Vehicle control method and device, vehicle control unit and vehicle

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle control unit and a vehicle, relates to the technical field of vehicle control, and can quickly restart after the vehicle completes emergency braking and under the condition that the restarting condition is met, more braking time is reserved for a driver of a rear vehicle, and therefore the occurrence of rear-end collision accidents caused by the rear vehicle is reduced. The control method of the vehicle comprises the steps that in response to the fact that the vehicle completes emergency braking triggered by a movable target, whether the vehicle meets a restarting condition or not is evaluated; and if the restarting condition is met, the vehicle is controlled to be restarted.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, vehicle controller and vehicle. Background Art

[0002] For vehicles equipped with an Autonomous Emergency Braking (AEB) system, when a movable object suddenly appears in front of the vehicle during driving, it will trigger emergency braking to avoid colliding with the movable object suddenly appearing in front. However, since the current vehicle will stop in an emergency in a short time, if the speed of the following vehicle is fast, the driver of the following vehicle may not have time to brake, resulting in the current vehicle being rear-ended by the following vehicle. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, device, vehicle controller and vehicle, which can quickly restart the vehicle after emergency braking is completed and the restart conditions are met, thereby reserving more braking time for the driver of the following vehicle, thereby reducing the occurrence of rear-end collisions by the following vehicle.

[0004] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising: In response to the vehicle having completed emergency braking triggered by a movable object, evaluating whether the vehicle meets a restart condition; If the restarting condition is met, the vehicle is controlled to restart.

[0005] In the embodiment of the present application, when the vehicle stops due to the sudden detection of a movable target during driving and the emergency braking function is triggered, the vehicle can further evaluate whether it meets the restart conditions. If the restart conditions are met, it will restart, thereby trying to maintain or increase the distance between itself and the following vehicle while avoiding a collision with the movable target in front, thereby reducing the occurrence of rear-end collisions with the latter due to the rear vehicle being too fast to brake in time.

[0006] Optionally, evaluating whether the vehicle meets the restart condition includes: evaluating the probability of the vehicle colliding with the movable object when restarting; In response to the probability being lower than a set probability threshold, it is determined that the vehicle meets the restart condition.

[0007] In the embodiment of the present application, the probability of the vehicle colliding with the movable target when restarting can be evaluated. If the above probability is low, it can be considered that the vehicle meets the restarting conditions; conversely, if the above probability is high, it can be considered that the vehicle does not meet the restarting conditions.

[0008] Optionally, evaluating the probability of the vehicle colliding with the movable target when restarting includes: Determining whether the vehicle and the movable object are in the same lane; If so, calculating the relative distance between the vehicle and the movable object; In response to the relative distance being greater than a set distance threshold, it is determined that the probability is lower than the set probability threshold.

[0009] In the embodiment of the present application, the vehicle can determine whether it is in the same lane as the movable target in front. If the vehicle and the movable target are in the same lane, it is necessary to further determine the relative distance between the vehicle and the movable target. If the relative distance is large, it can be considered that the probability of a collision with the movable target when restarting is low, thereby accurately evaluating the probability of a collision between the vehicle and the movable target when restarting.

[0010] Optionally, the method further includes: If the vehicle and the movable object are not located in the same lane, it is determined that the probability is lower than the set probability threshold.

[0011] In the embodiment of the present application, the vehicle can determine whether it is in the same lane as the movable target in front. If the vehicle and the movable target are not in the same lane, there is no need to further determine the relative distance between the vehicle and the movable target. It can be directly considered that the probability of a collision with the movable target when restarting is low, thereby accurately evaluating the probability of a collision between the vehicle and the movable target when restarting.

[0012] Optionally, if the restart condition is met, controlling the vehicle to restart includes: If the probability is lower than the set probability threshold, releasing the emergency braking force; The vehicle is controlled to reach a set speed within a target duration, wherein the target duration is less than a set duration threshold.

[0013] In the embodiment of the present application, when the vehicle assesses that the current conditions for restarting are met, it will first release the braking force within a short period of time, and control the vehicle to accelerate within a short period of time so that the set speed can be reached within the target time, thereby maintaining or increasing the relative distance with the following vehicle as much as possible and reducing the occurrence of rear-end collisions with the following vehicle.

