Vehicle control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining first collision trend information of a target vehicle and a first target object, and if it is determined that the target vehicle collides with the first target object according to the first collision trend information, determining that the target vehicle collides with the first target object; if yes, the collision side chassis and the non-collision side chassis of the target vehicle are controlled to move in the opposite directions in the direction perpendicular to the ground. According to the embodiment of the invention, the chassis on one side is lifted or lowered while the chassis on the other side is subjected to opposite behaviors, so that the chassis posture adjustment time can be greatly shortened, and the automobile gravity center rise caused by chassis adjustment can be effectively avoided, and the risk of rollover of the automobile is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method and device, electronic equipment, and storage medium. Background Art

[0002] The existing active suspension control strategy for side collisions is to lift the chassis on the side close to the target vehicle alone. This behavior raises the center of gravity of the car and increases the risk of the car rolling over. Summary of the invention

[0003] In view of the above problems, a vehicle control method and device, electronic device, and storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0004] A vehicle control method, the method comprising:

[0005] First collision trend information between a target vehicle and a first target object is obtained. If it is determined that the target vehicle collides with the first target object according to the first collision trend information, a collision-side chassis and a non-collision-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

[0006] Optionally, controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground includes:

[0007] Acquiring seat belt usage information of passengers in the target vehicle and / or first relative speed information between the target vehicle and a target object;

[0008] According to the seat belt usage information and / or the first relative speed information, the impact-side chassis and the non-impact-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

[0009] Optionally, controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground according to the seat belt usage information and / or the first relative speed information includes:

[0010] When the seat belt usage information indicates that there is no passenger in the target vehicle who is not wearing a seat belt or the first relative speed information is less than a first preset speed, the chassis of the impact side of the target vehicle is controlled to move vertically upward on the ground, and the chassis of the non-impact side of the target vehicle is controlled to move vertically downward on the ground.

[0011] Optionally, controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground according to the seat belt usage information and / or the first relative speed information includes:

[0012] When the seat belt usage information indicates that there is a passenger in the target vehicle who is not wearing a seat belt and the first relative speed information is greater than a second preset speed, the chassis of the impact side of the target vehicle is controlled to move downward vertically on the ground, and at the same time, the chassis of the non-impact side of the target vehicle is controlled to move upward vertically on the ground.

[0013] Optionally, it also includes:

[0014] generating a first notification message for feedback of chassis motion control of the target vehicle;

[0015] The first notification message is displayed on a display screen of the target vehicle.

[0016] Optionally, the first collision tendency information is a collision level between the target vehicle and the first target object, and the step of obtaining the collision tendency information between the target vehicle and the first target object includes:

[0017] During the driving process of the target vehicle, first relative distance information and first relative speed information between the target vehicle and a first target object are obtained, where the first target object is an object surrounding the target vehicle;

[0018] Determine a first collision level between the target vehicle and the target object according to the first relative distance information and the first relative speed information

[0019] Wherein, determining that the target vehicle collides with the first target object according to the collision trend information includes:

[0020] When the first collision level is a first preset level, it is determined that the target vehicle collides with a first target object.

[0021] Optionally, it also includes:

[0022] When the first collision level is a second preset level, second collision trend information between the target vehicle and a second target vehicle is obtained, the second target object is an object around the target vehicle except in the direction of the first target object, and the collision risk of the second preset level is lower than the collision risk of the first preset level

[0023] If it is determined according to the second collision tendency information that the target vehicle does not collide with the second target object, determining whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object;

[0024] When the vehicle control strategy exists, controlling the target vehicle to execute the vehicle control strategy;

[0025] When the vehicle control strategy does not exist, it is determined that the target vehicle collides with the first target object.

[0026] Optionally, the determining whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object includes:

[0027] Acquiring second relative distance information and second relative speed information between the target vehicle and a second target vehicle;

[0028] It is determined whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object according to the second relative distance information and the second relative speed information.

[0029] Optionally, the step of controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground includes:

[0030] Determining tilt angle information corresponding to a collision level between the target vehicle and the first target object;

[0031] The impact-side chassis and the non-impact-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground, so that the angle between the target vehicle and the horizontal plane is an angle corresponding to the inclination angle information.

[0032] Optionally, the inclination angle corresponding to the first preset level is greater than the inclination angle corresponding to the second preset level, and the inclination angle is the angle at which the target vehicle is lifted or pressed down relative to the horizontal plane when the impact-side chassis and the non-impact-side chassis of the target vehicle move in opposite directions in the direction vertical to the ground.

[0033] A vehicle control device, comprising:

[0034] The chassis control module is used to obtain first collision trend information between a target vehicle and a first target object. If it is determined that the target vehicle collides with the first target object based on the first collision trend information, the impact-side chassis and the non-impact-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

[0035] An electronic device comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the vehicle control method as described above when executed by the processor.

[0036] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method described above is implemented.

[0037] A vehicle, characterized in that the vehicle includes the electronic device as described above, or executes the vehicle control method as described above.

