Vehicle control method and device, terminal equipment and computer readable storage medium

Abstract

The invention belongs to the technical field of automobiles, and provides a vehicle control method and device, terminal equipment and a computer readable storage medium, and the method comprises the steps that firstly, the relative vehicle speed and the relative distance are obtained at the kth moment, and the kth moment is the current moment; generating a vehicle control scheme based on the relative vehicle speed and the relative distance; and finally, the vehicle is controlled to carry out corresponding processing according to the vehicle control scheme. The vehicle can automatically control the vehicle correspondingly after recognizing that the front vehicle suddenly slides on the ramp, so that traffic accidents caused by sliding of the front vehicle can be avoided, and the probability of occurrence of the traffic accidents caused by sliding of the front vehicle is reduced.

Description

Technical Field

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

[0002] A vehicle sliding backward on a slope can easily cause a traffic accident. When the vehicle is following the vehicle in front on a slope, if the vehicle in front slides, due to the suddenness of the accident, the drivers of the front and rear vehicles are not aware of the vehicle in front sliding, which eventually leads to a collision between the front and rear vehicles. How to avoid or reduce traffic accidents caused by the vehicle in front sliding is an issue that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, apparatus, terminal device and computer-readable storage medium, which aim to solve the technical problem of how to avoid or reduce traffic accidents caused by the preceding vehicle rolling away.

[0004] In a first aspect, an embodiment of the present application provides a vehicle control method, including:

[0005] At the kth moment, the relative speed and relative distance are obtained, wherein the relative speed is the speed of the preceding vehicle relative to the own vehicle, the kth moment is the current moment, the relative distance is the distance of the own vehicle relative to the preceding vehicle, and the preceding vehicle is the vehicle located in front of the own vehicle;

[0006] A vehicle control plan is generated based on the relative vehicle speed and the relative distance, and the vehicle is controlled to perform corresponding processing according to the vehicle control plan.

[0007] In a possible implementation manner of the first aspect, acquiring the relative vehicle speed and the relative distance at the kth moment includes:

[0008] Acquire the first detection data of the vehicle head at the kth moment;

[0009] Acquire the driving direction of the preceding vehicle relative to the present vehicle based on the first detection data of the vehicle front;

[0010] If the preceding vehicle is traveling in an opposite direction to the own vehicle, the relative vehicle speed and relative distance at the kth moment are acquired based on the first detection data of the vehicle front.

[0011] In a possible implementation of the first aspect, after the step of acquiring the relative vehicle speed and relative distance at the kth moment based on the first detection data of the front vehicle if the preceding vehicle has a driving direction opposite to that of the own vehicle, the method further includes:

[0012] Determine a vehicle speed interval range corresponding to the relative vehicle speed;

[0013] Acquire a target vehicle distance interval range having a preset interval mapping relationship with the vehicle speed interval range;

[0014] Determine whether the relative distance is within the target vehicle distance interval range. If so, execute the steps of generating a vehicle control scheme based on the relative vehicle speed and the relative distance, and controlling the vehicle to perform corresponding processing according to the vehicle control scheme.

[0015] In a possible implementation manner of the first aspect, before the step of generating a vehicle control scheme based on the relative vehicle speed and the relative distance, and controlling the vehicle to perform corresponding processing according to the vehicle control scheme, the method further includes:

[0016] Collecting target behavior characteristics of the driver of the vehicle;

[0017] Matching the target behavior feature with the preset behavior feature to obtain a matching result;

[0018] If the matching result is that the target behavior feature matches the preset behavior feature, the steps of generating a vehicle control plan based on the relative vehicle speed and the relative distance and controlling the vehicle to perform corresponding processing according to the vehicle control plan are executed.

[0019] In a possible implementation manner of the first aspect, generating a vehicle control scheme based on the relative vehicle speed and the relative distance, and controlling the vehicle to perform corresponding processing according to the vehicle control scheme includes:

[0020] Determine the historical driving trajectory before the k-th moment;

[0021] Acquire a target reversing trajectory from the historical driving trajectory based on the relative vehicle speed and the relative distance;

[0022] The vehicle is controlled to reverse according to the target reversing trajectory.