[0014] Optionally, when the vehicle and the movable target are in the same lane and the relative distance is greater than a set distance threshold, the corresponding set vehicle speed is lower than the set vehicle speed when the vehicle and the movable target are not in the same lane.

[0015] In the embodiment of the present application, considering that the self-vehicle and the movable target are not in the same lane, the probability of a collision between the self-vehicle and the movable target is lower than that between the self-vehicle and the movable target in the same lane but at a larger relative distance. Therefore, the set speed reached by controlling the vehicle acceleration when the self-vehicle and the movable target are not in the same lane is greater than the set speed reached by controlling the vehicle acceleration when the self-vehicle and the movable target are in the same lane and at a larger relative distance, thereby further reducing the possibility of being rear-ended by the rear vehicle when the self-vehicle and the movable target are not in the same lane.

[0016] Optionally, after controlling the vehicle to restart, the method further includes: Assessing whether the vehicle meets emergency braking conditions; If the emergency braking condition is met, the vehicle is controlled to perform emergency braking.

[0017] In the embodiment of the present application, after the vehicle starts again, it can continuously evaluate whether it meets the emergency braking conditions. If it does, the vehicle is controlled to perform emergency braking again to avoid collision with other movable targets.

[0018] Optionally, the set vehicle speed is [10km / h, 20km / h].

[0019] In the embodiment of the present application, the speed of the vehicle when it restarts is between [10km / h, 20km / h], which can effectively maintain or increase the relative distance from the following vehicle, reserving more braking time for the following vehicle, and at the same time effectively avoid collision with a movable target in front due to the high speed.

[0020] In a second aspect, an embodiment of the present application provides a control device for a vehicle, the device comprising: an evaluation unit, configured to evaluate whether the vehicle meets a restart condition in response to the vehicle having completed emergency braking triggered by a movable object; The control unit is used to control the vehicle to restart if the restart condition is met.

[0021] Optionally, the evaluation unit includes: a collision probability assessment unit, for assessing the probability of the vehicle colliding with the movable object when the vehicle restarts; A determination unit is used to determine that the vehicle meets the restart condition in response to the probability being lower than a set probability threshold.

[0022] Optionally, the collision probability assessment unit includes: A judging subunit, used to judge whether the vehicle and the movable object are located in the same lane; A calculation unit, for calculating the relative distance between the vehicle and the movable target if yes; The determination subunit is configured to determine, in response to the relative distance being greater than a set distance threshold, that the probability is lower than a set probability threshold.

[0023] Optionally, the determination subunit is further used to determine that the probability is lower than the set probability threshold if the vehicle and the movable target are not located in the same lane.

[0024] Optionally, the control unit is specifically used for: If the probability is lower than the set probability threshold, releasing the emergency braking force; The vehicle is controlled to reach a set speed within a target duration, wherein the target duration is less than a set duration threshold.

[0025] Optionally, when the vehicle and the movable target are in the same lane and the relative distance is greater than a set distance threshold, the corresponding set vehicle speed is lower than the set vehicle speed when the vehicle and the movable target are not in the same lane.

[0026] Optionally, the evaluation unit is further used to evaluate whether the vehicle meets the emergency braking condition; The control unit is further configured to control the vehicle to perform emergency braking if the emergency braking condition is met.

[0027] Optionally, the set vehicle speed is [10km / h, 20km / h].

[0028] In a third aspect, an embodiment of the present application provides a vehicle controller, which includes a memory for storing computer program instructions and a processor for executing program instructions, wherein when the computer program instructions are executed by the processor, the vehicle controller is triggered to execute the steps of the method described in any embodiment of the first aspect.

[0029] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the vehicle controller in the embodiment of the third aspect.

[0030] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store computer instructions, and when the computer is running, the computer enables the computer to execute the steps of the method described in any embodiment of the first aspect.

