Vehicle control system and method, vehicle and computer readable storage medium

Abstract

The invention discloses a vehicle control system and method, a vehicle and a computer readable storage medium, and the system comprises a first image collection module, a laser radar module, an edge calculation unit, a second image collection module, a communication module, a cloud platform and a vehicle-mounted controller, the collision time of the target vehicle can be determined based on the first predicted collision time calculated by the edge calculation unit and the second predicted collision time obtained based on the second image acquisition module; therefore, the vehicle-mounted controller can control the running state of the current vehicle and the running state of the collision avoidance assembly of the current vehicle according to the collision time, so that the risk of accidents of the target vehicle and the risk of secondary collision of the current vehicle can be effectively reduced, and occurrence and aggravation of traffic accidents can be avoided. And relatively large economic loss is generated.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a control system, method, vehicle, and computer-readable storage medium for a vehicle. Background Art

[0002] In the development process of autonomous driving technology, with the support of technologies such as high-computing-power semiconductors, 5G communication, artificial intelligence large models, simulation computing, and high-precision maps, it is promoting the transformation of autonomous driving technology from quantitative change to qualitative change. However, as the number of autonomous driving vehicles on highways increases day by day, abnormal driving behaviors occur from time to time. Once a traffic collision occurs to a vehicle in the adjacent lane of the own vehicle, it is very easy for the own vehicle to be hit due to the out-of-control of the collided vehicle, forming a secondary accident, triggering a larger traffic accident, and increasing economic losses. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, an object of the present invention is to provide a control system for a vehicle. By combining a first image acquisition module, a second image acquisition module, a lidar module, and vehicle networking technology, the system can accurately determine the collision time of a target vehicle, and thus accurately control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of an accident occurring to the target vehicle and the risk of the current vehicle being secondarily collided, and further avoiding the occurrence and aggravation of traffic accidents and the generation of large economic losses.

[0005] To this end, a second object of the present invention is to provide a control method for a vehicle.

[0006] To this end, a third object of the present invention is to provide a vehicle.

[0007] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0008] To achieve the above object, an embodiment of the first aspect of the present invention provides a control system for a vehicle, the system comprising: a first image acquisition module, disposed on one or both sides of a road, for acquiring first image information of a vehicle traveling on the road, and determining first vehicle speed information and first position information of a target vehicle in an adjacent lane of the lane where the current vehicle is located based on the first image information; a lidar module, disposed on one or both sides of the road, for obtaining second vehicle speed information and second position information of the target vehicle; an edge computing unit, for determining a first predicted collision time of the target vehicle according to the first vehicle speed information, the first position information, the second vehicle speed information, and the second position information, and transmitting the first predicted collision time to a cloud platform through a communication module; a second image acquisition module, disposed on one or both sides of the target vehicle, for acquiring second image information of the target vehicle, determining a second predicted collision time of the target vehicle based on the second image information, and transmitting the second predicted collision time to the cloud platform through the communication module; the communication module, for realizing data transmission between the second image acquisition module, the cloud platform, an in-vehicle controller of the current vehicle, and the edge computing unit; the cloud platform, for determining a collision time of the target vehicle according to the first predicted collision time and the second predicted collision time, and transmitting the collision time to the in-vehicle controller through the communication module; the in-vehicle controller, for controlling an operating state of the current vehicle and an operating state of a collision avoidance component of the current vehicle according to the collision time.

[0009] According to the control system for a vehicle of an embodiment of the present invention, by combining the first image acquisition module, the second image acquisition module, the lidar module with vehicle networking technology, the collision time of the target vehicle can be accurately determined, so as to accurately control the operating state of the current vehicle and the operating state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of an accident occurring to the target vehicle and the risk of the current vehicle being secondarily collided, thereby avoiding the occurrence and aggravation of traffic accidents and generating large economic losses.

[0010] In addition, the control system for a vehicle according to an embodiment of the present invention may further have the following additional technical features: In some examples, the collision avoidance component includes: a buzzer alarm, the buzzer alarm is disposed outside the current vehicle, and when controlling the current operating state and the operating state of the collision avoidance component of the current vehicle according to the collision time, the in-vehicle controller is configured to: when the collision time is less than a preset collision time threshold, control the current vehicle to change lanes, and control the buzzer alarm to emit an avoidance alarm signal.