[0038] The embodiments of the present invention have the following advantages:

[0039] In the embodiment of the present invention, the first collision tendency information between the target vehicle and the first target object can be obtained. If it is determined that the target vehicle collides with the first target object according to the first collision tendency information, the collision side chassis and the non-collision side chassis of the target vehicle are controlled to move in opposite directions in the vertical direction of the ground. Thus, while raising or lowering one side chassis, the opposite action is also performed on the other side chassis. This can greatly reduce the adjustment time of the chassis posture, and can also effectively avoid the increase of the center of gravity of the car caused by adjusting the chassis, reducing the risk of the car rolling over. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0041] Figure 1 is a flow chart of steps of a vehicle control method provided by one embodiment of the present invention;

[0042] Figure 2a is a flowchart of another vehicle control method provided by an embodiment of the present invention;

[0043] Figure 2b is a chassis control schematic diagram provided by an embodiment of the present invention;

[0044] Figure 2c is another chassis control schematic diagram provided by an embodiment of the present invention;

[0045] Figure 3 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

[0046] Figure 4 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

[0047] Figure 5 is a schematic diagram of a vehicle architecture provided by an embodiment of the present invention;

[0048] Figure 6 It is a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Reference Figure 1 , shows a flow chart of a vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0051] Step S101, obtaining first collision tendency information between a target vehicle and a first target object. If it is determined that the target vehicle collides with the first target object according to the first collision tendency information, controlling the collision side chassis and the non-collision side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground.

[0052] The target vehicle is a moving vehicle. The first target object is an object around the target vehicle, such as other vehicles moving in the opposite direction to the left or right of the target vehicle.

[0053] In practical applications, when the first collision tendency information between the target vehicle and the first target object is obtained, it is determined whether the target vehicle will collide with the first target object if it continues to travel in the current state according to the first collision tendency information. When it is determined that the target vehicle is about to collide with the first target object, the chassis of the target vehicle can be controlled to protect the safety of the passengers in the vehicle.

[0054] Specifically, the chassis control area of ​​the target vehicle can be divided into an impact side chassis and a non-impact side area relative to the target object, wherein the impact side is the side of the target vehicle that may collide, and the non-impact side area is the side of the target vehicle away from the collision area.

[0055] During the chassis control process, both sides can be controlled in opposite directions at the same time, so that the vehicle can quickly reach the target posture. The target posture is the posture where the vehicle chassis presents a preset tilt angle with the horizontal plane.

[0056] In the embodiment of the present invention, while raising or lowering the chassis on one side, the opposite action is performed on the chassis on the other side. This can greatly reduce the adjustment time of the chassis posture and can also effectively avoid the increase of the center of gravity of the car caused by adjusting the chassis, thereby reducing the risk of the car rolling over.

[0057] In the embodiment of the present invention, when it is detected that the target vehicle is about to collide with the target object, the impact side chassis and the non-impact side chassis of the target vehicle can be controlled to move in opposite directions in the vertical direction of the ground. Thus, while raising or lowering one side chassis, the other side chassis also performs the opposite action, which can greatly reduce the adjustment time of the chassis posture, and can also effectively avoid the increase of the center of gravity of the vehicle caused by adjusting the chassis, reducing the risk of vehicle rollover.

[0058] In this embodiment, if it is determined according to the first collision tendency information that the target vehicle and the first target object do not collide, a warning message may be issued, and specifically, a warning message indicating an object may be displayed on the central control screen of the vehicle. In other embodiments, no warning may be issued.

[0059] Reference Figure 2a , shows a flow chart of another vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0060] Step S201, obtaining first collision tendency information between a target vehicle and a first target object, and if it is determined that the target vehicle collides with the first target object according to the first collision tendency information, obtaining seat belt usage information of passengers in the target vehicle and / or first relative speed information between the target vehicle and the first target object;

[0061] Step S202: According to the seat belt usage information and / or the first relative speed information, the impact-side chassis and the non-impact-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

[0062] Among them, the seat belt usage information can be collected by the vehicle's seat belt sensing module, and the first relative speed information can be determined according to the vehicle's detector module. In a specific embodiment, there are various devices for detecting objects and various layout schemes. The detector in the embodiment of the present invention needs to meet the following requirements: it can detect the relative distance between the object and the vehicle; it can detect the relative speed between the object and the vehicle; it can detect objects in four directions of the vehicle, preferably 360 degrees without blind spots.

[0063] In the current chassis control process, the use of seat belts by passengers in the car is not taken into account. When there are passengers in the car who are not wearing seat belts, rollover may not only cause more serious injuries to users who are not wearing seat belts than a direct collision, but the rolling movement of users who are not wearing seat belts in the car during the rollover is also likely to cause serious injuries to other users who are wearing seat belts.

[0064] Therefore, when adjusting the chassis, the embodiment of the present invention does not only respond to the collision by lifting the vehicle body on the collision side, but provides two ways of responding, chassis impact and vehicle body impact, according to the use of seat belts by the users in the vehicle, thereby effectively ensuring the safety of passengers.

[0065] In one embodiment of the present invention, when the seat belt usage information indicates that there is no passenger in the target vehicle who is not wearing a seat belt or the first relative speed information between the target vehicle and the first target object is less than a first preset speed, the chassis on the impact side of the target vehicle is controlled to move upward vertically on the ground, and at the same time, the chassis on the non-impact side of the target vehicle is controlled to move downward vertically on the ground.

