Control method and control device for vehicle and computer readable storage medium

Abstract

The invention provides a control method for a vehicle. The control method comprises the following steps that S10, motion information of a vehicle and motion information of objects around the vehicle are obtained; s21, based on the motion information, identifying a transverse object which is at least partially located in a predetermined area in front of the vehicle and moves transversely to the vehicle; s22, under the condition that the existence of the transverse object is recognized, whether screening conditions are met or not is judged, and the screening conditions include that the vehicle speed of the vehicle is smaller than or equal to a vehicle speed threshold value, and the transverse relative speed of the transverse object relative to the vehicle is larger than or equal to a transverse relative speed threshold value in the direction perpendicular to the longitudinal direction of the vehicle; and S23, under the condition that the screening condition is met, restraining operation is executed aiming at automatic braking operation, responding to the transverse object, of the vehicle. The invention further provides a corresponding control device and a computer readable storage medium. By means of the method, the driving experience can be improved, and the safety is improved.

Description

Technical Field

[0001] The present invention relates to a control method for a vehicle, a control device for a vehicle, and a computer-readable storage medium. Background Art

[0002] Currently, it is known that vehicles can be equipped with a variety of assisted driving functions. For example, a vehicle can be equipped with an automatic emergency braking (AEB) system, which can trigger an automatic braking operation of the vehicle when it recognizes a collision risk between the vehicle and surrounding objects, so as to improve safety. Also, for example, a vehicle can be equipped with an adaptive cruise control (ACC) system, which is configured to be able to control the vehicle speed so that the vehicle travels at a target speed, or adjust the speed of the vehicle according to the speed of the vehicle in front. If the speed of the vehicle in front is slower than the set target speed, the adaptive cruise control system will automatically reduce the speed of the vehicle to maintain a safe distance. When the vehicle in front accelerates, the adaptive cruise control system will also correspondingly increase the speed of the vehicle until the target speed is reached.

[0003] However, the assisted driving functions of vehicles cannot be accurately and reliably executed in some cases. For example, in practice, the automatic braking operation is often triggered erroneously. In some cases, the driver can clearly judge that the actual collision risk is very low, yet the automatic braking operation is triggered. Such erroneously triggered automatic braking operations will reduce the driver's driving experience. Furthermore, it may reduce the driver's trust in the automatic emergency braking system. In addition, the erroneously triggered automatic braking operation may also cause the vehicle to be rear-ended, thus reducing safety. Moreover, when the vehicle is traveling in, for example, the adaptive cruise mode, there may also be a situation where the distance between the vehicle and the vehicle in front is too close, resulting in danger.

[0004] Therefore, it is desirable to provide an improved control method for a vehicle to overcome at least one of the above deficiencies. Summary of the Invention

[0005] The object of the present invention is to provide an improved control method for a vehicle, a control device for a vehicle, and a computer-readable storage medium, so as to improve the driving experience and enhance safety.

[0006] According to a first aspect of the present invention, there is provided a control method for a vehicle, wherein the control method includes the following steps: S10, obtaining motion information of the vehicle and an object around the vehicle; S21, based on the motion information, identifying a lateral object that is at least partially located within a predetermined area in front of the vehicle and is transverse to the motion of the vehicle; S22, when it is identified that there is the lateral object, determining whether a screening condition is satisfied, the screening condition including: the vehicle speed of the vehicle is less than or equal to a vehicle speed threshold, and in a direction perpendicular to the longitudinal direction of the vehicle, the lateral relative speed of the lateral object relative to the vehicle is greater than or equal to a lateral relative speed threshold; and S23, when the screening condition is satisfied, performing an inhibition operation on an automatic braking operation of the vehicle in response to the lateral object.

[0007] By using the screening condition, lateral objects with a low actual collision probability with the vehicle can be screened out, so that the vehicle will not erroneously trigger an automatic braking operation in response to the lateral object. Such erroneously triggered automatic braking operations will reduce the driving experience of the driver. Furthermore, it may reduce the driver's trust in the automatic emergency braking system. In addition, the erroneously triggered automatic braking operation may also cause the vehicle to be rear-ended, thus reducing safety. Therefore, through the control method of the present invention, it is possible to prevent the automatic braking operation from being erroneously triggered, and thus improve the driving experience and enhance safety. Particularly advantageously, the screening condition does not involve a complex calculation process. Thus, a fast response speed can be ensured.

[0008] According to an exemplary embodiment of the present invention, in step S23, the inhibition operation on the automatic braking operation of the vehicle in response to the lateral object can be implemented by at least one of the following methods:

[0009] Prohibiting the automatic braking operation of the vehicle in response to the lateral object;

[0010] Adjusting a collision risk index indicating the risk of collision between the vehicle and the lateral object so that the adjusted collision risk index indicates a lower risk, wherein the collision risk index is used to determine whether the vehicle performs an automatic braking operation in response to the lateral object;

[0011] Adjusting a risk threshold so that the adjusted risk threshold is more difficult to reach, the risk threshold being used to compare with a collision risk index indicating the possibility of collision between the vehicle and the lateral object to determine whether to perform an automatic braking operation in response to the lateral object.

[0012] According to an exemplary embodiment of the present invention, the predetermined area can be set as an area that satisfies the following conditions: the longitudinal distance relative to the vehicle in the longitudinal direction of the vehicle is within a longitudinal distance interval and the lateral distance relative to the vehicle in a direction perpendicular to the longitudinal direction of the vehicle is within a lateral distance interval.