[0011] In some examples, the cloud platform is further configured to: obtain the warning time of the buzzer alarm and the steering information of the target vehicle, and transmit the warning time and the steering information to the in-vehicle controller of the current vehicle through the communication module.

[0012] In some examples, the in-vehicle controller is further configured to: control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the warning time and the steering information.

[0013] In some examples, the collision avoidance component further includes: a telescopic device, which is arranged inside the side of the current vehicle. When controlling the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the warning time and the steering information, the in-vehicle controller is further configured to: when the warning time exceeds the warning time threshold and the steering information indicates that the target vehicle does not change lanes, control the current vehicle to change lanes, and control the telescopic device to move from the inside of the side of the current vehicle to the outside of the side of the target vehicle, so that the telescopic device is connected to the target vehicle and drives the target vehicle to change lanes until the target vehicle completes the lane change process. In some examples, the communication module includes: a roadside unit and an in-vehicle unit; the roadside unit is arranged on one or both sides of the road, and is configured to transmit the second image information to the cloud platform and transmit the collision time to the in-vehicle unit; the in-vehicle unit is arranged at the bottom of the current vehicle and is configured to transmit the collision time to the in-vehicle controller.

[0014] In some examples, when determining the second predicted collision time of the target vehicle based on the second image information, the second image acquisition module is configured to: determine the third vehicle speed information and the third position information of the target vehicle based on the second image information; determine the second predicted collision time of the target vehicle based on the third vehicle speed information and the third position information.

[0015] To achieve the above object, an embodiment of the second aspect of the present invention provides a vehicle control method, which includes the following steps: obtaining the first vehicle speed information, the first position information, the second vehicle speed information, the second position information of the target vehicle, and the second collision time of the target vehicle; determining the first collision time of the target vehicle according to the first vehicle speed information, the first position information, the second vehicle speed information, and the second position information; determining the collision time of the target vehicle according to the second collision time and the first collision time; controlling the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time.

[0016] According to the vehicle control method of the present invention, by combining the first image acquisition module, the second image acquisition module, the lidar module and vehicle networking technology, the collision time of the target vehicle can be accurately determined, so as to accurately control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of accidents occurring to the target vehicle and the risk of the current vehicle being secondarily collided, and further avoiding the occurrence and aggravation of traffic accidents, as well as causing greater economic losses.

[0017] To achieve the above object, a third aspect embodiment of the present invention discloses a vehicle, which includes: the vehicle control system described in the first aspect embodiment of the present invention; or, a processor, a memory, and a vehicle control program stored on the memory and executable on the processor, and when the vehicle control program is executed by the processor, it implements the vehicle control method described in the second aspect embodiment of the present invention.

[0018] According to the vehicle of the embodiment of the present invention, by combining the first image acquisition module, the second image acquisition module, the lidar module and vehicle networking technology, the collision time of the target vehicle can be accurately determined, so as to accurately control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of accidents occurring to the target vehicle and the risk of the current vehicle being secondarily collided, and further avoiding the occurrence and aggravation of traffic accidents, as well as causing greater economic losses.

[0019] To achieve the above object, a fourth aspect embodiment of the present invention discloses a computer-readable storage medium, on which a vehicle control program is stored, and when the vehicle control program is executed by the processor, it implements the vehicle control method described in the second aspect embodiment of the present invention.

[0020] According to the computer-readable storage medium of the embodiment of the present invention, when the vehicle control program stored thereon is executed by the processor, by combining the first image acquisition module, the second image acquisition module, the lidar module and vehicle networking technology, the collision time of the target vehicle can be accurately determined, so as to accurately control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of accidents occurring to the target vehicle and the risk of the current vehicle being secondarily collided, and further avoiding the occurrence and aggravation of traffic accidents, as well as causing greater economic losses.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which: Figure 1 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a vehicle control system according to another embodiment of the present invention; Figure 3 is a schematic structural diagram when a current vehicle and a target vehicle change lanes synchronously according to an embodiment of the present invention; Figure 4 is a schematic structural diagram when a current vehicle and a target vehicle complete lane change synchronously according to an embodiment of the present invention; Figure 5 is a schematic structural diagram when a current vehicle drives a target vehicle to change lanes according to an embodiment of the present invention; Figure 6 is a schematic structural diagram when a current vehicle drives a target vehicle to change lanes according to another embodiment of the present invention; Figure 7 is a schematic structural diagram when a current vehicle drives a target vehicle to complete lane change according to an embodiment of the present invention; Figure 8 is a schematic structural diagram when a current vehicle drives a target vehicle to complete lane change according to another embodiment of the present invention; Figure 9 is a schematic flowchart of a vehicle control method according to an embodiment of the present invention.

