance between the current vehicle and the target vehicle.

[0105] The second distance is obtained by subtracting the current vehicle's position coordinates from the obstacle vehicle's position coordinates. For example, the second distance could be 15 meters, meaning the obstacle vehicle is 15 meters in front of the current vehicle.

[0106] Step 2122: Compare the third motion state with the first motion state to obtain the second relative speed between the current vehicle and the target vehicle.

[0107] The difference between the speed of the obstacle vehicle and the speed of the current vehicle is defined as the second relative speed.

[0108] Step 2123: Determine the maximum speed of the target vehicle without the risk of collision with the obstacle vehicle based on the second distance and the second relative speed.

[0109] The maximum vehicle speed is determined based on a preset forward collision warning algorithm combined with a second distance and a second relative speed. The forward collision warning algorithm calculates the distance and / or speed difference that should exist between the two vehicles when there is no risk of collision. The maximum speed is then determined based on this speed difference and the obstacle vehicle's second current speed. For example, if the second current speed is 12 km / h and the speed difference is 2 km / h, the maximum speed could be 14 km / h.

[0110] Step 2124: Adjust the target speed based on the maximum speed and the second current speed of the obstacle vehicle.

[0111] Specifically, considering that the target vehicle in the adjacent lane may not change lanes, and that even if the current vehicle is in the target vehicle's blind spot, the probability of a collision is relatively low, the following considerations apply. Conversely, since the obstacle vehicle is in front of the current vehicle, if the current vehicle accelerates to a speed exceeding its maximum, a collision with the obstacle vehicle is highly probable. Therefore, the target vehicle speed needs to be kept below the maximum speed. Based on this, when the second current speed is less than the maximum speed, the target vehicle speed can be controlled to be greater than the second current speed, allowing the current vehicle to overtake the obstacle vehicle.

[0112] In some embodiments, such as Figure 6 As shown, to avoid a collision between the current vehicle and the obstacle vehicle ahead while accelerating through the target vehicle's blind spot, step 2124 further includes:

[0113] Step 220: Compare the second current vehicle speed, the maximum vehicle speed, and the target vehicle speed respectively.

[0114] Specifically, the second current vehicle speed, the maximum vehicle speed, and the target vehicle speed are compared pairwise to obtain the comparison results.

[0115] 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, set the target vehicle speed to be no less than the second current vehicle speed and no greater than the maximum vehicle speed.

[0116] Setting the target speed to be no less than the second current speed allows the current vehicle to more efficiently pass through the target vehicle's blind spot. Setting the target speed to be no greater than the maximum speed ensures that the current vehicle does not collide with obstacle vehicles while passing through the blind spot.

[0117] 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.

[0118] Setting the target speed to no more than the maximum speed ensures that the vehicle will not collide with any obstacle vehicle while traversing blind spots.

[0119] In some embodiments, such as Figure 7 As shown, to avoid a negative experience for passengers and the driver of the current vehicle due to acceleration, the process of controlling the current vehicle's speed may also include:

[0120] 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, detect whether the current vehicle has a target intention to overtake the target vehicle.

[0121] When the first distance is less than the first threshold, it indicates that there is already 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.

[0122] 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 does not intend to accelerate to overtake the target vehicle. This lack of intention could be due to the driver's preferred driving behavior, or it could be that the driver is unaware that their vehicle is in the target vehicle's blind spot, or that they lack sufficient awareness of the potential safety hazards posed by the blind spot and are unaware of the need to quickly pass through it to avoid danger. Therefore, when the first relative speed is less than or equal to the second threshold, the system can actively monitor whether the current vehicle has the intention to overtake the target vehicle. This intention can be detected by sending a preset prompt message to the current vehicle, indicating to the driver that the current vehicle is in the target vehicle's blind spot and asking if acceleration is needed to quickly pass through the blind spot. Specifically, the second threshold could be 15 km / h.

[0123] Step 302: If the target intention is detected, control the current vehicle to travel at the target speed.

[0124] Specifically, the system monitors the vehicle's response to the aforementioned prompts and determines whether a target intent exists based on this feedback. When a target intent is detected, the system controls the vehicle to travel at the target speed, thereby quickly passing through the blind spot.

[0125] 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 the third threshold, control the current vehicle to travel at the first current vehicle speed; wherein the third threshold is greater than the second threshold.

[0126] The third threshold represents the maximum speed a vehicle can reach without affecting passenger comfort. Specifically, the third threshold can be 20 km / h. When the first relative speed is greater than the second threshold but less than the third threshold, it indicates that the current vehicle speed is fast enough to effectively avoid a collision with the target vehicle. Continuing to accelerate at this point might negatively impact the passenger experience. 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 vehicle can be controlled to travel at the first current speed.

[0127] Please refer to Figure 8 This is a schematic diagram of the hardware structure of the vehicle speed control device 50 provided in an embodiment of this application. Figure 8 As shown, the vehicle speed control device 50 may include:

[0128] The listening module 501 is used to listen for a first target event; the first target event includes the event that a target vehicle appears in the adjacent lane in front of the current vehicle;

[0129] The determining module 502 is used to determine, if the first target event is detected, 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;

[0130] The control module 503 is used to 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 the current vehicle is located in the target area after the speed control, and the target area is outside the blind spot of the target vehicle.

[0131] Please refer to Figure 9 This is a schematic diagram of the hardware structure of the vehicle 60 provided in an embodiment of this application. Figure 9 As shown, vehicle 60 may include processor 601 and memory 602. 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 processor 601. The one or more computer programs 603 include instructions that can be used to implement the vehicle speed control method described above in vehicle 60.