[0013] According to an exemplary embodiment of the present invention, the vehicle speed threshold can be set to 7 m / s or less than 7 m / s.

[0014] According to an exemplary embodiment of the present invention, the lateral relative speed threshold can be set to 5 m / s or greater than 5 m / s.

[0015] According to an exemplary embodiment of the present invention, the screening condition may further include: the longitudinal distance of the lateral object relative to the vehicle in the longitudinal direction of the vehicle is greater than or equal to the longitudinal distance threshold, and the longitudinal distance threshold is greater than 0.

[0016] According to an exemplary embodiment of the present invention, the longitudinal distance threshold can be greater than 2 m.

[0017] Optionally, the longitudinal distance threshold can be set to be negatively correlated with the lateral relative speed. Alternatively or additionally, the longitudinal distance threshold can be set to be positively correlated with the vehicle speed.

[0018] According to an exemplary embodiment of the present invention, the control method may further include the following steps:

[0019] S31, based on the motion information, identify a front object located in front of the vehicle and in the same lane as the vehicle;

[0020] S32, determine whether the warning condition is satisfied according to the interval between the vehicle and the front object, the relative speed of the vehicle with respect to the front object, and the acceleration of the vehicle; and

[0021] S33, according to the judgment result of step S32, determine whether to issue a warning to the driver of the vehicle.

[0022] According to an exemplary embodiment of the present invention, the warning condition may include the following conditions:

[0023] Speed condition, the relative speed of the vehicle with respect to the front object is between the minimum relative speed and the maximum relative speed;

[0024] Interval condition, the interval between the vehicle and the front object is less than or equal to the minimum interval; and

[0025] Acceleration condition, the acceleration of the vehicle is between the minimum acceleration and the maximum acceleration.

[0026] According to an exemplary embodiment of the present invention, steps S31, S32, and S33 can be executed when the vehicle is in the following driving state of the adaptive cruise mode, wherein the vehicle can follow the front object and keep the time slot between the vehicle and the front object not less than the target time slot. The interval condition can be set that the time slot between the vehicle and the front object is less than or equal to the minimum time slot, and the minimum time slot is determined according to the target time slot.

[0027] According to an exemplary embodiment of the present invention, the minimum relative speed can be set to, for example, 1 m / s or greater than 1 m / s. Alternatively or additionally, the maximum relative speed can be set to, for example, 3 m / s or less than 3 m / s.

[0028] According to an exemplary embodiment of the present invention, the minimum acceleration can be set to, for example, -0.4 m / s 2 or greater than -0.4 m / s 2 . Alternatively or additionally, the maximum acceleration can be set to, for example, 1 m / s 2 or less than 1 m / s 2 .

[0029] According to an exemplary embodiment of the present invention, the warning condition may further include: a duration condition, maintaining the state of satisfying the speed condition, the interval condition, and the acceleration condition for a minimum duration.

[0030] According to a second aspect of the present invention, a control method for a vehicle is provided, wherein the control method includes the following steps: S10, obtaining motion information of the vehicle and an object around the vehicle; S31, based on the motion information, identifying a front object located in front of the vehicle and in the same lane as the vehicle; S32, determining whether a warning condition is satisfied according to the interval between the vehicle and the front object, the relative speed of the vehicle with respect to the front object, and the acceleration of the vehicle; and S33, determining whether to issue a warning to the driver of the vehicle according to the determination result of step S32.

[0031] Through the warning, the driver can be reminded to take a driving operation to increase the distance between the vehicle and the front object, thereby improving safety. Compared with the method of simply judging whether to issue a warning based on the interval between the vehicle and the front object, the control method of the second aspect of the present invention can comprehensively consider the interval between the vehicle and the front object, the relative speed of the vehicle with respect to the front object, and the acceleration of the vehicle to determine whether to issue a warning. This helps to improve the accuracy of the warning, so that both safety can be improved and the driver's annoyance caused by false alarms can be avoided. In the case of issuing a warning only based on the interval between the vehicle and the front object, if the set minimum interval is large, there may be a relatively frequent issuance of warnings against the driver's will, causing the driver's annoyance; if the set minimum interval is small, there may be a situation where the warning is issued too late for the driver to take corresponding measures. According to an exemplary embodiment of the present invention, with the help of more comprehensive warning conditions, the improvement in the accuracy of the warning can be effectively achieved. In particular, the above improvement can be achieved in an easy-to-implement manner through a simple calculation process, so as to ensure a fast response speed.

[0032] The first and second aspects of the present invention are based on the following basic concept: By comprehensively considering multi-dimensional motion information (for example, comprehensively considering relative position, vehicle speed, and lateral relative speed, or comprehensively considering interval, relative speed, and acceleration), appropriate control operations can be triggered more accurately for the current driving condition of the vehicle.

[0033] According to an exemplary embodiment of the present invention, the warning condition may include the following conditions:

[0034] Speed condition, the relative speed of the vehicle with respect to the object in front is between the minimum relative speed and the maximum relative speed;

[0035] Interval condition, the interval between the vehicle and the object in front is less than or equal to the minimum interval; and

[0036] Acceleration condition, the acceleration of the vehicle is between the minimum acceleration and the maximum acceleration.

[0037] According to an exemplary embodiment of the present invention, steps S31, S32, and S33 may be executed when the vehicle is in the following driving state of the adaptive cruise mode, where the vehicle follows the object in front and maintains the time slot between the vehicle and the object in front not less than the target time slot. The interval condition may be set such that the time slot between the vehicle and the object in front is less than or equal to the minimum time slot, and the minimum time slot is determined according to the target time slot.