[0023] Reference numerals: Vehicle control system - 100; First image acquisition module - 110; LiDAR module - 120; Edge computing unit - 130; Second image acquisition module - 140; Communication module - 150; Cloud platform - 160; Vehicle-mounted controller - 170. Detailed implementation manners

[0024] In order to be able to understand the features and technical content of the embodiments of the present invention in more detail, the implementation of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference and illustration only and are not used to limit the embodiments of the present invention. In the following technical description, for the sake of explanation, numerous details are provided to give a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, well-known structures and devices can be shown in a simplified manner to simplify the drawings.

[0025] Next, refer to Figures 1 - 9 to describe a vehicle control system and method according to an embodiment of the present invention.

[0026] Figure 1 FIG. 1 is a schematic structural diagram of a vehicle control system 100 according to an embodiment of the present invention. Figure 2 FIG. 2 is a schematic structural diagram of a vehicle control system 100 according to another embodiment of the present invention. Combining Figure 1 and Figure 2 as shown, the vehicle control system 100 includes: a first image acquisition module 110, a lidar module 120, an edge computing unit 130, a second image acquisition module 140, a communication module 150, a cloud platform 160, and a vehicle-mounted controller 170. Among them, The first image acquisition module 110 is disposed on one side or both sides of the road and is configured to acquire first image information of a vehicle traveling on the road, and determine first vehicle speed information and first position information of a target vehicle in an adjacent lane of the lane where the current vehicle is located based on the first image information.

[0027] Specifically, the image acquisition module 110 in the vehicle control system 100 is disposed above the roadside poles on one side or both sides of the road, and is responsible for capturing vehicle image information on the road in real time. Among them, the image acquisition module 110 includes, but is not limited to, a high-definition data acquisition sensor (such as a high-definition camera), and can obtain dynamic images during the vehicle driving process by continuous shooting or video stream. Further, the vehicle speed (i.e., the first vehicle speed information) and position (the first position information) of the target vehicle in the adjacent lane of the lane where the current vehicle is located can be determined based on the acquired image information.

[0028] The lidar module 120 is disposed on one side or both sides of the road and is configured to obtain second vehicle speed information and second position information of the target vehicle.

[0029] Specifically, the lidar module 120 in the vehicle control system 100 is also disposed above the roadside poles on one side or both sides of the road, and can collect information of vehicles traveling on the road in a 360-degree all-round and all-weather manner by means of mechanical rotation data, including the vehicle speed (i.e., the second vehicle speed information) and position (the second position information) of the target vehicle in the adjacent lane of the lane where the current vehicle is located. For example, the lidar can construct a three-dimensional model of the vehicle based on the returned data, and thus identify the vehicle speed information and position information of the target vehicle according to the three-dimensional model.

[0030] The edge computing unit 130 is configured to determine a first predicted collision time of the target vehicle according to the first vehicle speed information, the first position information, the second vehicle speed information, and the second position information, and transmit the first predicted collision time to the cloud platform 160 through the communication module 150.

[0031] Specifically, the edge computing unit 130 in the vehicle control system 100 can fuse the data (first vehicle speed information, first position information, second vehicle speed information, and second position information) from the image acquisition module 110 and the laser radar module 120, including but not limited to combining the 2D image data with the 3D laser radar data using the transformer model, so as to accurately obtain the expected collision time of the target vehicle based on the combined data, wherein the expected collision time of the target vehicle includes but is not limited to the expected collision time between the target vehicle and the oncoming vehicle in the same lane in the opposite direction, and the calculation method can be: expected collision time = (distance between the target vehicle and the oncoming vehicle) / (the sum of the speeds of the target vehicle and the oncoming vehicle). Further, after obtaining the expected collision time, the edge computing unit 130 can transmit the expected collision time to the cloud platform 160 in real time through the communication module 150.