[0031] It should be understood that the second to fifth aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of a flow chart of a vehicle control method provided in an embodiment of the present application; Figure 2 A schematic diagram of a flow chart of a method for evaluating whether a vehicle meets restart conditions provided in an embodiment of the present application; Figure 3 A flow chart of a method for evaluating the probability of a vehicle restarting and colliding with a movable target provided in an embodiment of the present application; Figure 4 A flowchart of a method for controlling vehicle restarting provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of a vehicle controller provided in an embodiment of the present application; Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to better understand the technical solution of this specification, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0035] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0036] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0037] AEB is a system in which the vehicle automatically helps the driver to take emergency braking actions to avoid a collision with the movable target in front when it suddenly detects a movable target in the lane ahead during normal driving (for example, the driver is driving while fatigued and does not notice a pedestrian crossing the zebra crossing in front of the lane; or the vehicle ahead suddenly brakes and the driver does not have time to react and take active braking actions, etc.).

[0038] At present, AEB has been installed and used by major automobile manufacturers. When AEB is triggered and the vehicle automatically brakes to a stop, it can avoid the vehicle from colliding with the movable target in front to a certain extent. However, because the moment when the vehicle actively brakes to a stop when AEB is triggered is particularly urgent and short, if there is a vehicle driving towards it quickly not far behind, the driver of the vehicle behind will most likely not be able to brake in time, which will inevitably cause the vehicle to be seriously rear-ended by the vehicle behind.

[0039] In view of this, an embodiment of the present application provides a vehicle control method, in which when the vehicle stops due to the sudden detection of a movable target during driving and the emergency braking function is triggered, the vehicle can further evaluate whether it meets the restart conditions. If the restart conditions are met, the vehicle will restart, thereby trying to maintain or increase the distance from the following vehicle while avoiding a collision with the movable target in front, reserving more reaction time and braking time for the driver of the following vehicle, thereby reducing the occurrence of rear-end collisions caused by the following vehicle being too fast to brake in time.

[0040] The technical solution protected by the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0041] See also Figure 1 , is a flow chart of a vehicle control method provided in an embodiment of the present application. The method is applied to a vehicle control unit (VCU), and the flow of the method is described as follows: Step 10: In response to the vehicle having completed emergency braking triggered by the movable object, evaluating whether the vehicle meets the restart condition.

[0042] In the embodiment of the present application, for a vehicle equipped with an AEB function, it will use a variety of sensors, such as millimeter wave radar, laser radar, camera, etc., to monitor the environment around the vehicle in real time during driving. For example, the sensor collects information such as the distance, speed, size, etc. of the movable target in front by transmitting and receiving signals. The collected raw data needs to be processed by complex algorithms to extract useful information. These algorithms can identify the type of movable targets in front (such as vehicles, pedestrians, bicycles, etc.) and estimate their motion state. Based on the processed data, the AEB system will evaluate the collision risk of the movable target in front. This usually involves calculating the relative distance and relative speed to the obstacle and predicting the future collision trajectory. When the AEB system determines that there is a potential collision risk, it will first issue a warning prompt to the driver through sound, image, etc., so that the driver can take timely measures to avoid the collision. If the driver fails to respond to the warning prompt in time or brakes insufficiently, the AEB system will activate the auxiliary braking function. The system will automatically increase the braking force to help the driver shorten the braking distance, thereby reducing or avoiding the collision. In extreme cases, if the driver does not react at all or reacts too slowly, the AEB system will activate the emergency braking function. The system applies full vehicle braking to minimize the likelihood of a collision or mitigate damage resulting from a collision.

[0043] After the vehicle stops in an emergency under the action of AEB, the vehicle can further evaluate whether it meets the restart condition. It should be understood that the restart condition here is a condition that can avoid collision with a movable object in front.

[0044] The following is a detailed description of how the vehicle evaluates whether it meets the restart conditions.

[0045] See also Figure 2 , is a flow chart of a method for evaluating whether a vehicle meets the restarting condition provided in an embodiment of the present application. Step 10 is specifically implemented by executing sub-steps 101 to 102: Step 101: Evaluate the probability of the vehicle colliding with a movable target when the vehicle restarts.

[0046] Step 102: In response to the probability being lower than a set probability threshold, determining that the vehicle meets the restart condition.