[0023] In a possible implementation manner of the first aspect, if the matching result is that the target behavior feature matches the preset behavior feature, the step of generating a vehicle control scheme based on the relative vehicle speed and the relative distance, and controlling the vehicle to perform corresponding processing according to the vehicle control scheme includes:

[0024] If the matching result is that the target behavior feature matches the preset behavior feature, a vehicle slipping reminder message is issued, and the steps of collecting the target behavior feature of the driver in the vehicle, matching the target behavior feature with the preset behavior feature, and obtaining a matching result are repeatedly performed;

[0025] If the target behavior feature matches the preset behavior feature, obtaining the second detection data of the front vehicle, and determining whether the front vehicle has stopped sliding based on the second detection data of the front vehicle;

[0026] If the front vehicle does not stop sliding, the steps of generating a vehicle control plan based on the relative vehicle speed and the relative distance and controlling the host vehicle to perform corresponding processing according to the vehicle control plan are executed.

[0027] In a possible implementation manner of the first aspect, after the step of controlling the vehicle to reverse according to the target reversing trajectory, the method further includes:

[0028] Acquire rear-end detection data, and determine whether there is a following vehicle behind the vehicle according to the rear-end detection data;

[0029] If there is the following vehicle, the vehicle is controlled to brake or to move and change lanes.

[0030] In a possible implementation manner of the first aspect, acquiring a target reversing trajectory from the historical driving trajectory based on the relative vehicle speed and the relative distance includes:

[0031] generating an estimated collision time according to the relative vehicle speed and the relative distance;

[0032] determining a target backing time based on the estimated collision time;

[0033] determining a target reversing trajectory from the historical driving trajectory based on the target reversing time;

[0034] The controlling the vehicle to reverse according to the target reversing trajectory includes:

[0035] Determine the steering mapping relationship between the reversing trajectory and the steering wheel data;

[0036] Based on the steering relationship, acquiring steering wheel target rotation data corresponding to the target reversing trajectory from a preset storage area;

[0037] The vehicle is controlled to reverse according to the steering wheel target rotation data.

[0038] The vehicle control method provided by the present application first obtains the relative vehicle speed and relative distance at the kth moment, wherein the kth moment is the current moment; then generates a vehicle control scheme based on the relative vehicle speed and the relative distance; and finally controls the vehicle to make corresponding processing according to the vehicle control scheme. The vehicle can automatically make corresponding control processing for the vehicle after recognizing that the front vehicle suddenly slips on the slope, which helps to avoid traffic accidents caused by the front vehicle slipping and reduce the probability of traffic accidents caused by the front vehicle slipping.

[0039] In a second aspect, the present application provides a vehicle control device, comprising:

[0040] a detection unit, configured to obtain a relative vehicle speed and a relative distance at a kth moment, wherein the relative vehicle speed is a speed of a preceding vehicle relative to the vehicle, the kth moment is a current moment, and the relative distance is a distance of the vehicle relative to the preceding vehicle, wherein the preceding vehicle is a vehicle located in front of the vehicle;

[0041] The processing unit is used to generate a vehicle control plan based on the relative vehicle speed and the relative distance, and control the vehicle to perform corresponding processing according to the vehicle control plan.

[0042] In a third aspect, the present application provides a terminal device, comprising a sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described above when executing the computer program.

[0043] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described above is implemented.

[0044] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 It is a structural schematic diagram of a terminal device provided by an embodiment of the present application;

[0047] Figure 2 It is a schematic flow chart of an embodiment of a vehicle control method provided by the present application;

[0048] Figure 3 It is a flow chart of another embodiment of the vehicle control method provided by the present application;

[0049] Figure 4 is a flow chart of another embodiment of the vehicle control method provided by the present application;

[0050] Figure 5 is a flow chart of another embodiment of the vehicle control method provided by the present application;

[0051] Figure 6 It is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0053] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0054] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0055] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0056] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0057] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0058] An embodiment of the present invention provides a terminal device, such as Figure 1 As shown, Figure 1 The terminal device 1 of this embodiment includes: at least one processor 10 ( Figure 1 Only one is shown in the figure) a processor 10, a memory 11, and a computer program 12 stored in the memory 11 and executable on the at least one processor 10, and when the processor 10 executes the computer program 12, the steps in the vehicle control method embodiment of the present application are implemented.