[0066] If there are no passengers who are not wearing seat belts, the damage caused by the rollover to the users in the car is relatively small. When the relative speed of the first target object is slow, although the vehicle has a greater risk of side collision, the risk of rollover is relatively small. Therefore, the above three situations do not need to consider the greater damage caused by rollover to users who are not wearing seat belts. At this time, choosing to use the hardest chassis part of the car body to meet the impact can effectively avoid the damage caused by the impact to the vehicle and better protect the safety of the passengers in the vehicle. Figure 2b , is a schematic diagram of chassis control in an embodiment of the present invention, wherein the left side of the vehicle is the impact side and the right side is the non-impact side.

[0067] In another embodiment of the present invention, when the seat belt usage information indicates that there is a passenger in the target vehicle who is not wearing a seat belt and the first relative speed information between the target vehicle and the first target object is greater than a second preset speed, the chassis on the impact side of the target vehicle is controlled to move downward vertically on the ground, and at the same time, the chassis on the non-impact side of the target vehicle is controlled to move upward vertically on the ground.

[0068] If there are passengers who are not wearing seat belts and the target object is moving at a relatively high speed, if the chassis is used to meet the impact, the possibility of the vehicle rolling over increases. Compared with a collision, a rollover may not only cause more serious injuries to the unbelted user, but the rolling motion of the unbelted user in the vehicle during the rollover is also likely to cause serious injuries to other seat belted users. Figure 2c , is another schematic diagram of chassis control in an embodiment of the present invention.

[0069] It should be noted that the first preset speed and the second preset speed in the embodiment of the present invention may be the same or different, and the values ​​of the first preset speed and the second preset speed may be set according to the actual scenario, and there are no excessive restrictions on this in the embodiment of the present invention.

[0070] In one embodiment of the present invention, the impact-side chassis and the non-impact-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground, including: determining the tilt angle information corresponding to the collision level between the target vehicle and the first target object; controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in the direction perpendicular to the ground, so that the angle between the target vehicle and the horizontal plane is an angle corresponding to the tilt angle information.

[0071] Among them, the inclination angle corresponding to the first preset level is greater than the inclination angle corresponding to the second preset level. The inclination angle is the angle at which the target vehicle is lifted or pressed down relative to the horizontal plane when the chassis on the impact side and the chassis on the non-impact side of the target vehicle move in opposite directions in the vertical direction of the ground.

[0072] In one embodiment of the present invention, a first notification message for feedback of chassis motion control of a target vehicle may be generated, for example, a first notification message for feedback of chassis motion control of a target vehicle to a user may be generated; and the first notification message may be displayed on a display screen of the target vehicle.

[0073] In the embodiment of the present invention, chassis control is performed according to the use of seat belts by users in the vehicle, thereby effectively ensuring the safety of passengers.

[0074] Reference Figure 3 , shows a flow chart of another vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0075] Step S301, during the driving process of the target vehicle, obtaining first relative distance information and first relative speed information between the target vehicle and a first target object, where the first target object is an object surrounding the target vehicle;

[0076] The target vehicle is a moving vehicle. The first target object is an object around the target vehicle, for example, the first target object may be another vehicle traveling in the opposite direction to the left or right side of the target vehicle.

[0077] The first relative distance information and the first relative speed information can be determined according to the detector module of the vehicle. In a specific embodiment, the devices for detecting objects are various and the layout schemes are various. The detector in the embodiment of the present invention needs to meet the following requirements: being able to detect the relative distance of the object from the vehicle; being able to detect the relative speed of the object from the vehicle; and being able to detect objects in four directions of the vehicle, preferably with 360 degrees without blind spots.

[0078] In practical applications, during the driving process of the target vehicle, first relative distance information and first relative speed information between the target vehicle and the first target object may be obtained to determine the probability of a collision between the target vehicle and the first target object.

[0079] Step S302, determining a first collision level between the target vehicle and the first target object according to the first relative distance information and the first relative speed information;

[0080] In the embodiment of the present invention, the first collision level between the target vehicle and the first target object may be determined according to different first relative distance information and first relative speed information.

[0081] For example, if the relative distance of the first target object exceeds the distance setting value 1 and the relative speed of the first target object exceeds the setting value 1-1, a fourth-level warning is issued to the vehicle; if the relative distance of the first target object exceeds the distance setting value 2, a third-level warning is issued to the vehicle; if the relative speed of the first target object exceeds the setting value 2-1 at the same time, a second-level warning is issued to the vehicle; if the relative distance of the target object exceeds the distance setting value 3, a first-level warning is issued to the vehicle. Among them, the collision risks of each level of warning are from small to large: fourth-level warning < third-level warning < second-level warning < first-level warning.

[0082] Step S303: when the collision level is the first preset level, it is determined that the target vehicle collides with the first target object, and the collision-side chassis and the non-collision-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

[0083] In the embodiment of the present invention, by analyzing the collision level of the vehicle, when the collision level is a first preset level, the probability of a collision is extremely high, and the vehicle chassis control can be started at this time.