[0032] The second image acquisition module 140 is arranged on one side or both sides of the target vehicle, and is used to acquire second image information of the target vehicle, determine a second estimated collision time of the target vehicle based on the second image information, and transmit the second estimated collision time to the cloud platform 160 through the communication module 150.

[0033] Specifically, the vehicle control system 100 is also provided with a second image acquisition module 140, including but not limited to being provided on one side or both sides of the target vehicle, which can acquire and collect image information of the target vehicle in real time, so as to determine the expected collision time of the target vehicle based on the second image information, including but not limited to determining the speed of the target vehicle and the position of the target vehicle based on the second image information, so as to determine the expected collision time of the target vehicle according to the speed of the target vehicle and the position of the target vehicle, wherein the expected collision time of the target vehicle includes but is not limited to the expected collision time between the target vehicle and the oncoming vehicle in the same lane. Further, after obtaining the expected collision time, the second image acquisition module 140 can transmit the expected collision time to the cloud platform 160 in real time through the communication module 150.

[0034] The communication module 150 is used to realize data transmission among the second image acquisition module 140 , the cloud platform 160 , the on-board controller 170 of the current vehicle and the edge computing unit 130 .

[0035] Specifically, a communication module 150 is also provided in the vehicle control system 100, which is used to establish and maintain communication links between various components, and realize real-time transmission of data among the second image acquisition module 140, the cloud platform 160, the vehicle-mounted controller 170, and the edge computing unit 130. It can be understood that the communication module 150 can not only send data on the target vehicle (such as the second predicted collision time, etc.) and roadside data (such as the first predicted collision time, etc.) to the cloud platform 160, but also receive command information sent from the cloud platform 160, so as to realize two-way communication between different ports.

[0036] The cloud platform 160 is used to determine the collision time of the target vehicle according to the first predicted collision time and the second predicted collision time, and transmit the collision time to the vehicle-mounted controller 170 through the communication module 150.

[0037] Specifically, a cloud platform 160 is also provided in the vehicle control system 100. It can receive the second predicted collision time from the second image acquisition module 140 and the first predicted collision time from the edge computing unit 130 through the communication module 150, and use a preset algorithm and model to perform fusion processing on the received data, so as to accurately determine the collision time of the target vehicle. Further, after obtaining the included angle, the cloud platform 160 can transmit the collision time of the target vehicle to the vehicle-mounted controller 170 in real time through the communication module 150.

[0038] The vehicle-mounted controller 170 is used to control the running state of the current vehicle and the running state of the collision avoidance components of the current vehicle according to the collision time.

[0039] Specifically, a vehicle-mounted controller 170 is provided in the vehicle control system 100, including but not limited to being arranged at the bottom of the vehicle cockpit of the current vehicle. It can receive the collision time of the target vehicle in real time through the communication module 150, so as to control the running state of the current vehicle and the running state of the collision avoidance components of the current vehicle, including but not limited to controlling the current vehicle to change lanes, and driving the target vehicle to change lanes when the target vehicle has no avoidance measures, so as to reduce the risk of accidents of the target vehicle and the risk of secondary collision of the current vehicle, and further avoid the occurrence and aggravation of traffic accidents, as well as the generation of large economic losses.

[0040] Thus, the control system 100 of the above-mentioned vehicle, by combining the first image acquisition module 110, the second image acquisition module 140 and the laser radar module 120 with the vehicle networking technology, can accurately determine the collision time of the target vehicle, thereby accurately controlling the operating state of the current vehicle and the operating state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of an accident of the target vehicle and the risk of a secondary collision of the current vehicle, thereby avoiding the occurrence and aggravation of traffic accidents and causing large economic losses.

[0041] In one embodiment of the present invention, Figure 2 As shown, the collision avoidance component includes: a buzzer alarm, which is arranged on the outside of the current vehicle. When controlling the current operating state and the operating state of the collision avoidance component of the current vehicle according to the collision time, the on-board controller 170 is used for: when the collision time is less than a preset collision time threshold, controlling the current vehicle to change lanes, and controlling the buzzer alarm to send out an avoidance alarm signal.