[0059] The terminal device 1 may be a computing device such as a driving computer or a vehicle terminal. The terminal device may include, but is not limited to, a processor 10 and a memory 11. Those skilled in the art will appreciate that Figure 1 It is only an example of the terminal device 1 and does not constitute a limitation on the terminal device 1. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0060] The processor 10 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0061] In addition, the processor 10 also receives the front vehicle / parking space detection data collected by the sensor. The sensor can be arranged in the terminal device, or the sensor can be arranged at the front or rear of the vehicle. The detector can be an image sensor or a radar sensor.

[0062] In some embodiments, the memory 11 may be an internal storage unit of the terminal device 1, such as a hard disk or memory of the terminal device 1. In other embodiments, the memory 11 may also be an external storage device of the terminal device 1, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 1. Further, the memory 11 may also include both an internal storage unit and an external storage device of the terminal device 1. The memory 11 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 11 may also be used to temporarily store data that has been output or is to be output.

[0063] First embodiment

[0064] Figure 2 The flowchart of the first embodiment of the vehicle control method provided by the present application is shown. As an example but not a limitation, the vehicle control method provided by the present embodiment includes:

[0065] Step S01, obtaining a relative speed and a relative distance at the kth moment, wherein the relative speed is the speed of the preceding vehicle relative to the own vehicle; wherein the kth moment is the current moment, and the relative distance is the distance of the own vehicle relative to the preceding vehicle, wherein the preceding vehicle is the vehicle located in front of the own vehicle;

[0066] It should be noted that the vehicle control method of this embodiment can be applied to the above-mentioned terminal device 1. Specifically, the above-mentioned terminal device can be a computing device such as a vehicle-mounted terminal, a driving computer, etc. The embodiment of this application does not impose any restrictions on the specific type of the terminal device.

[0067] In a specific application, the terminal device is deployed inside the cab of the vehicle, or outside the cab of the vehicle, and the terminal device obtains the relative vehicle speed and relative distance at the kth moment by receiving the first detection data of the front of the vehicle detected by the first sensor; wherein the first sensor may be a radar sensor, or an image sensor, or may be built into the terminal device, or may be independently set up from the terminal device and deployed on the front of the vehicle;

[0068] It should be noted that the method of step S01 to step S02 of this embodiment may belong to a set of control programs corresponding to a certain control function of the vehicle-mounted terminal. When the driver is driving the vehicle, this set of control functions may be triggered in some specific driving scenarios. This embodiment takes the vehicle driving uphill as a preset driving scenario of this embodiment for explanation;

[0069] In a specific implementation, the driver of this vehicle follows the vehicle uphill at the kth moment. When the terminal device detects that the vehicle is going uphill, it will trigger the control function of the present application, and then obtain the first detection data of the front of the vehicle at the kth moment (the current moment); based on the first detection data of the front of the vehicle, the driving direction of the front vehicle relative to this vehicle is obtained; if the driving direction of the front vehicle is opposite to that of this vehicle, the relative vehicle speed and relative distance at the kth moment are obtained based on the first detection data of the front of the vehicle.

[0070] It should be noted that, under the premise that the vehicle is not moving backward, the "driving direction of the front vehicle is opposite to that of the vehicle" in this embodiment includes the following two situations: situation 1 "the vehicle is moving forward and the front vehicle is moving backward", situation 2 "the vehicle is stagnant and the front vehicle is moving backward", when the vehicle terminal determines that the front vehicle is reversing (i.e., a slipping phenomenon occurs), the vehicle terminal will obtain the relative vehicle speed and relative distance at the kth moment based on the first detection data of the front vehicle;

[0071] Optionally, when it is determined that the front vehicle is slipping, it is necessary to determine whether the relative distance and relative speed of the front vehicle relative to the vehicle are in a very dangerous state. In this embodiment, the following steps can be taken to determine the current state:

[0072] Determine a vehicle speed interval range corresponding to the relative vehicle speed;

[0073] Acquire a target vehicle distance interval range having a preset interval mapping relationship with the vehicle speed interval range;

[0074] It is determined whether the relative distance is within the target vehicle distance interval. If so, it is determined that the front vehicle and the vehicle are in a dangerous state, and step S02 is executed:

[0075] Specifically, the relative distance between the vehicle and the front vehicle can be set as Dx, and the relative speed between the front vehicle and the vehicle can be set as Vx; the target moving direction of the front vehicle is backward sliding, and the larger Vx is, the larger Dx is, and it is determined that the front vehicle and the vehicle are in a dangerous state:

[0076] For example, if the speed interval corresponding to the relative speed Vx is Vx<0.2m / s, the target vehicle distance interval with the preset interval mapping relationship is Dx<2m, that is, when the relative speed Vx is less than 0.2m / s, if the relative distance is not less than 2m, there is no need to execute the subsequent step S02 of generating a vehicle control plan. If the relative distance is less than 2m, it is determined that the front vehicle and the vehicle are in a dangerous state, and it is necessary to immediately execute the step S02 of generating a vehicle control plan to prevent a vehicle slipping accident.

[0077] The speed interval range corresponding to the relative speed Vx is 0.2m / s≤Vx<0.4m / s, and the target vehicle distance interval range with a preset interval mapping relationship is Dx<3.2m, that is, when the relative speed Vx is greater than or equal to 0.2m / s and less than 0.4m / s, if the relative distance is not less than 3.2m, it is not necessary to execute the subsequent step S02 of generating a vehicle control plan. If the relative distance is less than 3.2m, it is determined that the front vehicle and the vehicle are in a dangerous state, and it is necessary to immediately execute the step S02 of generating a vehicle control plan to prevent a rolling accident;

[0078] The speed interval range corresponding to the relative speed Vx is 0.4m / s≤Vx<0.6m / s, and the target vehicle distance interval range with a preset interval mapping relationship is Dx<3.6m, that is, when the relative speed Vx is greater than or equal to 0.4m / s and less than 0.6m / s, if the relative distance is not less than 3.6m, it is not necessary to execute the subsequent step S02 of generating a vehicle control plan. If the relative distance is less than 3.6m, it is determined that the front vehicle and the vehicle are in a dangerous state, and it is necessary to immediately execute the step S02 of generating a vehicle control plan to prevent a rolling accident;

[0079] The speed interval range corresponding to the relative speed Vx is 0.6m / s≤Vx<0.8m / s, and the target vehicle distance interval range with a preset interval mapping relationship is Dx<4.8m, that is, when the relative speed Vx is greater than or equal to 0.6m / s and less than 0.8m / s, if the relative distance is not less than 4.8m, it is not necessary to execute the subsequent step S02 of generating a vehicle control plan. If the relative distance is less than 4.8m, it is determined that the front vehicle and the vehicle are in a dangerous state, and it is necessary to immediately execute the step S02 of generating a vehicle control plan to prevent a rolling accident;

[0080] The speed interval range corresponding to the relative speed Vx is 0.8m / s≤Vx, and the target vehicle distance interval range with a preset interval mapping relationship is Dx<5.5m. That is to say, when the relative speed Vx is greater than or equal to 0.8m / s, if the relative distance is not less than 5.5m, there is no need to execute the subsequent step S02 of generating a vehicle control plan. If the relative distance is less than 5.5m, it is determined that the front vehicle and the vehicle are in a dangerous state, and it is necessary to immediately execute the step S02 of generating a vehicle control plan to prevent a rolling accident.

[0081] Step S02: generating a vehicle control plan based on the relative vehicle speed and the relative distance, and controlling the vehicle to perform corresponding processing according to the vehicle control plan.

[0082] Specifically, the vehicle control scheme of this embodiment mainly includes reversing processing, and the specific control scheme is related to the current scene of the vehicle, and the specific control scheme is also related to the relative vehicle speed and relative distance.

[0083] Specifically, the terminal device will determine the current scene of the vehicle and then generate a specific vehicle control plan for the processing mode type according to the relative vehicle speed and the relative distance. In specific applications, the terminal device can collect real-time statistics of the vehicle's driving status data to determine the vehicle's current scene; the driving status data may include driving trajectory, driving speed, driving angle between the vehicle and the horizontal road surface, and other data:

[0084] For example, the terminal device will collect statistics on the vehicle's driving trajectory in real time to determine whether the vehicle is on a straight road or a curve. The terminal device will also obtain the driving angle between the vehicle and the horizontal road surface to determine whether the vehicle is driving uphill or downhill, or on a straight road. The terminal device will also collect statistics on the vehicle's driving speed in real time to determine whether the vehicle is in a traffic jam or a smooth traffic situation.