[0084] In one embodiment of the present invention, multiple collision levels can be set in the vehicle, and the current collision level of the passenger can be reminded visually and / or audibly in the vehicle at different collision levels, for example, the color or number of lights on the vehicle dashboard can be used for reminder, and the notification message or icon on the display screen of the vehicle tablet module can also be used for reminder, and the sound module can be used for voice reminder. The specific reminder method can be set according to different scenarios, and there is no excessive restriction on this in the embodiment of the present invention.

[0085] In the embodiment of the present invention, the purpose of setting up multi-level collision warning is to make the user aware of the situation of the car as much as possible, so as to avoid the program interfering with the user's driving and affecting the user's driving experience. And reasonable warning design can be used to avoid excessive hierarchical design that increases the difficulty of use for users.

[0086] Reference Figure 4 , shows a flow chart of another vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0087] Step S401, during the driving process of the target vehicle, obtaining first relative distance information and first relative speed information between the target vehicle and a first target object, where the first target object is an object surrounding the target vehicle;

[0088] Step S402, determining a first collision level between the target vehicle and the first target object according to the first relative distance information and the first relative speed information;

[0089] Step S403, when the first collision level is the second preset level, second collision tendency information between the target vehicle and the second target vehicle is obtained, and the second target object is an object around the target vehicle except the direction where the first target object is located.

[0090] The second preset level of collision risk is lower than the first preset level of collision risk.

[0091] Step S404: if it is determined according to the second collision tendency information that the target vehicle does not collide with the second target object, it is determined whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object.

[0092] Step S405: When a vehicle control strategy exists, the target vehicle is controlled to execute the vehicle control strategy.

[0093] Among them, the vehicle control strategy may include but is not limited to a braking strategy, an acceleration strategy or an automatic lane change strategy.

[0094] For example: If it is confirmed that there is no risk of collision with obstacles in the rear area and the vehicle is traveling at a high speed, you can choose to brake to slow down and inform the user of this operation during the intervention process.

[0095] When there is no risk of collision behind the vehicle, braking is the priority to avoid side collision. Braking requires sufficient driving speed of the vehicle. Otherwise, if the vehicle is too slow, it will still be in the collision zone of the target object after braking, and the effect of braking deceleration will be greatly reduced. The speed setting of the vehicle should be based on the braking performance of the vehicle, the relative speed and relative distance of the target object, the real-time road conditions and other conditions, and is generally a calibration value obtained by experimental measurement.

[0096] During the intervention process, the user can be informed of the reason why the current system is intervening in the driving of the car through voice prompts, dashboard reminders, in-vehicle tablet prompts, etc., to prevent the user from mistakenly believing that the car is out of control and making other erroneous operations.

[0097] When braking is not feasible, if there is no risk of collision with obstacles in front of the vehicle, acceleration is preferred to avoid side collision. When controlling the vehicle to accelerate, it is necessary to consider whether the vehicle's driving conditions at the time allow acceleration. For example, if the vehicle's speed at the time has far exceeded the maximum speed allowed at the time or the vehicle's speed has reached the limit, then acceleration is not feasible.

[0098] When neither braking nor acceleration can avoid the risk, if there is no collision risk on the other side of the vehicle, priority will be given to changing lanes to avoid side collisions. No collision risk on the other side here includes no collision risk during lane change to that side. In actual applications, since not all vehicles have automatic lane change functions, for vehicles that do not have automatic lane change functions or have not turned on the automatic lane change function, when the current state of the vehicle meets the lane change conditions, the vehicle can provide lane change suggestions to the driver in the form of voice prompts, dashboard reminders, and on-board tablet prompts. The driver can control the vehicle to change lanes according to the lane change suggestions. Specifically, the lane change can be performed manually or the automatic lane change function can be turned on for the vehicle to change lanes automatically.

[0099] When the braking strategy, the acceleration strategy or the automatic lane change strategy is not feasible, step 405 is executed.

[0100] In one embodiment of the present invention, a second collision level between the target vehicle and the obstacle is determined based on the second relative distance information and the second relative speed information; when the second collision level is lower than the second preset level, it is determined that there is a vehicle control strategy that matches the obstacle information and is used to avoid a collision with the target vehicle.

[0101] Step S406: when there is no vehicle control strategy, it is determined that the target vehicle collides with the first target object, and the impact-side chassis and the non-impact-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

[0102] Reference Figure 5 , showing a schematic diagram of a vehicle control architecture in an embodiment of the present invention, wherein the system control module is the vehicle core control module, and the vehicle includes a detector module, an instrument panel module, an on-board tablet module, a sound module, a seat belt usage sensing module, a braking module, an acceleration module, an automatic lane change module, and an active suspension control module.

[0103] Among them, the detector module is used to collect the relative distance information and relative speed information between the target vehicle and other objects or obstacles, the dashboard module is used to display signal lights of different colors according to different collision levels, the on-board tablet module is used to present feedback messages during the control process to the user, the sound module is used to give sound prompts to the user at the preset collision level, and the seat belt usage perception module is used to detect the seat belt usage information of passengers in the target vehicle.