[0042] Specifically, the collision avoidance component includes a buzzer alarm arranged on the outside of the current vehicle, for example, it can be arranged on the outside of the front windshield of the current vehicle, so as to send out an alarm signal when a potential collision risk is detected, reminding the driver or other road users to take emergency measures to avoid the collision.

[0043] Specifically, when controlling the current operating state and the operating state of the collision avoidance component of the current vehicle according to the collision time, if the collision time does not reach the preset collision time threshold, that is, the collision time is less than the preset collision time threshold, it means that the target vehicle is currently in a dangerous collision range, and there is a risk of collision between the target vehicle and other vehicles. At this time, the on-board controller 170 can send instructions to the steering control system of the current vehicle to control the current vehicle to turn and change lanes to leave avoidance space for the target vehicle. At the same time, instructions can be sent to the buzzer alarm of the current vehicle to cause it to send an avoidance alarm signal to remind the user of the target vehicle to take emergency measures to avoid collision.

[0044] In a specific embodiment, the preset collision time threshold can be set according to actual conditions and experimental theory, including but not limited to 5 seconds. For example, when there is an oncoming vehicle in the opposite direction of the target vehicle, when the target vehicle is currently in the dangerous collision range, that is, the collision time between the target vehicle and the oncoming vehicle is less than the preset collision time threshold, Figure 3 As shown, the on-board controller can control the current vehicle to change lanes, and at the same time, can send a warning to the target vehicle to remind the target vehicle to change lanes to avoid the target vehicle from colliding with the oncoming vehicle. Further, after receiving the warning signal, the target vehicle can change lanes synchronously until it avoids the collision with the oncoming vehicle. Figure 4The current vehicle and the target vehicle shown change lanes together to avoid and then drive into the adjacent lane.

[0045] In an embodiment of the present invention, the cloud platform 160 is further configured to: obtain the warning time of the buzzer alarm and the steering information of the target vehicle, and transmit the warning time and the steering information to the vehicle-mounted controller 170 of the current vehicle through the communication module 150.

[0046] Specifically, after controlling the buzzer alarm to start alarming, the cloud platform 160 can also obtain the warning time of the buzzer alarm, that is, the continuous on time of the buzzer alarm. At the same time, the cloud platform 160 can also obtain the steering information of the target vehicle through the communication module 150, including but not limited to whether the vehicle has started to turn, the speed and direction of turning, etc. Further, the cloud platform 160 can transmit the warning time and the steering information to the vehicle-mounted controller 170 of the current vehicle through the communication module 150.

[0047] In an embodiment of the present invention, the vehicle-mounted controller 170 is further configured to: control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the warning time and the steering information.

[0048] Specifically, after controlling the buzzer alarm to start alarming, the vehicle-mounted controller 170 can also control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the warning time and the steering information. For example, when the vehicle-mounted controller 170 receives the warning time transmitted by the cloud platform 160, it can judge the urgency of the collision risk according to the length of the warning time. If the warning time is long and the target vehicle continues not to turn, it means that the collision risk is very high, and the current vehicle can be controlled to change lanes, and at the same time, the collision avoidance component of the vehicle can be activated to take corresponding avoidance measures.

[0049] In an embodiment of the present invention, in combination with Figure 2 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 As shown, the collision avoidance component further includes: a telescopic device disposed inside the side of the current vehicle. When controlling the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the warning time and the steering information, the vehicle-mounted controller 170 is further configured to: when the warning time exceeds the warning time threshold and the steering information indicates that the target vehicle has not changed lanes, control the current vehicle to change lanes, and control the motor corresponding to the telescopic device to drive the telescopic device to move from the inside of the side of the current vehicle to the outside of the side of the target vehicle, so that the telescopic device is connected to the target vehicle and drives the target vehicle to change lanes until the target vehicle completes the lane change process.

[0050] Specifically, the collision avoidance component includes a telescopic device arranged inside the side of the current vehicle, which can be quickly extended to the outside of the vehicle under the control of a corresponding motor when needed, and establish a physical connection with the target vehicle through a suction cup or other connection mechanism equipped at its end.