[0085] In this embodiment, when it is detected that the driving trajectory of the vehicle in the current preset time period (for example, 10 seconds before the current moment) is curve data, and the average driving speed of the vehicle in the current preset time period is 0.8 m / s, and the vehicle is in an uphill state at the current moment (for example, the driving angle between the vehicle and the horizontal road surface exceeds 40 degrees and the front of the vehicle is facing upward), the current scene of the vehicle is determined to be a state of "queuing in a traffic jam on an uphill curve", indicating that the vehicle may be queuing on an uphill curve in an underground parking lot, or the vehicle may be queuing on an uphill section of a mountain road curve. If the front vehicle slips, it is likely to cause a major traffic accident. Therefore, the vehicle needs to reverse according to the previous historical driving trajectory to ensure the safety of the vehicle. The first embodiment specifically takes controlling the vehicle to reverse according to the historical driving trajectory as an example. The step S02 further includes:

[0086] Step S021, determining the historical driving trajectory before the k-th moment;

[0087] In a specific implementation, the historical driving trajectory of this embodiment may be a historical driving trajectory that the vehicle has just driven.

[0088] Step S031, acquiring a target reversing trajectory from the historical driving trajectory based on the relative vehicle speed and the relative distance;

[0089] In a specific implementation, this embodiment may generate an estimated collision time according to the relative vehicle speed and the relative distance. For example, the processor may simulate the time period from when the vehicle and the preceding vehicle continue to travel at their respective original speeds until a collision occurs, which is called the estimated collision time.

[0090] Then, a target reversing time is determined based on the expected collision time, and the target reversing time is used to avoid the time when the two vehicles collide. Finally, a target reversing trajectory is determined from the historical driving trajectory based on the target reversing time. For example, if the target reversing time is 5 seconds, assuming that the historical driving trajectory that the vehicle has just traveled is the driving trajectory 10 seconds before the kth moment, then the processor will intercept the driving trajectory 5 seconds before the kth moment from the historical driving trajectory of this duration of 10 seconds as the target reversing trajectory.

[0091] Step S041, controlling the vehicle to reverse according to the target reversing trajectory;

[0092] In a specific implementation, optionally, this embodiment will determine the steering mapping relationship between the reversing trajectory and the steering wheel data, and then obtain the steering wheel target rotation data corresponding to the target reversing trajectory from the preset storage area based on the steering relationship; and control the reversing of the vehicle according to the steering wheel target rotation data. That is to say, the vehicle reverses according to the steering wheel angle of the target reversing trajectory that the vehicle has just traveled, and then reverses according to this steering wheel angle, so that when the vehicle encounters an emergency situation where the vehicle in front of it slips on the uphill curve of the underground parking lot or on the uphill curve of the mountain road, the vehicle can reverse and slowly retreat according to the previous driving trajectory, so that the vehicle can avoid the rear slip of the vehicle in front of it, and can effectively prevent the vehicle from exceeding the curve range when reversing; for example, it can prevent the vehicle from falling into the cliff of the mountain road when reversing on the uphill curve of the mountain road, and it can also prevent the vehicle from hitting the side wall when reversing on the uphill curve of the underground parking lot.

[0093] The first embodiment of the vehicle control method provided by the present application first obtains the relative vehicle speed and relative distance at the kth moment; then generates a vehicle control scheme based on the relative vehicle speed and the relative distance; and finally controls the vehicle to perform corresponding processing according to the vehicle control scheme. After the vehicle can recognize that the front vehicle suddenly slips on the slope, the vehicle automatically performs corresponding reverse processing, which helps to avoid traffic accidents caused by the front vehicle slipping and reduces the probability of traffic accidents caused by the front vehicle slipping.

[0094] Second embodiment

[0095] Figure 4 The flowchart of the second embodiment of the vehicle control method provided by the present application is shown. As an example but not a limitation, in this embodiment, before step S02, the following is also included:

[0096] Step S011, collecting target behavior characteristics of the driver of the vehicle;

[0097] Step S012, matching the target behavior feature with the preset behavior feature to obtain a matching result;

[0098] Step S013, if the matching result is that the target behavior feature matches the preset behavior feature, then executing step S03 of acquiring the target reversing trajectory from the historical driving trajectory based on the relative vehicle speed and the relative distance.