[0038] According to an exemplary embodiment of the present invention, the minimum relative speed may be set to 1 m / s or greater than 1 m / s, for example. Alternatively or additionally, the maximum relative speed may be set to 3 m / s or less than 3 m / s, for example.

[0039] According to an exemplary embodiment of the present invention, the minimum acceleration may be set to -0.4 m / s 2 or greater than -0.4 m / s 2 . Alternatively or additionally, the maximum acceleration may be set to 1 m / s 2 or less than 1 m / s 2 .

[0040] According to an exemplary embodiment of the present invention, the warning condition may further include: a duration condition, maintaining the state of satisfying the speed condition, the interval condition, and the acceleration condition for a minimum duration.

[0041] According to the third aspect of the present invention, a control device for a vehicle is provided, where the control device includes: one or more processors; and a memory that stores computer program instructions, and when the computer program instructions are executed by the one or more processors, the one or more processors are enabled to execute the control method according to the present invention.

[0042] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing computer program instructions, wherein the computer program instructions, when executed by one or more processors, enable the one or more processors to execute the control method according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings, from which the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:

[0044] Figure 1 Schematically showing a flowchart of a control method for a vehicle according to an exemplary embodiment of the present invention;

[0045] Figure 2 Schematically showing a scenario for implementing the control method according to an exemplary embodiment of the present invention;

[0046] Figure 3 Schematically showing the implementation of the control method according to an exemplary embodiment of the present invention when the vehicle travels to an intersection;

[0047] Figure 4 Schematically showing a flowchart of a control method for a vehicle according to an exemplary embodiment of the present invention;

[0048] Figure 5 Schematically showing a flowchart of step S32 of the control method according to an exemplary embodiment of the present invention;

[0049] Figure 6 Schematically showing a scenario for implementing the control method according to an exemplary embodiment of the present invention; and

[0050] Figure 7 Schematically showing the control method according to an exemplary embodiment of the present invention.

[0051] LIST OF REFERENCE NUMERALS

[0052] 10 Vehicle

[0053] 11 Control device

[0054] 12 Sensor

[0055] 13 Braking device

[0056] 14 Warning device

[0057] 20 Lateral object

[0058] 30 Front object DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] To make the technical problems, technical solutions, and beneficial technical effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the protection scope of the present invention.

[0060] Figure 1 Schematically shows a flowchart of a control method for a vehicle according to an exemplary embodiment of the present invention.

[0061] As Figure 1 shown, the control method includes steps S10, S21, S22, and S23.

[0062] In step S10, motion information of the vehicle and objects around the vehicle is obtained. The motion information may include, for example, the position of the vehicle, the vehicle speed, the vehicle acceleration, the position of the object, the object speed, the object acceleration, the relative position between the object and the vehicle, the relative speed between the object and the vehicle, and / or the relative acceleration between the object and the vehicle, etc. In this article, "object" should be understood broadly, and it may include, for example, another vehicle or a person, etc.

[0063] In step S21, based on the motion information, a lateral object that is at least partially located within a predetermined area in front of the vehicle and is transverse to the vehicle's motion is identified.

[0064] In step S22, when it is identified that there is the lateral object, it is determined whether the screening condition is satisfied. The screening condition includes: the vehicle speed is less than or equal to the vehicle speed threshold; and in a direction perpendicular to the longitudinal direction of the vehicle, the lateral relative speed of the lateral object relative to the vehicle is greater than or equal to the lateral relative speed threshold.

[0065] In step S23, when the screening condition is satisfied, an inhibition operation is performed on the automatic braking operation of the vehicle in response to the lateral object.

[0066] Vehicles usually have an automatic braking function. For example, a vehicle may be equipped with an automatic emergency braking system (AEB), which can trigger the automatic braking operation of the vehicle when it identifies a collision risk between the vehicle and surrounding objects, so as to brake the vehicle without the need for driver operation. This helps prevent collisions and improve safety. When an object is identified in a predetermined area in front of the vehicle, the automatic emergency braking system may trigger the automatic braking operation.

[0067] Using the screening condition, lateral objects with a low actual collision probability with the vehicle can be screened out, so that the vehicle will not wrongly trigger an automatic braking operation in response to the lateral object. Such wrongly triggered automatic braking operations will reduce the driving experience of the driver. Furthermore, it may reduce the driver's trust in the automatic emergency braking system. In addition, the wrongly triggered automatic braking operation may also cause the vehicle to be rear-ended, thus reducing safety.

[0068] Therefore, through the control method of the present invention, it is possible to prevent the automatic braking operation from being wrongly triggered, and thus it is possible to improve the driving experience and enhance safety.

[0069] Particularly advantageously, the screening condition does not involve complex calculation processes. Thereby, a fast response speed can be ensured.

[0070] "The object moves laterally to the vehicle" may mean that the movement direction of the object is lateral to the longitudinal direction of the vehicle. In this article, the expression "a direction is lateral to a reference direction" may mean that the direction is perpendicular to the reference direction or has an angle less than 45° with respect to the direction perpendicular to the reference direction. "Lateral relative speed" may mean the component of the relative speed in the direction perpendicular to the longitudinal direction of the vehicle. Optionally, optionally, "the object moves laterally to the vehicle" also requires that the lateral object moves relative to the vehicle with a lateral relative speed of more than 0.4 m / s.