[0132] It is understood that the structure illustrated in this embodiment does not constitute a specific limitation on vehicle 60. In other embodiments, vehicle 60 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements.

[0133] Processor 601 may include one or more processing units, such as: application processor (AP), modem, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (DSP), baseband processor, and / or neural network processing unit (NPU), etc. The different processing units may be independent devices or integrated into one or more processors.

[0134] The processor 601 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 601 is a cache memory. This memory can store instructions or data that the processor 601 has just used or that are used repeatedly. If the processor 601 needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces the waiting time of the processor 601, and thus improves the efficiency of the system.

[0135] In some embodiments, the processor 601 may include one or more interfaces. Interfaces 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.

[0136] 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).

[0137] In some embodiments, memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0138] This embodiment also provides a computer-readable storage medium storing computer instructions. When the instructions are executed on a processor, the processor performs the aforementioned method steps to implement the vehicle speed control method in the above embodiment.

[0139] In this embodiment, the vehicle speed control device and computer storage medium are used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0140] In practical applications, the above functions can be assigned 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.

[0141] In the several embodiments provided in this application, the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are illustrative. For instance, the division of modules or units is a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0142] The unit described as a separate component may or may not be physically separate. The component shown as a unit can be one physical unit or multiple physical units, that is, it can be located in one place or distributed in multiple different places. Some or all of the units can be selected to achieve the purpose of the solution in this embodiment according to actual needs.

[0143] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0144] If the integrated unit is implemented as 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 solutions of the embodiments of this application, essentially or in other words, the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0145] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. A vehicle speed control method, characterized in that, The method includes: Listen for the first target event; the first target event includes the event that a target vehicle appears in the adjacent lane in front of the current vehicle; If the first target event is detected, determine the first location information of the current vehicle and the second location 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; Based on the first location information and first motion state of the current vehicle, and the second location information and second motion state of the target vehicle, the speed of the current vehicle is controlled; wherein, after the speed control, the current vehicle is located in the target area, and the target area is outside the blind spot of the target vehicle. The current vehicle speed control process includes: The first location information is compared with the second location information to obtain the first distance between the current vehicle and the target vehicle; The first motion state is compared with the second motion state to obtain the first relative speed between the current vehicle and the target vehicle; When the first distance is less than a preset first threshold and the first relative speed is less than or equal to a preset second threshold, detect whether the current vehicle has a target intention to overtake the target vehicle; If the target intent is detected, control the current vehicle to travel at the target speed.

2. The method according to claim 1, characterized in that, The current vehicle speed control process includes: If the first distance is less than the preset first threshold and the first relative speed is greater than the preset second threshold, the current vehicle is controlled to travel at the target speed; wherein the target speed is greater than the 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 current vehicle speed control process also includes: When the first distance is less than the first threshold, the first relative speed is greater than the second threshold, and the first relative speed is less than the third threshold, the current 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 process of determining the target vehicle speed also includes: The estimated overtaking time is compared with a preset time threshold to obtain a first comparison result; the estimated overtaking time is determined based on the first relative speed and the first distance. The first relative speed is compared with the first current vehicle speed to obtain a second comparison result; The first relative speed is compared with a preset speed threshold to obtain a third comparison result; the speed threshold is used to characterize the maximum relative speed between any two vehicles when a preset blind spot warning event between any two vehicles is triggered. The velocity transformation coefficient is determined based on 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 process of determining the target vehicle speed also includes: Listen for a second target event; the second target event includes the appearance of an obstructing vehicle in front of the current vehicle's driving lane; If the second target event is detected, obtain the third motion state and third position information of the obstacle vehicle; The target vehicle speed is adjusted based on the third motion state and the third position information.

6. The method according to claim 5, characterized in that, The process of adjusting the target vehicle speed also includes: The third location information is compared with the first location information to obtain a second distance between the current vehicle and the obstacle vehicle; The third motion state is compared with the first motion state to obtain the second relative speed between the current vehicle and the obstacle vehicle; The maximum speed of the target vehicle without the risk of collision with the obstacle vehicle is determined based on the second distance and the second relative speed. The target speed is adjusted based on the maximum speed and the second current speed of the obstacle vehicle.

7. The method according to claim 6, characterized in that, The process of adjusting the target vehicle speed also includes: The second current vehicle speed, the maximum vehicle speed, and the target vehicle speed are compared 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, the target vehicle speed is set to be no less than the second current vehicle speed and no 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 includes: The monitoring module is used to monitor the first target event; the first target event includes the event that a target vehicle appears in the adjacent lane in front of the current vehicle; The determination module is used to determine, if the first target event is detected, 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 control module is used to 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 the current vehicle is located in the target area after the speed control, and the target area is outside the blind spot of the target vehicle. The current vehicle speed control process includes: The first location information is compared with the second location information to obtain the first distance between the current vehicle and the target vehicle; The first motion state is compared with the second motion state to obtain the first relative speed between the current vehicle and the target vehicle; When the first distance is less than a preset first threshold and the first relative speed is less than or equal to a preset second threshold, detect whether the current vehicle has a target intention to overtake the target vehicle; If the target intent is detected, control the current vehicle to travel at the target speed.

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 to cause the vehicle to perform the vehicle speed control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a processor, cause the processor to perform the vehicle speed control method as described in any one of claims 1 to 7.

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