[0099] It should be noted that the preset behavior characteristics of this embodiment may be some behavior characteristics that can characterize the inattention of the driver of the vehicle;

[0100] In a specific implementation, if it is determined that the front vehicle and the vehicle are in a dangerous state, the monitoring equipment in the cab of the vehicle is controlled to capture images of the region of interest (ROI region) in the cab of the vehicle to obtain an image of interest; wherein the region of interest may be an image of the driver himself, and the image of interest is an image including the driver's behavioral characteristics, which may specifically include eye features, mouth shape features, and head deflection angle features, etc.; by identifying the target behavioral features in the image of interest, it is determined whether the driver is in a state of not visually seeing the front vehicle, and the state of the non-visual front vehicle (the preset behavioral features are used to characterize the state of the non-visual front vehicle) at least includes: inattention, playing with mobile phones, talking or sleeping.

[0101] It is understandable that when driving this vehicle on a slope and the vehicle ahead of you is holding back, if the driver of this vehicle is not paying attention and does not take any action to deal with this vehicle, there is a high probability that a traffic accident will occur in which the two vehicles collide with each other.

[0102] However, for some drivers of this vehicle, when they find that the vehicle in front is slipping, they prefer to control their own vehicles to prevent the occurrence of a collision between the two vehicles caused by the vehicle in front slipping backwards. Therefore, in order to prevent the automatic control of vehicle reversing in this application from being repeated with the driver's manual control of the vehicle, which causes a poor driver experience, the terminal device of this embodiment needs to use the monitoring equipment in the cab of this vehicle to monitor whether the driver is concentrating and looking in front of the vehicle before executing the control of automatic reversing of this vehicle. If the system determines that the vehicle in front is slipping and the driver is concentrating and looking in front of the vehicle at this time, it can be determined that the driver will control the driving of this vehicle by himself to prevent the two vehicles from colliding when slipping, and then the terminal device will not actively execute the processing solution of automatic control of vehicle reversing in step S03; if the system determines that the vehicle in front is slipping and the driver is not concentrating and looking in front of the vehicle at this time (for example, the driver is lowering his head to play with a mobile phone), then the step S03 of obtaining the target reversing trajectory from the historical driving trajectory based on the relative vehicle speed and the relative distance is executed to achieve automatic reversing, thereby avoiding the risk of accidents caused by the vehicle in front slipping.

[0103] Third embodiment

[0104] Furthermore, based on the above second embodiment, a third embodiment of the vehicle control method of the present application is provided;

[0105] Figure 5 The flowchart of the third embodiment of the vehicle control method provided by the present application is shown. As an example but not a limitation, in this embodiment, the step S013 further includes:

[0106] Step S0131, if the matching result is that the target behavior feature matches the preset behavior feature, a vehicle slipping reminder message is issued, and the steps (S011 to S012) of collecting the target behavior feature of the driver in the vehicle, matching the target behavior feature with the preset behavior feature, and obtaining a matching result are repeatedly performed;

[0107] It is understandable that when the system determines that the vehicle in front is slipping and the driver is not concentrating on looking ahead at this time, it can issue a slipping reminder message, which at least includes alternating flashing of high and low beams, horn reminders to the vehicle in front, and voice reminders to the driver of the vehicle (such as "the vehicle in front is slipping, please pay attention"), and returns to the steps of S011 (collecting the target behavior characteristics of the driver of the vehicle) to S012 (matching the target behavior characteristics with the preset behavior characteristics to obtain a matching result), and continues to detect the driver's behavior characteristics. If the matching result is still that the target behavior characteristics match the preset behavior characteristics, it means that the driver of the vehicle is still not paying attention after being automatically reminded by the vehicle (such as "the vehicle in front is slipping, please pay attention"), and then executes step S0132 (first determine whether the vehicle in front has stopped slipping, and if the vehicle in front is still slipping, execute the automatic reversing control scheme):

[0108] Step S0132, obtaining the second detection data of the front of the vehicle, and judging whether the front vehicle has stopped sliding based on the second detection data of the front of the vehicle;