[0071] As Figure 1 shown, the control method may further include step S24, which is executed when the screening condition is not satisfied. In step S24, for example, an automatic braking operation may be triggered to prevent the vehicle from colliding with the lateral object. Alternatively, in step S24, the collision risk between the vehicle and the lateral object may be further determined based on additional information and / or additional judgment conditions to determine whether to trigger the automatic braking operation. The additional information may include, for example, the acceleration of the vehicle, the control intention of the driver, etc.

[0072] Figure 2 Schematically shows a scenario for implementing the control method according to an exemplary embodiment of the present invention.

[0073] As Figure 2 shown, the vehicle 10 may be provided with a control device 11 for executing the control method according to an exemplary embodiment of the present invention.

[0074] The control device 11 is implemented as, for example, an electronic control unit (ECU) of the vehicle 10. The control device 11 may include a memory and a processor. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the processor can, for example, execute the control method for the vehicle 10.

[0075] The above computer program instructions can be stored in a computer-readable storage medium. The computer-readable storage medium may include, for example, high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0076] The vehicle 10 may also be provided with a sensor 12, which can be used to detect the vehicle 10 and objects around the vehicle 10 in order to obtain motion information. The sensor 12 may include, for example, a radar, a lidar, a camera device, a vehicle speed sensor, etc. The control device 11 may be communicatively connected to the sensor 12 such that the control device 11 can obtain information from the sensor 12. Optionally, the control device 11 may send control instructions to the sensor 12 to control the sensor 12 to perform a detection operation.

[0077] Alternatively or additionally, the motion information of the object may be obtained by means of the communication device of the vehicle. For example, the motion information may be received from another vehicle through vehicle-to-vehicle communication. Or, the motion information detected by the roadside device may be received from the roadside device through the communication between the vehicle 10 and the roadside device.

[0078] The vehicle 10 may also be provided with a braking device 13. The braking device 13 may be configured to be able to perform an automatic braking operation in response to a control signal of an automatic braking system. Thus, in an emergency, even if the driver does not have time to step on the brake pedal of the vehicle 10, the risk of collision can be reduced through the automatic braking operation.

[0079] As Figure 2 shown, for example, by means of the sensor 12, the motion information of the vehicle 10 and the objects around the vehicle 10 can be obtained. Based on the motion information, it can be recognized that there is another vehicle near the vehicle 10, and the other vehicle is located in a predetermined area A in front of the vehicle 10 and is transverse to the vehicle motion. Therefore, the other vehicle can be recognized as a transverse object 20.

[0080] The predetermined area A may be set, for example, as an area that satisfies the following conditions: the longitudinal distance d along the longitudinal direction Y of the vehicle 10 relative to the vehicle 10 Y is within a longitudinal distance range and the lateral distance d relative to the vehicle 10 in the direction X perpendicular to the longitudinal direction Y of the vehicle 10 X is within a lateral distance range.

[0081] In an exemplary embodiment of the present invention, it can be determined whether an object is in the predetermined area A by the relative distance of the object relative to the vehicle 10. As Figure 2 shown, if the longitudinal distance d of the object located in front of the vehicle 10 relative to the vehicle 10 Yis between 0 and 40 m, and the lateral distance d of the object relative to the vehicle 10 X is below 10 m, it can be determined that the object is at least partially located within the predetermined area A. Here, the object can be located on the left or right side of the vehicle 10, as long as its lateral distance d relative to the vehicle 10 X is below 10 m.

[0082] When it is recognized that the lateral object 20 exists, it can be determined whether the screening condition is satisfied.

[0083] For example, on the one hand, if the vehicle speed v of the vehicle 10 0 is less than or equal to the vehicle speed threshold v 0_T , and on the other hand, in the direction X perpendicular to the longitudinal direction Y of the vehicle 10, the lateral relative speed v of the lateral object 20 relative to the vehicle 10 rx is greater than or equal to the lateral relative speed threshold v rx_T , then it can be determined that the screening condition is satisfied. The screening condition can be expressed as: v 0 ≤v 0_T ; v rx ≥v rx_T .

[0084] When the lateral object 20 moves perpendicular to the longitudinal direction of the vehicle 10, the lateral relative speed v rx can be represented by the speed v of the lateral object 20 1 . By the screening condition that the vehicle speed v 0 is less than or equal to the vehicle speed threshold v 0_T , it can be defined that the vehicle 10 has a low vehicle speed v 0 . On this basis, through the screening condition that the lateral relative speed v rx is greater than or equal to the lateral relative speed threshold v rx_T , it can be determined that there is no need to trigger an automatic braking operation in the current situation.

[0085] According to an exemplary embodiment of the present invention, the vehicle speed threshold v 0_T can be set to 7 m / s or less than 7 m / s. The vehicle speed threshold v set to 10 m / s or less than 10 m / s 0_T helps to define that the vehicle 10 has a low vehicle speed v 0 . For example, the vehicle 10 may be in the starting stage.

[0086] According to an exemplary embodiment of the present invention, the lateral relative speed threshold v rx_T can be set to 5 m / s or greater than 5 m / s. The lateral relative speed threshold v set to 5 m / s or greater than 5 m / s rx_T helps to define that the lateral object 20 has a high lateral relative speed. The lateral relative speed threshold v rx_TFor example, it can be set to a relatively high speed value, such as 10 m / s, to improve safety.

[0087] According to an exemplary embodiment of the present invention, the screening condition may further include: the longitudinal distance d of the lateral object 20 relative to the vehicle 10 along the longitudinal direction Y of the vehicle 10 Y being greater than or equal to a longitudinal distance threshold d Y_T , that is, d Y ≥d Y_T . The longitudinal distance threshold d Y_T can be set to be greater than 0, particularly greater than 2 m.