[0104] The braking module, acceleration module, automatic lane change module and active suspension control module are used for driving control during vehicle driving. Among them, the braking module is used to control the braking of the target vehicle, the acceleration module is used to control the acceleration of the vehicle, the automatic lane change module is used to control the automatic lane change of the vehicle, and the active suspension control module is used to control the suspension control of the vehicle in the event of an imminent collision.

[0105] Specifically, during the driving process of the vehicle, the control process of the vehicle under different collision levels is as follows:

[0106] S11. The detection equipment on the vehicle can be used to collect the relative distance and relative speed information of the target object on the side of the vehicle;

[0107] In specific implementation, there are various devices for detecting objects and various arrangements, but the arrangement of the present invention needs to meet the following requirements: be able to detect the relative distance between the object and the vehicle; be able to detect the relative speed between the object and the vehicle; be able to detect objects in four directions of the vehicle, preferably 360 degrees without blind spots. Although only the side detection devices are used in S11, the system intervention in the operation of the vehicle in S13 uses detection devices in all directions.

[0108] S12: If the relative distance of the target object exceeds the distance setting value 1 and the relative speed of the target object exceeds the setting value 1-1, a fourth-level warning is issued to the vehicle.

[0109] In a specific implementation, the four-level warning can be a green light on the corresponding side of the instrument panel that is always on, which can be noticed by users but does not overly distract users' attention.

[0110] S13, if the relative distance of the target object exceeds the distance setting value 2, the ego vehicle is given a third-level warning; if the relative speed of the target object exceeds the setting value 2-1 at the same time, the ego vehicle is given a second-level warning; if the relative speed of the target object exceeds the setting value 2-2 at the same time, the second-level warning is maintained and the ego vehicle is intervened in driving according to the situation around the ego vehicle or the chassis is tilted at an angle 1 to prepare for the collision;

[0111] When the relative distance of the target object exceeds the distance setting value 2, the vehicle is given a third-level warning. In a specific implementation, the third-level warning can be a yellow light on the corresponding side of the instrument panel that is constantly on, which can be noticed by the user but does not overly affect the user's attention.

[0112] If the relative distance of the target object exceeds the set value 2, and the relative speed of the target object exceeds the set value 2-1, the vehicle will be given a second-level warning. The second-level warning includes not only the orange light on the corresponding side of the dashboard, but also a sound warning to the user, forcing the user to pay attention to the current emergency.

[0113] If the relative distance of the target object exceeds the distance setting value 2, and the relative speed of the target object exceeds the setting value 2-2, the car has a greater risk of side collision. At this time, the system should intervene in the driving of the vehicle while maintaining the second-level warning. The detailed process of the system intervening in the driving of the vehicle is shown in S21 to S25.

[0114] S13, if the relative distance of the target object exceeds the distance setting value 3, the vehicle is given a first-level warning; if the relative speed of the target object exceeds the speed setting value 3-1 at the same time, the first-level warning is maintained and the chassis is tilted at an angle of 1 to prepare for the chassis to meet the impact according to the use of the seat belts of the passengers; if the relative speed of the target object exceeds the speed setting value 3-2 at the same time, the first-level warning is maintained and the chassis is tilted at an angle of 2 to prepare for the impact according to the use of the seat belts of the passengers;

[0115] If the relative distance to the target object exceeds the distance setting value 3, but the relative speed does not exceed the speed setting value 3-1, a first-level warning will be issued to the vehicle. This situation often corresponds to situations in daily life such as meeting, overtaking, and parking where there is a risk of collision but the relative speed is relatively slow. At this time, the main function of the system is to alert the user of the vehicle and remind the user of the emergency situation of the vehicle. In specific implementation, the first-level warning includes not only the red light on the corresponding side of the dashboard being always on, but also a sound warning to the user, so that the user of the vehicle has to pay attention to the current emergency situation.

[0116] When the relative distance of the target object exceeds the distance setting value 3, and the relative speed of the target object exceeds the speed setting value 3-1 but is less than the speed setting value 3-2, although the ego vehicle has a greater risk of side collision, the ego vehicle has a lower risk of rollover due to the lower speed of the target vehicle, so there is no need to consider the greater harm caused by rollover to users who are not wearing seat belts. At this time, choosing to use the hardest chassis part of the vehicle body to meet the impact can effectively avoid the damage caused by the impact to the ego vehicle and better protect the safety of the passengers in the ego vehicle.

[0117] When the relative distance of the target object exceeds the distance setting value 3, and the relative speed of the target object exceeds the speed setting value 3-2, the vehicle is at greater risk of side collision and rollover. At this time, the chassis posture adjustment plan should be selected based on the use of seat belts by the passengers in the vehicle.

[0118] The detailed process of the system intervening in the driving of its own vehicle is as follows:

[0119] S21, collecting information about the front, rear and other sides of the own vehicle;

[0120] The information collected here includes: the relative distance and relative speed of objects in front, behind and on the other side of the vehicle, which is used to determine whether the car has a collision risk in the corresponding direction. Because the information in the four directions around the car is used here, there are corresponding requirements for the placement of the detection equipment on the car.