[0047] In the embodiment of the present application, the probability of the vehicle colliding with the movable target when restarting can be evaluated. If the above probability is low, it can be considered that the vehicle meets the restarting conditions; conversely, if the above probability is high, it can be considered that the vehicle does not meet the restarting conditions.

[0048] The following is a detailed description of the probability of evaluating the collision between the vehicle and the movable target when the vehicle restarts.

[0049] See also Figure 3 , is a flow chart of a method for evaluating the probability of a vehicle restarting and colliding with a movable target provided in an embodiment of the present application. Step 101 can be implemented by executing sub-steps 1011 to 1015: Step 1011: Determine whether the vehicle and the movable target are in the same lane.

[0050] Step 1012: If the vehicle and the movable target are not in the same lane, determine that the probability is lower than a set probability threshold.

[0051] Step 1013: If the vehicle and the movable target are located in the same lane, calculate the relative distance between the vehicle and the movable target.

[0052] Step 1014: In response to the relative distance being greater than a set distance threshold, determining that the probability is lower than a set probability threshold.

[0053] Step 1015: In response to the relative distance being not greater than the set distance threshold, determining that the probability is not less than the set probability threshold.

[0054] In the embodiment of the present application, the vehicle can determine whether it is in the same lane as the movable target in front. If the vehicle and the movable target are not in the same lane, there is no need to further determine the relative distance between the vehicle and the movable target, and it can be directly considered that the probability of collision with the movable target when restarting is low. On the contrary, if the vehicle and the movable target are in the same lane, it is necessary to further determine the relative distance between the vehicle and the movable target. If the relative distance is large, it can be considered that the probability of collision with the movable target when restarting is low. If the relative distance is small, it can be considered that the probability of collision with the movable target when restarting is high.

[0055] It is worth noting that in the above embodiment, when the vehicle and the movable target ahead are in the same lane and the relative distance is less than the set distance threshold, it can be directly judged that the probability of the vehicle colliding with the movable target when restarting in the current lane is relatively high. Therefore, the vehicle can further evaluate the probability of the vehicle colliding with the movable target when restarting in the adjacent lane. If the probability is less than the set probability threshold, it can be considered that the probability of the vehicle colliding with the movable target when restarting in the adjacent lane is low; conversely, if the probability is greater than the set probability threshold, it can be considered that the probability of the vehicle colliding with the movable target when restarting in the adjacent lane is high.

[0056] As a possible implementation, the vehicle may obtain the moving trend of the movable target, and then determine the probability of collision between the movable target and the restart in the target adjacent lane according to the moving trend of the movable target. For example, if the vehicle determines that the moving trend of the movable target ahead is away from the target adjacent lane, then it can be determined that the probability of collision between the restart in the target adjacent lane and the movable target is lower than the set probability threshold. Conversely, if the vehicle determines that the moving trend of the movable target ahead is close to the target adjacent lane, then it can be determined that the probability of collision between the restart in the target adjacent lane and the movable target is higher than the set probability threshold.

[0057] For example, if the moving trend of the movable target is to move to the right, it can be determined that the movable target is gradually moving away from the adjacent lane on the left side of the vehicle, and the movable target is gradually approaching the adjacent lane on the right side of the vehicle. Then it can be determined that the probability of a collision between the adjacent lane on the left side of the vehicle and the movable target is lower than the set probability threshold, and the probability of a collision between the adjacent lane on the right side of the vehicle and the movable target is higher than the set probability threshold; conversely, if the vehicle determines that the moving trend of the movable target in front is to move to the left, it can be determined that the movable target is gradually moving away from the adjacent lane on the right side of the vehicle, and the movable target is gradually approaching the adjacent lane on the left side of the vehicle. Then it can be determined that the probability of a collision between the adjacent lane on the right side of the vehicle and the movable target is lower than the set probability threshold, and the probability of a collision between the adjacent lane on the left side of the vehicle and the movable target is higher than the set probability threshold.

[0058] Step 20: If the restart conditions are met, control the vehicle to restart.