[0088] The longitudinal distance threshold d Y_T can be a fixed value.

[0089] Optionally, the longitudinal distance threshold d Y_T can also be determined according to the lateral relative speed v rx . For example, the longitudinal distance threshold d Y_T can be set to be negatively correlated with the lateral relative speed v rx . This is beneficial for more accurately screening out the lateral object 20 with a low actual collision probability with the vehicle 10.

[0090] Alternatively or additionally, the longitudinal distance threshold d Y_T can be set to be positively correlated with the vehicle speed v 0 . This is also beneficial for more accurately screening out the lateral object 20 with a low actual collision probability with the vehicle 10.

[0091] When the screening condition is satisfied, the control device 11 can perform an inhibition operation on the vehicle 10 in response to the automatic braking operation of the lateral object 20.

[0092] For example, in step S23, the vehicle 10 can be prohibited from responding to the automatic braking operation of the lateral object 20. It should be understood that "prohibiting the vehicle 10 from responding to the automatic braking operation of the lateral object 20" means that in the current situation, the vehicle does not respond to the lateral object 20 to perform an automatic emergency braking operation. This does not mean that the vehicle cannot respond to the lateral object 20 to perform an automatic emergency braking operation at a subsequent moment.

[0093] Optionally, the collision risk index indicating the risk of collision between the vehicle 10 and the lateral object 20 can also be adjusted in step S23, so that the adjusted collision risk index indicates a lower risk. The collision risk index is used to determine whether the vehicle 10 responds to the lateral object 20 to perform an automatic braking operation.

[0094] The collision risk index can be determined according to the relative position and / or motion state of the vehicle 10 and the lateral object 20.

[0095] According to an exemplary embodiment of the present invention, the collision risk indicator may be a collision probability estimated based on the relative position and motion state of the vehicle 10 and the lateral object 20. When the collision probability is higher than the probability threshold, an automatic braking operation in response to the lateral object 20 may be triggered. If it is determined in step S22 that the screening condition is satisfied, then the value of the collision probability may be reduced before comparing the collision probability with the probability threshold. Then, the reduced collision probability is compared with the probability threshold to determine whether to perform an automatic braking operation in response to the lateral object 20.

[0096] According to an exemplary embodiment of the present invention, the collision risk indicator may be a time to collision (TTC) between the vehicle 10 and the lateral object 20 calculated based on the speed, acceleration, direction of motion, and / or longitudinal distance, etc. of the vehicle 10 and the lateral object 20, assuming that the vehicle 10 and the lateral object 20 maintain their current motion states. When the time to collision is less than the time to collision threshold, an automatic braking operation in response to the lateral object 20 may be triggered. If it is determined in step S22 that the screening condition is satisfied, then the value of the time to collision may be increased before comparing the time to collision with the time to collision threshold.

[0097] Optionally, the collision risk indicator may also be the time slot between the vehicle 10 and the lateral object 20. The time slot represents the duration that the vehicle 10 travels through the same position after the lateral object 20. Here, the time slot may be expressed as the longitudinal relative distance d Y divided by the vehicle speed v of the vehicle 10 0 , that is, d Y / v 0 .

[0098] In step S23, an inhibition operation for the automatic braking operation of the vehicle 10 in response to the lateral object 20 may also be implemented by adjusting the risk threshold. The risk threshold is used to compare with a collision risk indicator indicating the possibility of a collision between the vehicle 10 and the lateral object 20 to determine whether to perform an automatic braking operation in response to the lateral object 20. The risk threshold includes, for example, a probability threshold, a time to collision threshold, or a time slot threshold, etc.

[0099] Figure 3 Schematically shows the implementation of the control method according to an exemplary embodiment of the present invention when the vehicle 10 travels to an intersection.

[0100] As Figure 3 shown, the vehicle 10 travels to the intersection along the first direction D1 and is stopping or about to stop behind the stop line to wait for the corresponding traffic light to turn on. Another vehicle travels through the intersection along the second direction D2. The second direction D2 is substantially perpendicular to the first direction D1.

[0101] With the aid of sensors 12 such as the radar and / or camera device of the vehicle 10, the other vehicle can be detected and its movement information can be obtained. Based on the movement information of the other vehicle, it can be recognized that the other vehicle is located within a predetermined area A in front of the vehicle 10 and is moving transversely to the vehicle 10. Thus, the other vehicle can be recognized as a transverse object 20.

[0102] In this case, a conventional automatic braking system will trigger an automatic braking operation of the vehicle 10 for the other vehicle. However, in fact, the other vehicle will pass quickly in front of the vehicle 10 at a relatively high speed v 1 while the vehicle 10 itself is traveling at a relatively low vehicle speed v 0 to a stop line or is preparing to start behind the stop line. Therefore, the actual collision possibility between the vehicle 10 and the other vehicle is very low. Triggering the automatic braking operation in this case will bring an unpleasant experience to the driver. For example, if the traffic light that the vehicle 10 is waiting for is about to turn on and the vehicle 10 is in the starting stage, triggering the automatic braking operation at this time will interrupt the starting operation of the vehicle 10.