[0121] S22: If there is no risk of rear collision and the vehicle is travelling at a high speed, brake to slow down the vehicle and inform the user of the operation during the intervention process;

[0122] When there is no risk of collision behind the vehicle, braking is the priority to avoid side collision. Braking requires sufficient speed of the vehicle. Otherwise, if the vehicle is too slow, it will still be in the collision zone of the target object after braking, and the effect of braking deceleration will be greatly reduced. The speed setting of the bicycle should be based on the braking performance of the vehicle, the relative speed and relative distance of the target object, the real-time road conditions and other conditions, and is generally a calibration value obtained by experimental measurement.

[0123] During the intervention process, the user is informed of the reason why the system is intervening in the driving of the car by means of voice prompts, instrument panel lifting, in-vehicle tablet prompts, etc., to prevent the user from mistakenly believing that the car is out of control and making other erroneous operations. The same applies to the notifications in (S23), (S24), (S32) and (S33).

[0124] S23: When the braking method in S22 is not feasible, but there is a risk of a front collision, and the current driving state of the vehicle allows acceleration, choose to accelerate to avoid the risk, and inform the user of the operation during the intervention process;

[0125] When braking is not feasible, if there is no risk of collision in front of the vehicle, acceleration is preferred to avoid side collision. When controlling the vehicle to accelerate, it is necessary to consider whether the vehicle's driving conditions at the time allow acceleration. For example, if the vehicle's speed at the time has far exceeded the maximum speed allowed at the time or the vehicle's speed has reached the limit, then acceleration is not feasible.

[0126] S24: If the car cannot avoid danger by the above two methods, but there is no collision risk on the other side, choose to control the vehicle to change lanes or give lane change suggestions, and inform the user of the operation during the intervention process;

[0127] When neither braking nor acceleration can avoid danger, if there is no collision risk on the other side of the vehicle, lane change is given priority to avoid side collision. No collision risk on the other side includes no collision risk during lane change to that side. Since not all vehicles have the automatic lane change function, the present invention provides a backup solution of giving lane change suggestions.

[0128] S25. If none of the above methods are feasible, or the user does not change lanes as recommended within the set time 1, the chassis is tilted by an angle 1 according to the use of seat belts by the passengers in the vehicle to prepare for a possible side impact.

[0129] Angle 1 here is smaller than angle 2 in S14, and the tilt at angle 1 is a transitional stage between the normal chassis state and the tilt at angle 2. The purpose of setting angle 1 is to prevent angle 2 from tilting too much, affecting the user experience of the vehicle, and to prevent the chassis from being unable to adjust to the tilt state at angle 2 in time when the vehicle actually encounters a collision.

[0130] The detailed process of selecting and adjusting the chassis to prepare for impact is as follows:

[0131] S31, obtaining seat belt usage information of passengers in the vehicle and relative speed information of the target object, and adjusting the tilt posture of the chassis according to the corresponding angle;

[0132] The seat belt usage information of the passengers in the vehicle and the relative speed information of the target object are collected to be used as the basis for selecting the two postures of body collision and chassis collision. The adjustment angle is derived from angle 1 and angle 2 in (S13), (S14) and (S25).

[0133] S32. If there is no passenger who is not wearing a seat belt or the target object is moving at a relatively slow speed, select chassis collision: raise the chassis on the impact side while lowering the chassis on the other side, and inform the user during the adjustment process;

[0134] If there are no passengers who are not wearing seat belts, the damage caused by the rollover to the users in the car is relatively small. When the target object is relatively slow, although the vehicle has a greater risk of side collision, the risk of rollover is relatively small. Therefore, the above three situations do not need to consider the greater damage caused by the rollover to the users who are not wearing seat belts. At this time, choosing to use the hardest chassis part of the car body to meet the impact can effectively avoid the damage caused by the impact to the vehicle and better protect the safety of the passengers in the vehicle.

[0135] Different from the prior art that adjusts the chassis state by only lifting the chassis on one side, the present invention lowers the chassis on the other side while lifting the impact side chassis, which can greatly reduce the adjustment time of the chassis posture.

[0136] If there are passengers who are not wearing seat belts and the target object is moving at a relatively high relative speed, select Body Impact: lower the chassis on the impact side while raising the chassis on the other side, and inform the user during the adjustment process.

[0137] If there are passengers who are not wearing seat belts and the target object is moving at a relatively fast relative speed, if the chassis is chosen to meet the impact, the possibility of the vehicle rolling over increases. Compared with a collision, rollover may not only cause more serious injuries to users who are not wearing seat belts, but the rolling movement of users who are not wearing seat belts in the car during the rollover is also likely to cause serious injuries to other users who are wearing seat belts.

[0138] For example, the target vehicle body torsional stiffness exceeds 40000N·m / ° with a high-strength body (traditional fuel vehicles are about 20000N·m / °). In the collision test, the intrusion of the side collision is 160mm, which is much smaller than the 300mm of most vehicles. However, the experiment did not test the rollover situation. If you choose to raise the chassis to meet the impact during the collision, your own vehicle will have a higher risk of rollover. Therefore, at this time, lowering the height of the body on the impact side and using the body to meet the impact is a safer collision method.