[0059] In the embodiment of the present application, if the self-vehicle evaluates that the restart conditions are met, it will restart, thereby trying to maintain or increase the distance between itself and the following vehicle while avoiding collision with a movable target in front, thereby reducing the occurrence of rear-end collisions with the latter due to the rear vehicle's high speed and lack of time to brake.

[0060] How to control the vehicle to restart is described in detail below.

[0061] See also Figure 4 , is a flow chart of a method for controlling vehicle restarting provided in an embodiment of the present application. Step 20 can be specifically implemented through sub-steps 201 to 202: Step 201: If the probability is lower than the set probability threshold, release the emergency braking force.

[0062] Step 202: Control the vehicle to reach a set speed within a target duration, where the target duration is less than a set duration threshold.

[0063] In the embodiment of the present application, when the vehicle assesses that the probability of a collision with a movable target is lower than a set probability threshold, it can be considered that the restart condition is met. First, the braking force is released in a short time, for example, the brake pedal is released within 100ms, and the vehicle is controlled to accelerate in a short time, for example, an acceleration signal is output within 100ms, so that the set vehicle speed is reached within the target time length, so as to maintain or increase the relative distance with the following vehicle as much as possible, and reserve more braking time for the driver of the following vehicle, thereby reducing the occurrence of rear-end collisions.

[0064] It is worth noting that, considering that the ego vehicle and the movable target are not in the same lane, the probability of a collision between the ego vehicle and the movable target is lower than that between the ego vehicle and the movable target in the same lane but at a greater relative distance. Therefore, the set speed reached by controlling the vehicle acceleration when the ego vehicle and the movable target are not in the same lane is greater than the set speed reached by controlling the vehicle acceleration when the ego vehicle and the movable target are in the same lane and at a greater relative distance, thereby further reducing the possibility of being rear-ended by a rear vehicle when the ego vehicle and the movable target are not in the same lane.

[0065] For example, the target duration can be 1s, 1.5s, or 2s, the set speed can be [10km / h, 20km / h], the set speed that can be achieved when the vehicle and the movable target are not in the same lane can be 20km / h, and the set speed achieved by controlling the vehicle acceleration when the vehicle and the movable target are in the same lane and the relative distance is large is 10km / h.

[0066] In the above embodiment, the vehicle restarts in the current lane. If the vehicle does not meet the restart conditions in the current lane, but meets the restart conditions in the target adjacent lane, for example, if the vehicle determines that the probability of collision between the vehicle and the movable target in the target adjacent lane is less than a set probability threshold, and the relative distance to the rear vehicle in the target adjacent lane is greater than a set distance threshold, the vehicle is controlled to restart in the target adjacent lane. The specific restart process is similar to the above restart process and will not be repeated here.

[0067] In some embodiments, after the vehicle restarts, the vehicle can continue to evaluate whether the emergency braking conditions are met. If the emergency braking conditions are met, the vehicle is controlled to perform emergency braking again, thereby avoiding the vehicle from colliding with other movable targets after the vehicle restarts.

[0068] See also Figure 5 The present application also provides a vehicle control device, the device comprising: An evaluation unit 301, for evaluating whether the vehicle meets a restart condition in response to the vehicle having completed emergency braking triggered by a movable object; The control unit 302 is used to control the vehicle to restart if the restart condition is met.

[0069] Optionally, the evaluation unit 301 includes: A collision probability assessment unit, which assesses the probability of the vehicle colliding with a movable target when restarting; The determination unit is configured to determine that the vehicle meets the restart condition in response to the probability being lower than a set probability threshold.

[0070] Optionally, the collision probability assessment unit comprises: A judgment subunit, used to judge whether the vehicle and the movable object are in the same lane; a calculation unit, for calculating the relative distance between the vehicle and the movable target if the vehicle is moving; The determination subunit is configured to determine that the probability is lower than a set probability threshold in response to the relative distance being greater than a set distance threshold.

[0071] Optionally, the determination subunit is further configured to determine that the probability is lower than a set probability threshold if the vehicle and the movable target are not located in the same lane.

[0072] Optionally, the control unit 302 is specifically configured to: If the probability is lower than the set probability threshold, the emergency braking force is released; Control the vehicle to reach the set speed within the target time, and the target time is less than the set time threshold.