[0103] According to the present invention, in the case where the transverse object 20 is recognized, it will be judged whether the screening condition is satisfied. Referring to Figure 3 , if the vehicle speed v of the vehicle 10 0 is less than or equal to the vehicle speed threshold v 0_T , and the transverse relative speed v of the transverse object 20 with respect to the vehicle 10 rx is greater than or equal to the transverse relative speed threshold v rx_T , then it can be judged that the screening condition is satisfied. Furthermore, an inhibition operation can be performed on the automatic braking operation of the vehicle 10 in response to the transverse object 20. For example, the automatic braking operation of the vehicle 10 in response to the transverse object 20 can be prohibited.

[0104] Optionally, the screening condition further includes that the longitudinal distance d of the transverse object 20 along the longitudinal direction Y of the vehicle 10 with respect to the vehicle 10 Y is greater than or equal to the longitudinal distance threshold d Y_T . Thus, it can be ensured that the actual collision possibility between the screened transverse object 20 and the vehicle 10 is very low.

[0105] The longitudinal distance threshold d Y_T can especially be set to be greater than the minimum length of the zebra crossing. For example, according to relevant standards or regulations, the standard length of the zebra crossing is between 3 meters and 5 meters. In other words, the minimum length of the zebra crossing is 3 meters. The longitudinal distance threshold d Y_T can be set to be greater than 3 meters. Thus, the safety can be further improved.

[0106] Figure 4 A flowchart of a control method for a vehicle 10 according to an exemplary embodiment of the present invention is schematically shown.

[0107] Similar to Figure 1 the embodiment shown, Figure 4 the control method shown may include steps S10, S21, S22, and S23, which will not be elaborated here. Additionally, Figure 4 the control method shown may further include steps S31, S32, and S33.

[0108] As Figure 4 shown, after obtaining the motion information of the vehicle 10 and the objects around the vehicle 10 in step S10, step S31 may be executed. In step S31, based on the motion information, a front object located in front of the vehicle and in the same lane as the vehicle is identified.

[0109] In this context, "lane" should be understood broadly, which may refer to a part of a road divided by, for example, dividers or lane lines, or may generally refer to a part of a road surface with a certain width along which a vehicle can travel.

[0110] In the presence of a front object, step S32 may be executed. In step S32, it is determined whether a warning condition is satisfied based on the distance between the vehicle and the front object, the relative speed of the vehicle with respect to the front object, and the acceleration of the vehicle. The relative speed of the vehicle with respect to the front object may represent the difference between the vehicle speed and the speed of the front object. The relative speed may be calculated using the vehicle speed and the speed of the front object, or may be represented by the change amount of the relative distance between the vehicle and the front object per unit time.

[0111] Then, in step S33, based on the determination result of step S32, it is determined whether to issue a warning to the driver of the vehicle.

[0112] Through the warning, the driver may be reminded to take a driving operation to increase the distance between the vehicle and the front object, thereby improving safety.

[0113] Compared with the method of simply judging whether to issue a warning based on the interval between the vehicle and the object in front, the exemplary embodiment of the present invention can comprehensively consider the interval between the vehicle and the object in front, the relative speed of the vehicle relative to the object in front, and the acceleration of the vehicle to determine whether to issue a warning. This helps to improve the accuracy of the warning, thereby improving safety and not causing the driver to be disgusted by false alarms. In the case of issuing a warning based only on the interval between the vehicle and the object in front, if the minimum interval is set to be large, warnings that violate the driver's wishes may be issued more frequently, causing the driver to be disgusted; if the minimum interval is set to be small, the warning may be issued late, resulting in the driver not having time to take corresponding measures. According to the exemplary embodiment of the present invention, with the help of more comprehensive warning conditions, it is possible to effectively achieve improvements in the accuracy of the warning. In particular, the above-mentioned improvement can be achieved through a simple calculation process in an easy-to-implement manner, thereby ensuring a fast response speed.

[0114] like Figure 4 As shown, steps S31, S32 and S33 can be performed relatively independently from steps S21, S22 and S23. For example, steps S31, S32 and S33 can be performed before, after or in parallel (at least partially simultaneously) with steps S21, S22 and S23.

[0115] Figure 5 The flowchart of step S32 of the control method according to the exemplary embodiment of the present invention is schematically shown.

[0116] like Figure 5 As shown, step S32 may include sub-steps S321, S322 and S323.

[0117] In sub-step S321 , the relative speed of the vehicle with respect to the front object may be compared with the minimum relative speed and / or the maximum relative speed.

[0118] In sub-step S322 , the interval between the vehicle and the front object may be compared with a minimum interval.

[0119] In sub-step S323 , the acceleration of the vehicle may be compared with the minimum acceleration and / or the maximum acceleration.

[0120] It should be understood that although sub-steps S321, S322 and S323 are Figure 5 Although the steps are exemplarily shown as being performed sequentially, they may also be performed in other orders or at least partially simultaneously.

[0121] Figure 6 A scenario for implementing a control method according to an exemplary embodiment of the present invention is schematically shown.

[0122] likeFigure 6 As shown, vehicle 10 travels at vehicle speed v 0 in a lane. Another vehicle travels in the same lane in front of vehicle 10.

[0123] Vehicle 10 may particularly have an adaptive cruise function. In the adaptive cruise mode, if there is no obstacle in front of vehicle 10, vehicle 10 can basically travel at a set target speed. If, as shown in Figure 6 the case where the other vehicle travels in front of vehicle 10 at a speed lower than the target speed, then vehicle 10 can adopt a following driving state, that is, maintain the same speed as the other vehicle behind the other vehicle traveling in front.

[0124] Figure 6 Exemplarily, vehicle 10 is shown traveling behind the other vehicle in the following driving state of the adaptive cruise mode. In the following driving state, a substantially fixed target time slot T is maintained between vehicle 10 and the other vehicle.