[0051] Specifically, when the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle are controlled according to the warning time and the steering information, if the warning time exceeds the warning time threshold and the steering information indicates that the target vehicle has not changed lanes, it means that the target vehicle has not taken corresponding avoidance measures within a relatively sufficient time and the situation is in a critical state. At this time, if Figure 5 As shown, the vehicle controller 170 can send instructions to the telescopic device control motor of the current vehicle to control the telescopic device to move from the inside of the side of the current vehicle to the outside of the side of the target vehicle, approach and locate to the outside of the side of the target vehicle, and establish a stable physical connection with the target vehicle through the suction cup or other connection methods at the end of the telescopic device. At the same time, Figure 6 As shown, a command can be sent to the steering control system of the current vehicle to control the current vehicle to change lanes, and at the same time, drive the target vehicle to change lanes until the target vehicle successfully enters the safe lane, that is, Figure 7 Further, when the target vehicle successfully enters the safe lane, that is, when the current vehicle changes lanes with the target vehicle and drives to the adjacent lane, Figure 8 As shown, the telescopic device can be controlled to retract to the current vehicle.

[0052] In a specific embodiment, the warning time threshold can be set according to actual conditions and experimental theory, including but not limited to 1 second.

[0053] In one embodiment of the present invention, Figure 2 As shown, the communication module 150 includes: a roadside unit and a vehicle-mounted unit; the roadside unit is arranged on one side or both sides of the road, and is used to transmit the second image information to the cloud platform 160, and transmit the collision time to the vehicle-mounted unit; the vehicle-mounted unit is arranged at the bottom of the current vehicle, and is used to transmit the collision time to the vehicle-mounted controller 170.

[0054] Specifically, the communication module 150 includes a roadside unit and a vehicle-mounted unit. By the cooperation of the two units, data exchange between the vehicle, the roadside, and the cloud platform is achieved. Among them, the roadside unit is usually set on one or both sides of the road, such as on traffic signal poles, street lamp poles, or other infrastructures. It can receive the second image information from the vehicle end (the second image acquisition module 140) and transmit it to the cloud platform 160. At the same time, the roadside unit can also transmit the preset collision time received from the cloud platform 160 to the vehicle-mounted unit. The vehicle-mounted unit is usually installed at the bottom of the trailer connected. When the vehicle-mounted unit receives the preset collision time transmitted by the roadside unit, it can transmit the preset collision time to the vehicle-mounted controller 170, so that the vehicle-mounted controller 170 can adjust the working state of the collision avoidance component according to the preset collision time.

[0055] In an embodiment of the present invention, when determining the second predicted collision time of the target vehicle based on the second image information, the second image acquisition module 140 is used to: determine the third vehicle speed information and the third position information of the target vehicle based on the second image information; determine the second predicted collision time of the target vehicle based on the third vehicle speed information and the third position information.

[0056] Specifically, when determining the second predicted collision time of the target vehicle based on the second image information, the vehicle speed information of the target vehicle can be determined by analyzing the displacement change of the target vehicle in consecutive image frames. For example, the actual vehicle speed of the target vehicle, that is, the third vehicle speed information, can be calculated according to the images of the target vehicle at different time points and its moving distance in the image. At the same time, the position information of the target vehicle can be determined based on the relative position of the target vehicle in the image. For example, the coordinate transformation and calibration of the image can be performed to convert the pixel position in the image into the actual spatial position to determine the position of the target vehicle, that is, the third position information. The third position information includes the actual position of the target vehicle and the actual relative distance between the target vehicle and surrounding vehicles.

[0057] In summary, according to the vehicle control system 100 of the embodiment of the present invention, by combining the first image acquisition module 110, the second image acquisition module 140, the lidar module 120 and the vehicle networking technology, the collision time of the target vehicle can be accurately determined. Thus, the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle can be accurately controlled according to the collision time of the target vehicle, effectively reducing the risk of accidents of the target vehicle and the risk of secondary collision of the current vehicle. Furthermore, the occurrence and aggravation of traffic accidents, as well as large economic losses, can be avoided.

[0058] A further embodiment of the present invention proposes a vehicle control method, as Figure 9 shown, the vehicle control method includes the following steps: Step S1: Obtain the first vehicle speed information, the first position information, the second vehicle speed information, the second position information of the target vehicle, and the second collision time of the target vehicle.