[0073] Optionally, when the vehicle and the movable target are in the same lane and the relative distance is greater than a set distance threshold, the corresponding set vehicle speed is less than the set vehicle speed when the vehicle and the movable target are not in the same lane.

[0074] Optionally, the evaluation unit 301 is further used to: evaluate whether the vehicle meets the emergency braking condition; The control unit 302 is further configured to control the vehicle to perform emergency braking if the emergency braking condition is met.

[0075] Optionally, set the vehicle speed to [10km / h, 20km / h].

[0076] See also Figure 6 , is a vehicle controller provided in an embodiment of the present application, the vehicle controller includes at least one processor 401, the processor 401 is used to execute a computer program stored in a memory, and implement the embodiment of the present application as provided in the following Figure 1-4 Schematic diagram of the steps of a flow chart of a vehicle control method shown.

[0077] Optionally, the processor 401 may specifically be a central processing unit, a specific ASIC, or one or more integrated circuits for controlling program execution.

[0078] Optionally, the vehicle controller may further include a memory 402 connected to at least one processor 401, and the memory 402 may include ROM, RAM, and disk storage. The memory 402 is used to store data required by the processor 401 when it is running, that is, it stores instructions that can be executed by at least one processor 401. At least one processor 401 executes the instructions stored in the memory 402 to execute the following steps: Figure 1-4 The method shown. Wherein, the number of memories 402 is one or more. Wherein, the number of memories 402 is one or more.

[0079] See also Figure 7 The present application also provides a vehicle, the vehicle comprising Figure 6 The vehicle controller shown in the figure can be a pure electric vehicle, a plug-in hybrid vehicle, or an extended-range vehicle, and this application does not impose any special restrictions on this.

[0080] The present application also provides a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes Figure 1-4 method.

[0081] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A vehicle control method, characterized in that: The method comprises: In response to the vehicle having completed emergency braking triggered by a movable object, evaluating whether the vehicle meets a restart condition; If the restart condition is met, the vehicle is controlled to restart.

2. The method according to claim 1, characterized in that Assess whether the vehicle meets the restart conditions, including: evaluating the probability of the vehicle colliding with the movable object when restarting; In response to the probability being lower than a set probability threshold, it is determined that the vehicle meets the restart condition.

3. The method according to claim 2, characterized in that Evaluating the probability of the vehicle colliding with the movable target when restarting, including: Determining whether the vehicle and the movable object are in the same lane; If so, calculating the relative distance between the vehicle and the movable object; In response to the relative distance being greater than a set distance threshold, it is determined that the probability is lower than the set probability threshold.

4. The method according to claim 3, characterized in that The method further comprises: If the vehicle and the movable object are not located in the same lane, it is determined that the probability is lower than the set probability threshold.

5. The method according to claim 4, characterized in that If the restart condition is met, controlling the vehicle to restart includes: If the probability is lower than the set probability threshold, releasing the emergency braking force; The vehicle is controlled to reach a set speed within a target duration, wherein the target duration is less than a set duration threshold.

6. The method according to claim 5, characterized in that When the vehicle and the movable target are located in the same lane and the relative distance is greater than a set distance threshold, the corresponding set vehicle speed is less than the set vehicle speed corresponding to when the vehicle and the movable target are not located in the same lane.

7. The method according to claim 1, characterized in that After controlling the vehicle to restart, the method further includes: Assessing whether the vehicle meets emergency braking conditions; If the emergency braking condition is met, the vehicle is controlled to perform emergency braking.

8. A vehicle control device, characterized in that: The device comprises: an evaluation unit, for evaluating whether the vehicle meets a restart condition in response to the vehicle having completed emergency braking triggered by a movable object; The control unit is used to control the vehicle to restart if the restart condition is met.

9. A vehicle controller, characterized in that: The vehicle controller includes a memory for storing computer program instructions and a processor for executing program instructions, wherein when the computer program instructions are executed by the processor, the vehicle controller is triggered to execute the steps of the method as described in any one of claims 1-6.

10. A vehicle, characterized in that: The vehicle includes a vehicle controller as described in claim 9.

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