[0125] Vehicle 10 may be provided with a control device 11, a sensor 12, and a warning device 14. The control device 11 may be communicatively connected to the sensor 12 and the warning device 14.

[0126] For example, by means of the sensor 12 of vehicle 10, the movement information of vehicle 10 and the objects around vehicle 10 can be obtained. Based on the movement information, it can be recognized that the other vehicle is a front object 30 located in front of vehicle 10 and in the same lane as vehicle 10.

[0127] In the following driving state, the driver can achieve override by stepping on the accelerator pedal of vehicle 10. Thus, vehicle 10 can increase the vehicle speed v in response to the accelerator pedal 0 . The distance between vehicle 10 and the front object 30 can thus be reduced. Warning the driver under appropriate circumstances to prevent vehicle 10 from colliding with the front object 30 can improve safety.

[0128] Steps S31, S32, and S33 can particularly be combined with the following driving state of vehicle 10. For example, steps S31, S32, and S33 can be executed when vehicle 10 is in the following driving state of the adaptive cruise mode. Through the warning conditions, it can particularly be recognized that vehicle 10 is continuously in a driving state with an overly close distance to the front object 30 due to the driver's override.

[0129] According to an exemplary embodiment of the present invention, the warning conditions may include a distance condition, a speed condition, and an acceleration condition.

[0130] The distance condition can be set such that the distance between vehicle 10 and the front object 30 is less than or equal to a minimum distance.

[0131] The gap between the vehicle 10 and the object 30 ahead is represented, for example, by the relative distance d between the vehicle 10 and the object 30 ahead. Accordingly, the minimum gap is the minimum relative distance.

[0132] Optionally, the gap between the vehicle 10 and the object 30 ahead is represented by a time slot. Here, the time slot represents the duration for which the vehicle 10 travels through the same position after the object 30 ahead. The time slot can be expressed as the relative distance d between the vehicle 10 and the object 30 ahead divided by the vehicle speed v of the vehicle 10 0 , that is, d / v 0 . Accordingly, the minimum gap is the minimum time slot. The minimum time slot can be determined according to the target time slot T of the following driving state. For example, the minimum time slot can be set to 0.7*T.

[0133] The speed condition can in particular be set such that the relative speed Δv of the vehicle 10 with respect to the object 30 ahead is between the minimum relative speed and the maximum relative speed. The relative speed Δv of the vehicle 10 with respect to the object 30 ahead can be expressed as v 0 -v 2 . The minimum relative speed can in particular be set to be greater than 0 m / s, for example, it can be set to 1 m / s or greater than 1 m / s. Thus, the relative speed Δv greater than the minimum relative speed can define that the vehicle 10 is approaching the object 30 ahead. The minimum relative speed greater than 0 m / s helps to more accurately identify that the vehicle 10 is too close to the object 30 ahead due to the driver's override. In particular, even when there is a certain error in the detection information of the sensor 12, a high accuracy can be ensured. The maximum relative speed can be set to 3 m / s or less than 3 m / s, for example. Optionally, in the case where the relative speed Δv is greater than the maximum relative speed, an automatic braking operation of the vehicle 10 can be triggered.

[0134] The acceleration condition can in particular be set such that the acceleration of the vehicle 10 is between the minimum acceleration and the maximum acceleration. The minimum acceleration is in particular less than 0 m / s 2 , for example, it can be set to -0.4 m / s 2 or greater than -0.4 m / s 2 . The acceleration greater than the minimum acceleration can define that the vehicle 10 is not performing a braking operation. In the case where the driver overrides by stepping on the accelerator pedal, it is possible that due to the accelerator pedal being intermittently stepped on and lifted within a certain time period, the vehicle 10 temporarily has an acceleration slightly less than 0 m / s 2 . However, when observed as a whole within this time period, the vehicle 10 is still in a state of accelerating in response to the driver's override. Through the above minimum acceleration, this state can be prevented from being ignored. The maximum acceleration can be set to 1 m / s 2Optionally, in the case where the acceleration is greater than the maximum relative acceleration, the automatic braking operation of the vehicle 10 can be triggered.

[0135] The warning condition may further include a duration condition, which is set to maintain the state of satisfying the speed condition, the interval condition, and the acceleration condition for a minimum duration. For example, the minimum duration may be greater than 2 s and / or less than 4 s. The minimum duration may be set to 3 s, for example. The duration condition helps to reduce false alarms.

[0136] In step S23, only a warning can be issued without triggering the automatic braking operation.

[0137] The warning device 14 can issue a warning in an optical, acoustic, and / or tactile manner, for example. The optical warning can be output, for example, by a warning light on the instrument panel of the vehicle 10 or a graphic or text on the display of the vehicle 10. The acoustic warning can be, for example, an alarm sound or a voice instruction output by the audio system of the vehicle 10. The tactile warning can be output through the seat, the steering wheel, or other contact points between the driver and the vehicle 10. For example, a pulse or a pulse sequence can be output through an operating element.

[0138] Figure 7 Schematically shows a control method according to an exemplary embodiment of the present invention.

[0139] As Figure 7 shown, the control method may include steps S10, S31, S32, and S33. Compared with Figure 4 the embodiment shown, Figure 7 the control method shown may not include steps S21, S22, and S23. The implementation manners of steps S10, S31, S32, and S33 may be the same as or similar to those described above.