[0139] In the embodiment of the present invention, the body on the collision side is lowered while the body on the other side is raised. This can not only significantly reduce the posture adjustment time of the chassis, but also effectively avoid the increase in the center of gravity of the car caused by adjusting the chassis, thereby reducing the risk of the car rolling over.

[0140] Various set values ​​appearing in the embodiments of the present invention, such as distance set value 1, distance set value 2, distance set value 3, speed set value 1-1, speed exceeding set value 2-1, speed exceeding set value 2-2, speed set value 3-1, speed set value 3-2, angle 1, angle 2, etc., as well as various parameters required for intervening in the braking, deceleration, acceleration, lane changing and overtaking of the own vehicle, etc., need to be set according to the performance of the own vehicle, the relative speed and relative distance of the target object, the real-time road conditions and other conditions, and are generally calibration values ​​obtained from experimental measurements.

[0141] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0142] Reference Figure 6 , shows a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention, which may specifically include the following modules:

[0143] The chassis control module 601 is used to obtain first collision trend information between the target vehicle and the first target object. If it is determined that the target vehicle collides with the first target object based on the first collision trend information, the impact side chassis and the non-impact side chassis of the target vehicle are controlled to move in opposite directions in the direction vertical to the ground.

[0144] In one embodiment of the present invention, the chassis control module 601 includes:

[0145] A data acquisition submodule, used to acquire seat belt usage information of passengers in the target vehicle and / or first relative speed information between the target vehicle and the first target object;

[0146] The chassis control submodule is used to control the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground according to the seat belt usage information and / or the first relative speed information.

[0147] In one embodiment of the present invention, the chassis control submodule may include:

[0148] A first chassis control unit is configured to control the chassis on the impact side of the target vehicle to move upward vertically to the ground, and simultaneously control the chassis on the non-impact side of the target vehicle to move downward vertically to the ground, when the seat belt usage information indicates that there is no passenger in the target vehicle who is not wearing a seat belt or the first relative speed information is less than a first preset speed.

[0149] In one embodiment of the present invention, the chassis control submodule may include:

[0150] The second chassis control unit is used to control the chassis of the impact side of the target vehicle to move downward vertically on the ground, and to control the chassis of the non-impact side of the target vehicle to move upward vertically on the ground when the seat belt usage information indicates that there is a passenger in the target vehicle who is not wearing a seat belt and the first relative speed information is greater than a second preset speed.

[0151] In one embodiment of the present invention, the device further comprises:

[0152] A first notification message module, used for generating a first notification message for feedback of chassis motion control of the target vehicle;

[0153] The first notification message display module is used to display the first notification message on the display screen of the target vehicle.

[0154] In one embodiment of the present invention, the chassis control module may include:

[0155] A first distance and relative information acquisition submodule, used to acquire first relative distance information and first relative speed information between the target vehicle and a first target object during the driving process of the target vehicle, wherein the first target object is an object surrounding the target vehicle;

[0156] A first collision level determination submodule, configured to determine a first collision level between the target vehicle and the target object according to the first relative distance information and the first relative speed information;

[0157] The collision determination submodule is used to determine that the target vehicle collides with a first target object when the first collision level is a first preset level.

[0158] In one embodiment of the present invention, the chassis control module may further include:

[0159] A second collision tendency information determination submodule is used to obtain second collision tendency information between the target vehicle and a second target vehicle when the first collision level is a second preset level, the second target object is an object around the target vehicle except in the direction of the first target object, and the collision risk of the second preset level is lower than the collision risk of the first preset level

[0160] a vehicle control strategy determination submodule, for determining whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object if it is determined according to the second collision tendency information that the target vehicle and the second target object do not collide;

[0161] A vehicle control strategy execution submodule, used for controlling the target vehicle to execute the vehicle control strategy when the vehicle control strategy exists;

[0162] The collision determination submodule is used to determine that the target vehicle collides with the first target object when the vehicle control strategy does not exist.

[0163] In one embodiment of the present invention, the vehicle control strategy determination submodule may include:

[0164] An information acquisition unit, used to acquire second relative distance information and second relative speed information between the target vehicle and a second target vehicle;

[0165] A vehicle control strategy determination unit is used to determine whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object according to the second relative distance information and the second relative speed information.

[0166] In one embodiment of the present invention, the chassis control module 601 may include

[0167] A tilt angle information determination submodule, used to determine the tilt angle information corresponding to the first collision level between the target vehicle and the first target object;

[0168] The chassis control submodule is used to control the impact side chassis and the non-impact side chassis of the target vehicle to move in opposite directions in the direction perpendicular to the ground, so that the angle between the target vehicle and the horizontal plane is the angle corresponding to the tilt angle information.

[0169] In one embodiment of the present invention, the inclination angle corresponding to the first preset level is greater than the inclination angle corresponding to the second preset level, and the inclination angle is the angle at which the target vehicle is lifted or pressed down relative to the horizontal plane when the impact side chassis and the non-impact side chassis of the target vehicle move in opposite directions in the direction vertical to the ground.