[0059] Step S2: Determine the first collision time of the target vehicle according to the first vehicle speed information, the first position information, the second vehicle speed information, and the second position information.

[0060] Step S3: Determine the collision time of the target vehicle according to the second collision time and the first collision time.

[0061] Step S4: Control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time.

[0062] In some embodiments, the collision avoidance component includes: a buzzer alarm, which is arranged on the outside of the current vehicle. Controlling the current running state and the running state of the collision avoidance component of the current vehicle according to the collision time includes: when the collision time does not reach the preset collision time threshold, controlling the current vehicle to change lanes, and controlling the buzzer alarm to emit an avoidance alarm signal.

[0063] In some embodiments, the vehicle control method further includes: obtaining the warning time of the buzzer alarm and the steering information of the target vehicle, and transmitting the warning time and the steering information to the vehicle-mounted controller of the current vehicle through the communication module.

[0064] In some embodiments, the vehicle control method further includes: controlling the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the warning time and the steering information.

[0065] In some embodiments, the collision avoidance component further includes: a telescopic device, which is arranged inside the side of the current vehicle. Controlling the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the warning time and the steering information includes: when the warning time exceeds the warning time threshold and the steering information indicates that the target vehicle does not change lanes, controlling the current vehicle to change lanes, and controlling the telescopic device to move from the inside of the side of the current vehicle to the outside of the side of the target vehicle, so that the telescopic device is connected to the target vehicle and drives the target vehicle to change lanes until the target vehicle completes the lane change process.

[0066] In some embodiments, the communication module includes: a roadside unit and a vehicle-mounted unit; the roadside unit is arranged on one or both sides of the road, and is used to transmit the second image information to the cloud platform and transmit the collision time to the vehicle-mounted unit; the vehicle-mounted unit is arranged at the bottom of the current vehicle and is used to transmit the collision time to the vehicle-mounted controller.

[0067] In some embodiments, determining the second predicted collision time of the target vehicle based on the second image information includes: determining the third vehicle speed information and the third position information of the target vehicle based on the second image information; and determining the second predicted collision time of the target vehicle based on the third vehicle speed information and the third position information.

[0068] According to the vehicle control method of the present invention, by combining the first image acquisition module, the second image acquisition module, the lidar module and the vehicle networking technology, the collision time of the target vehicle can be accurately determined, so as to accurately control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of accidents of the target vehicle and the risk of secondary collision of the current vehicle, and further avoiding the occurrence and aggravation of traffic accidents, as well as causing large economic losses.

[0069] To achieve the above object, a third aspect embodiment of the present invention discloses a vehicle, which includes: the control system of the vehicle according to the first aspect embodiment of the present invention; or, a processor, a memory, and a vehicle control program stored on the memory and executable on the processor, and when the vehicle control program is executed by the processor, it implements the vehicle control method according to the second aspect embodiment of the present invention.

[0070] According to the vehicle of the embodiment of the present invention, by combining the first image acquisition module, the second image acquisition module, the lidar module and the vehicle networking technology, the collision time of the target vehicle can be accurately determined, so as to accurately control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of accidents of the target vehicle and the risk of secondary collision of the current vehicle, and further avoiding the occurrence and aggravation of traffic accidents, as well as causing large economic losses.

[0071] To achieve the above object, a fourth aspect embodiment of the present invention discloses a computer-readable storage medium, on which a vehicle control program is stored, and when the vehicle control program is executed by a processor, it implements the vehicle control method according to the second aspect embodiment of the present invention.

[0072] According to the computer-readable storage medium of the embodiment of the present invention, when the vehicle control program stored thereon is executed by a processor, by combining the first image acquisition module, the second image acquisition module, the lidar module and the vehicle networking technology, the collision time of the target vehicle can be accurately determined, so as to accurately control the running state of the current vehicle and the running state of the collision avoidance component of the current vehicle according to the collision time of the target vehicle, effectively reducing the risk of accidents of the target vehicle and the risk of secondary collision of the current vehicle, and further avoiding the occurrence and aggravation of traffic accidents, as well as causing large economic losses.