[0109] It should be noted that the second detection data of the front vehicle is used to represent the data detected by the sensor of the front vehicle after the kth moment (i.e., the data detected by the sensor when the driver of the vehicle is still not awakened after the vehicle slipping reminder information is sent), and is used to detect and determine whether the front vehicle is still in a slipping state relative to the vehicle;

[0110] The terminal device determines whether the front vehicle has stopped sliding by receiving the second detection data of the front vehicle detected by the first sensor (the specific method of obtaining the vehicle speed and the vehicle distance based on the front vehicle detection data is the same as that of the aforementioned step S01, and is not described in detail in this embodiment);

[0111] Step S0133, if the front vehicle does not stop sliding, the step of obtaining the target reversing trajectory from the historical driving trajectory based on the relative vehicle speed and the relative distance is executed. If the front vehicle stops sliding, it means that the previous alternating high and low beam flashing emitted by the vehicle to the front vehicle has played a role in reminding the driver of the front vehicle to control the front vehicle from sliding, and the vehicle does not execute the automatic reversing control scheme.

[0112] When this embodiment determines that the vehicle in front is slipping and the driver is not concentrating on looking ahead at the vehicle, a slipping reminder message may be issued to prompt the owner of this vehicle or the vehicle in front. If continued detection finds that the risk of an accident still exists (such as the driver of this vehicle is still not concentrating and the vehicle in front is still slipping), then this vehicle automatically obtains the target reversing trajectory to achieve automatic reversing, thereby avoiding the risk of an accident with the vehicle in front slipping.

[0113] Fourth embodiment

[0114] In the fourth embodiment, after step S031, the method further includes:

[0115] Acquire rear-end detection data, and determine whether there is a rear vehicle and / or obstacle behind the vehicle according to the rear-end detection data; if there is a rear vehicle and / or obstacle, control the vehicle to brake or control the vehicle to move and change lanes.

[0116] It is understandable that the vehicle automatically obtains the target reversing trajectory, automatically reverses according to the target reversing trajectory to avoid the front vehicle slipping accident, and at the same time, the situation of the rear of the vehicle detected by the second sensor arranged at the rear of the vehicle can be controlled;

[0117] An optional implementation method is: the vehicle-mounted terminal device obtains the rear vehicle detection data transmitted by the second sensor, and determines whether there is a rear vehicle behind the vehicle based on the rear vehicle detection data; if there is a rear vehicle and / or obstacle, the vehicle is controlled to brake, thereby avoiding the front vehicle from slipping while ensuring that the vehicle does not collide with the rear vehicle.

[0118] or

[0119] The vehicle-mounted terminal device obtains the rear-end detection data transmitted by the second sensor, and determines whether there is a rear vehicle or obstacle behind the vehicle according to the rear-end detection data; if there is a rear vehicle, the lanes on both sides of the vehicle are monitored to see whether there are vehicles. If not, the vehicle is controlled to move and change lanes, thereby avoiding the vehicle in front from slipping and ensuring that the vehicle does not collide with the rear vehicle.

[0120] In addition, if Figure 6 As shown, the present invention also provides a vehicle control device, comprising:

[0121] The detection unit 10 is used to obtain a relative speed and a relative distance at a kth moment, wherein the relative speed is the speed of the preceding vehicle relative to the own vehicle, the kth moment is the current moment, and the relative distance is the distance of the own vehicle relative to the preceding vehicle;

[0122] The processing unit 20 generates a vehicle control plan based on the relative vehicle speed and the relative distance, and controls the vehicle to perform corresponding processing according to the vehicle control plan.

[0123] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0124] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0125] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0126] 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 computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0127] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0128] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0129] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only 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 system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0130] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0131] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: At the kth moment, the relative speed and relative distance are obtained, wherein the relative speed is the speed of the preceding vehicle relative to the own vehicle, the kth moment is the current moment, the relative distance is the distance of the own vehicle relative to the preceding vehicle, and the preceding vehicle is the vehicle located in front of the own vehicle; A vehicle control plan is generated based on the relative vehicle speed and the relative distance, and the vehicle is controlled to perform corresponding processing according to the vehicle control plan.