[0170] In the embodiment of the present invention, the first collision tendency information between the target vehicle and the first target object can be obtained. If it is determined that the target vehicle collides with the first target object according to the first collision tendency information, the collision side chassis and the non-collision side chassis of the target vehicle are controlled to move in opposite directions in the vertical direction of the ground. Thus, while raising or lowering one side chassis, the opposite action is also performed on the other side chassis. This can greatly reduce the adjustment time of the chassis posture, and can also effectively avoid the increase of the center of gravity of the car caused by adjusting the chassis, reducing the risk of the car rolling over.

[0171] An embodiment of the present invention further provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above vehicle control method is implemented.

[0172] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0173] An embodiment of the present invention further provides a vehicle, wherein the vehicle includes the electronic device as described above, or the vehicle control method as described above.

[0174] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0175] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0176] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0177] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0178] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0180] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0181] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0182] The above is a detailed introduction to a vehicle control method and device, an electronic device, and a storage medium. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for a person skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: First collision trend information between a target vehicle and a first target object is obtained. If it is determined that the target vehicle collides with the first target object according to the first collision trend information, a collision-side chassis and a non-collision-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

2. The method according to claim 1, characterized in that: The step of controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground comprises: Acquire seat belt usage information of passengers in the target vehicle and / or first relative speed information between the target vehicle and the first target object; According to the seat belt usage information and / or the first relative speed information, the impact-side chassis and the non-impact-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

3. The method according to claim 2, characterized in that The step of controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground according to the seat belt usage information and / or the first relative speed information comprises: When the seat belt usage information indicates that there is no passenger in the target vehicle who is not wearing a seat belt or the first relative speed information is less than a first preset speed, the chassis of the impact side of the target vehicle is controlled to move vertically upward on the ground, and the chassis of the non-impact side of the target vehicle is controlled to move vertically downward on the ground.

4. The method according to claim 2, characterized in that: The step of controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground according to the seat belt usage information and / or the first relative speed information comprises: When the seat belt usage information indicates that there is a passenger in the target vehicle who is not wearing a seat belt and the first relative speed information is greater than a second preset speed, the chassis of the impact side of the target vehicle is controlled to move downward vertically on the ground, and at the same time, the chassis of the non-impact side of the target vehicle is controlled to move upward vertically on the ground.

5. The method according to claim 1, characterized in that Also includes: generating a first notification message for feedback of chassis motion control of the target vehicle; The first notification message is displayed on a display screen of the target vehicle.

6. The method according to claim 1, characterized in that The first collision tendency information is a collision level between the target vehicle and the first target object, and the step of obtaining the collision tendency information between the target vehicle and the first target object includes: During the driving process of the target vehicle, first relative distance information and first relative speed information between the target vehicle and a first target object are obtained, where the first target object is an object surrounding the target vehicle; determining a first collision level between the target vehicle and the first target object according to the first relative distance information and the first relative speed information; Wherein, determining that the target vehicle collides with the first target object according to the collision trend information includes: When the first collision level is a first preset level, it is determined that the target vehicle collides with a first target object.

7. The method according to claim 6, characterized in that Also includes: When the first collision level is a second preset level, obtaining second collision trend information between the target vehicle and a second target vehicle, the second target object being an object around the target vehicle except in a direction where the first target object is located, and the collision risk of the second preset level is lower than the collision risk of the first preset level; If it is determined according to the second collision tendency information that the target vehicle does not collide with the second target object, determining whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object; When the vehicle control strategy exists, controlling the target vehicle to execute the vehicle control strategy; When the vehicle control strategy does not exist, it is determined that the target vehicle collides with the first target object.

8. The method according to claim 7, characterized in that The determining whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object includes: Acquiring second relative distance information and second relative speed information between the target vehicle and a second target vehicle; It is determined whether there is a vehicle control strategy for avoiding a collision between the target vehicle and the first target object according to the second relative distance information and the second relative speed information.

9. The method according to claim 1, characterized in that: The step of controlling the impact-side chassis and the non-impact-side chassis of the target vehicle to move in opposite directions in a direction perpendicular to the ground includes: Determining tilt angle information corresponding to a first collision level between the target vehicle and the first target object; The impact-side chassis and the non-impact-side chassis of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground, so that the angle between the target vehicle and the horizontal plane is an angle corresponding to the inclination angle information.

10. The method according to any one of claims 7 to 9, characterized in that The inclination angle corresponding to the first preset level is greater than the inclination angle corresponding to the second preset level. The inclination angle is the angle at which the target vehicle is lifted or pressed relative to the horizontal plane when the impact-side chassis and the non-impact-side chassis of the target vehicle move in opposite directions in the direction vertical to the ground.

11. A vehicle control device, characterized in that: The device comprises: The chassis control module is used to obtain first collision trend information between a target vehicle and a first target object. If it is determined that the target vehicle collides with the first target object based on the first collision trend information, the chassis on the impact side and the chassis on the non-impact side of the target vehicle are controlled to move in opposite directions in a direction perpendicular to the ground.

12. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 10 is implemented.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 10 is implemented.

14. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 12, or executes the vehicle control method according to any one of claims 1 to 10.

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