[0140] It should be understood that when describing the exemplary embodiment, the control method may be described in a specific step sequence in the specification, or the flowchart presents the control method in a specific step sequence. However, in the case where the control method does not depend on the specific sequence of the steps described herein, the control method should not be limited to the specific sequence of the steps described. As those of ordinary skill in the art will understand, other step sequences are possible. Therefore, the specific sequence of the steps set forth in the specification should not be construed as a limitation on the claims. In addition, the claims directed to the control method should not be limited to performing their steps in the written order, and those skilled in the art can easily understand that these orders can be changed and still fall within the scope of the present application.

[0141] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be considered as limiting the scope of the present invention. Various substitutions, alterations, and combinations can be conceived without departing from the spirit and scope of the present invention. The features of the embodiments can be separated or combined to form additional embodiments not explicitly described or illustrated herein, which still fall within the protection scope of the present invention.

Claims

1. A control method for a vehicle, wherein, the control method includes the following steps: S10, obtaining the motion information of the vehicle and the objects around the vehicle; S21, based on the motion information, identifying a lateral object that is at least partially located within a predetermined area in front of the vehicle and is transverse to the vehicle's motion; S22, when it is identified that there is the lateral object, determining whether the screening condition is satisfied, and the screening condition includes: the vehicle speed of the vehicle is less than or equal to a vehicle speed threshold, in a direction perpendicular to the longitudinal direction of the vehicle, the lateral relative speed of the lateral object with respect to the vehicle is greater than or equal to a lateral relative speed threshold; and S23, when the screening condition is satisfied, performing an inhibition operation on the automatic braking operation of the vehicle in response to the lateral object.

2. The control method according to claim 1, wherein, in step S23, the inhibition operation on the automatic braking operation of the vehicle in response to the lateral object is implemented by at least one of the following methods: prohibiting the automatic braking operation of the vehicle in response to the lateral object; adjusting a collision risk index indicating the risk of collision between the vehicle and the lateral object so that the adjusted collision risk index indicates a lower risk, wherein the collision risk index is used to determine whether the vehicle performs an automatic braking operation in response to the lateral object; adjusting a risk threshold so that the adjusted risk threshold is more difficult to reach, and the risk threshold is used to be compared with a collision risk index indicating the possibility of collision between the vehicle and the lateral object to determine whether to perform an automatic braking operation in response to the lateral object.

3. The control method according to claim 1 or 2, wherein, the predetermined area is set as an area that satisfies the following conditions: the longitudinal distance with respect to the vehicle in the longitudinal direction of the vehicle is within a longitudinal distance interval and the lateral distance with respect to the vehicle in a direction perpendicular to the longitudinal direction of the vehicle is within a lateral distance interval.

4. The control method according to any one of claims 1-3, wherein, the vehicle speed threshold is set to 7 m / s or less than 7 m / s; and / or the lateral relative speed threshold is set to 5 m / s or greater than 5 m / s.

5. The control method according to any one of claims 1-4, wherein, the screening condition further includes: the longitudinal distance of the lateral object with respect to the vehicle in the longitudinal direction of the vehicle is greater than or equal to a longitudinal distance threshold, and the longitudinal distance threshold is greater than 0.

6. The control method according to claim 5, wherein, the longitudinal distance threshold is greater than 2 m; and / or the longitudinal distance threshold is set to be negatively correlated with the lateral relative speed; and / or the longitudinal distance threshold is set to be positively correlated with the vehicle speed.

7. The control method according to any one of claims 1-6, wherein, the control method further includes the following steps: S31, based on the motion information, identifying a front object located in front of the vehicle and in the same lane as the vehicle; S32, judging whether the warning condition is satisfied according to the interval between the vehicle and the front object, the relative speed of the vehicle with respect to the front object, and the acceleration of the vehicle; and S33. Determine whether to issue a warning to the driver of the vehicle according to the judgment result of step S32.

8. The control method according to claim 7, wherein, the warning conditions include the following conditions: Speed condition: the relative speed of the vehicle with respect to the object in front is between the minimum relative speed and the maximum relative speed; Interval condition: the interval between the vehicle and the object in front is less than or equal to the minimum interval; and Acceleration condition: the acceleration of the vehicle is between the minimum acceleration and the maximum acceleration.

9. The control method according to claim 8, wherein, Steps S31, S32 and S33 are executed when the vehicle is in the following driving state of the adaptive cruise mode, wherein the vehicle follows the object in front and maintains the time slot between the vehicle and the object in front not less than the target time slot; The interval condition is set such that the time slot between the vehicle and the object in front is less than or equal to the minimum time slot, and the minimum time slot is determined according to the target time slot.

10. The control method according to claim 8 or 9, wherein, the minimum relative speed is set to 1 m / s or greater than 1 m / s; and / or the maximum relative speed is set to 3 m / s or less than 3 m / s.

11. The control method according to any one of claims 8-10, wherein, The minimum acceleration is set to -0.4 m / s 2 or greater than -0.4 m / s 2 ; and / or The maximum acceleration is set to 1 m / s 2 or less than 1 m / s 2 .

12. The control method according to any one of claims 8-11, wherein, the warning conditions further include: Duration condition: maintaining the state of satisfying the speed condition, the interval condition and the acceleration condition for a minimum duration.

13. A control device for a vehicle, wherein, the control device includes: one or more processors; and a memory storing computer program instructions, which when executed by the one or more processors enable the one or more processors to execute the control method according to any one of claims 1-12.

14. A computer-readable storage medium storing computer program instructions, wherein, the computer program instructions when executed by one or more processors enable the one or more processors to execute the control method according to any one of claims 1-12.

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