[0073] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0074] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle control system, characterized in that: include: A first image acquisition module is arranged on one side or both sides of the road, and is used to acquire first image information of vehicles traveling on the road, and determine first vehicle speed information and first position information of a target vehicle in an adjacent lane of the lane where the current vehicle is located based on the first image information; a laser radar module, arranged on one side or both sides of the road, for acquiring second vehicle speed information and second position information of the target vehicle; an edge computing unit, configured to determine a first estimated collision time of the target vehicle according to the first vehicle speed information, the first position information, the second vehicle speed information, and the second position information, and transmit the first estimated collision time to a cloud platform through a communication module; A second image acquisition module is provided on one side or both sides of the target vehicle, and is used to acquire second image information of the target vehicle, determine a second estimated collision time of the target vehicle based on the second image information, and transmit the second estimated collision time to the cloud platform through the communication module; The communication module is used to realize data transmission among the second image acquisition module, the cloud platform, the on-board controller of the current vehicle and the edge computing unit; The cloud platform is used to determine the collision time of the target vehicle according to the first estimated collision time and the second estimated collision time, and transmit the collision time to the vehicle controller through the communication module; The vehicle-mounted controller is used to control the operating state of the current vehicle and the operating state of the collision avoidance component of the current vehicle according to the collision time.

2. The vehicle control system according to claim 1, characterized in that: The collision avoidance component includes: a buzzer alarm, which is arranged on the outer side of the current vehicle. When controlling the current operating state and the operating state of the collision avoidance component of the current vehicle according to the collision time, the vehicle-mounted controller is used to: When the collision time is less than a preset collision time threshold, the current vehicle is controlled to change lanes, and the buzzer alarm is controlled to send out an avoidance alarm signal.

3. The vehicle control system according to claim 2, characterized in that: The cloud platform is also used for: The warning time of the buzzer alarm and the steering information of the target vehicle are obtained, and the warning time and the steering information are transmitted to the on-board controller of the current vehicle through the communication module.

4. The vehicle control system according to claim 3, characterized in that: The vehicle-mounted controller is also used for: The operating state of the current vehicle and the operating state of the collision avoidance component of the current vehicle are controlled according to the warning time and the steering information.

5. The vehicle control system according to claim 4, characterized in that: The collision avoidance component further includes: a telescopic device, the telescopic device being arranged inside the side of the current vehicle, and when controlling the operating state of the current vehicle and the operating state of the collision avoidance component of the current vehicle according to the warning time and the steering information, the on-board controller is further used to: When the warning time exceeds the warning time threshold and the steering information indicates that the target vehicle has not changed lanes, the current vehicle is controlled to change lanes, and the telescopic device is controlled to move from the inside of the side of the current vehicle to the outside of the side of the target vehicle so that the telescopic device is connected to the target vehicle and drives the target vehicle to change lanes until the target vehicle completes the lane change process.

6. The vehicle control system according to claim 1, characterized in that: The communication module includes: a roadside unit and a vehicle-mounted unit; The roadside unit is arranged on one side or both sides of the road, and is used to transmit the second image information to the cloud platform, and transmit the collision time to the vehicle-mounted unit; The on-board unit is arranged at the bottom of the current vehicle and is used for transmitting the collision time to the on-board controller.

7. The vehicle control system according to claim 1, characterized in that: When determining the second estimated collision time of the target vehicle based on the second image information, the second image acquisition module is used to: Determine third vehicle speed information and third position information of the target vehicle based on the second image information; A second estimated collision time of the target vehicle is determined based on the third vehicle speed information and the third position information.

8. A method for controlling a vehicle, the method comprising the following steps: Acquire first vehicle speed information, first position information, second vehicle speed information, second position information and a second collision time of the target vehicle; determining a first collision time of the target vehicle according to the first vehicle speed information, the first position information, the second vehicle speed information, and the second position information; determining a collision time of the target vehicle according to the second collision time and the first collision time; The operating state of the current vehicle and the operating state of the collision avoidance component of the current vehicle are controlled according to the collision time.

9. A vehicle comprising: A vehicle control system as claimed in any one of claims 1 to 7; or, A processor, a memory, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program implements the vehicle control method as claimed in claim 8 when executed by the processor. 10 . A computer-readable storage medium storing a vehicle control program, wherein the vehicle control program, when executed by a processor, implements the vehicle control method according to claim 8 .

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