2. The method according to claim 1, characterized in that The step of obtaining the relative vehicle speed and relative distance at the kth moment includes: Acquire the first detection data of the vehicle head at the kth moment; Acquire the driving direction of the preceding vehicle relative to the present vehicle based on the first detection data of the vehicle front; If the preceding vehicle is traveling in an opposite direction to the own vehicle, the relative vehicle speed and relative distance at the kth moment are acquired based on the first detection data of the vehicle front.

3. The method according to claim 2, characterized in that After the step of obtaining the relative vehicle speed and relative distance at the kth moment based on the first detection data of the vehicle head if the preceding vehicle is traveling in the opposite direction to the vehicle, the method further includes: Determine a vehicle speed interval range corresponding to the relative vehicle speed; Acquire a target vehicle distance interval range having a preset interval mapping relationship with the vehicle speed interval range; Determine whether the relative distance is within the target vehicle distance interval range. If so, execute the steps of generating a vehicle control scheme based on the relative vehicle speed and the relative distance, and controlling the vehicle to perform corresponding processing according to the vehicle control scheme.

4. The method according to any one of claims 1 to 3, characterized in that: Before the step of generating a vehicle control scheme based on the relative vehicle speed and the relative distance and controlling the vehicle to perform corresponding processing according to the vehicle control scheme, the method further includes: collecting target behavior characteristics of the driver of the vehicle; Matching the target behavior feature with the preset behavior feature to obtain a matching result; If the matching result is that the target behavior feature matches the preset behavior feature, the steps of generating a vehicle control plan based on the relative vehicle speed and the relative distance and controlling the vehicle to perform corresponding processing according to the vehicle control plan are executed.

5. The method according to claim 4, characterized in that The step of generating a vehicle control scheme based on the relative vehicle speed and the relative distance, and controlling the vehicle to perform corresponding processing according to the vehicle control scheme includes: Determine the historical driving trajectory before the k-th moment; Acquire a target reversing trajectory from the historical driving trajectory based on the relative vehicle speed and the relative distance; The vehicle is controlled to reverse according to the target reversing trajectory.

6. The method according to claim 4, characterized in that If the matching result is that the target behavior feature matches the preset behavior feature, the step of generating a vehicle control scheme based on the relative vehicle speed and the relative distance and controlling the vehicle to perform corresponding processing according to the vehicle control scheme includes: If the matching result is that the target behavior feature matches the preset behavior feature, a vehicle slipping reminder message is issued, and the steps of collecting the target behavior feature of the driver in the vehicle, matching the target behavior feature with the preset behavior feature, and obtaining a matching result are repeatedly performed; If the target behavior feature matches the preset behavior feature, obtaining the second detection data of the front vehicle, and determining whether the front vehicle has stopped sliding based on the second detection data of the front vehicle; If the front vehicle does not stop sliding, the steps of generating a vehicle control plan based on the relative vehicle speed and the relative distance and controlling the host vehicle to perform corresponding processing according to the vehicle control plan are executed.

7. The method according to claim 5, characterized in that The acquiring a target reversing trajectory from the historical driving trajectory based on the relative vehicle speed and the relative distance includes: generating an estimated collision time according to the relative vehicle speed and the relative distance; determining a target backing time based on the estimated collision time; determining a target reversing trajectory from the historical driving trajectory based on the target reversing time; The controlling the vehicle to reverse according to the target reversing trajectory includes: Determine the steering mapping relationship between the reversing trajectory and the steering wheel data; Based on the steering relationship, acquiring steering wheel target rotation data corresponding to the target reversing trajectory from a preset storage area; The vehicle is controlled to reverse according to the steering wheel target rotation data.

8. A vehicle control device, characterized in that: include: a detection unit, configured to obtain a relative vehicle speed and a relative distance at a kth moment, wherein the relative vehicle speed is a speed of a preceding vehicle relative to the vehicle, the kth moment is a current moment, and the relative distance is a distance of the vehicle relative to the preceding vehicle, wherein the preceding vehicle is a vehicle located in front of the vehicle; The processing unit is used to generate a vehicle control plan based on the relative vehicle speed and the relative distance, and control the vehicle to perform corresponding processing according to the vehicle control plan.

9. A terminal device, characterized in that: The terminal device includes a sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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