Vehicle control method, computer program product and electronic product

Abstract

The invention provides a vehicle control method, a computer program product and an electronic product, and according to the vehicle control method provided by the invention, first operation data of a vehicle and second operation data of a target object around the vehicle can be respectively calculated according to the first operation data of the vehicle and the second operation data of the target object around the vehicle; generating a first predicted motion trail of the vehicle and a second predicted motion trail of the target object; moreover, on the basis of the first predicted movement track and the second predicted movement track, when it is judged that in the predicted movement process of the target object and the vehicle, the area where the target object is located intersects with the preset risk boundary line of the area where the vehicle is located, the target object is located. The vehicle can be automatically and emergently braked and controlled according to the first intersection time between the area where the target object is located and the preset risk boundary line; wherein the preset risk boundary line can comprise at least part of a boundary line corresponding to the side edge of the vehicle body and a boundary line corresponding to the head part of the vehicle in the area where the vehicle is located.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a vehicle control method, a computer program product, and an electronic product. Background Art

[0002] With the continuous development of technology, automobiles have gradually begun to be equipped with an automatic emergency braking function, which combines the information of the surrounding environment of the vehicle and the operating conditions of the vehicle itself. When it is recognized that there is a certain collision probability between the vehicle and a target object in the vehicle's surroundings, but the driver fails to take braking measures in time, the vehicle is actively controlled for emergency braking, which is beneficial to improving the safety of the vehicle during driving. However, the current automatic emergency braking function is often too sensitive, so it is easy to perform emergency braking control on the vehicle under unnecessary circumstances, which not only affects the comfort of the passengers and drivers, but also may increase the possibility of traffic accidents of the vehicle, thus affecting the safety of the passengers and drivers. Summary of the Invention

[0003] Based on this, the present invention provides a vehicle control method, a computer program product, and an electronic product. By using this vehicle control method, the accuracy and reliability of automatic emergency braking control for the vehicle can be improved, so as to improve the safety and comfort of the passengers and drivers.

[0004] On the one hand, the present invention provides a vehicle control method, and the method includes:

[0005] Obtain the first operating data of the vehicle itself and the second operating data of a target object around the vehicle itself;

[0006] Based on the first operating data and the second operating data, generate a first predicted motion trajectory of the vehicle itself and a second predicted motion trajectory of the target object;

[0007] According to the first predicted motion trajectory and the second predicted motion trajectory, determine whether the area where the target object is located first intersects with a preset risk boundary line of the area where the vehicle is located during the predicted motion of the target object and the vehicle itself, and obtain a determination result; wherein, the preset risk boundary line includes at least part of the boundary line corresponding to the side of the vehicle body at the area where the vehicle is located and the boundary line corresponding to the front part of the vehicle;

[0008] If the determination result indicates that during the predicted motion of the target object and the vehicle itself, the area where the target object is located first intersects with the preset risk boundary line of the area where the vehicle is located, then perform automatic emergency braking control on the vehicle according to the first intersection time between the area where the object is located and the preset risk boundary line.

[0009] Further, in some embodiments, obtaining the second operation data of the target object around the vehicle includes:

[0010] Obtaining object-related information of an initial target object detected in the surrounding area of the vehicle; wherein, the initial target object is obtained by processing data collected from the surrounding area of the vehicle by a radar device or an image acquisition device, or the initial target object is obtained by processing data collected from the surrounding area of the vehicle by a radar device and an image acquisition device;

[0011] Determining a credible traffic participant from the initial target objects according to the object-related information of the initial target objects;

[0012] Obtaining the current operation data of the credible traffic participant to obtain the second operation data of the target object around the vehicle.

[0013] Further, in some embodiments, generating a first predicted motion trajectory of the vehicle and a second predicted motion trajectory of the target object based on the first operation data and the second operation data includes:

[0014] Using a constant acceleration model, generating a first predicted motion trajectory of the vehicle within a preset future time period based on the first operation data; wherein, the first operation data includes vehicle position data, first motion speed data, and first motion acceleration data of the vehicle;

[0015] Using the constant acceleration model, generating a second predicted motion trajectory of the target object within the preset future time period based on the second operation data; wherein, the second operation data includes object position data, second motion speed data, and second motion acceleration data of the target object.

[0016] Further, in some embodiments, determining whether the area where the object of the target object is located first intersects with a preset risk boundary line of the area where the vehicle of the vehicle is located during the predicted motion process of the target object and the vehicle according to the first predicted motion trajectory and the second predicted motion trajectory, and obtaining a judgment result includes:

[0017] Determining first position information of the area where the vehicle is located at each preset future moment according to the first predicted motion trajectory and the second predicted motion trajectory, and second position information of the area where the object of the target object is located at each of the preset future moments;

[0018] Determine the first intersection time between the area where the object is located and the area where the vehicle is located according to the first position information of the area where the vehicle is located and the second position information of the area where the object is located at the same preset time;

[0019] Judge whether the preset risk boundary line is included in the overlapping area between the area where the object is located and the area where the vehicle is located at the first intersection time, and obtain a judgment result.

[0020] Further, in some embodiments, the determining the first position information of the area where the vehicle is located at each future preset time according to the first predicted motion trajectory and the second predicted motion trajectory, and the second position information of the area where the object is located at each future preset time of the target object includes:

[0021] Determine the third position data of the preset position at the vehicle at a specific preset time according to the first predicted motion trajectory and the second predicted motion trajectory, and the fourth position data of the specified position at the target object at a specific preset time;

[0022] Based on the third position data, the vehicle size information of the vehicle, and the motion direction information of the vehicle at a specific preset time, determine the first position information of the area where the vehicle is located at the specific preset time;

[0023] Based on the fourth position data, the object size information of the target object, and the motion direction information of the target object at a specific preset time, determine the second position information of the area where the target object is located at the specific preset time.

[0024] Further, in some embodiments, before judging whether the preset risk boundary line is included in the overlapping area between the area where the object is located and the area where the vehicle is located at the first intersection time, it further includes:

[0025] Determine the oncoming direction to which the target object belongs according to the first predicted motion trajectory and the second predicted motion trajectory;

[0026] According to the oncoming direction to which the target object belongs, determine the preset risk boundary line corresponding to the target object from the boundary lines of the area where the vehicle is located of the vehicle.

[0027] Further, in some embodiments, the determining the preset risk boundary line corresponding to the target object from the boundary lines of the area where the vehicle is located of the vehicle according to the oncoming direction to which the target object belongs includes:

[0028] If the oncoming vehicle direction to which the target object belongs is the oncoming vehicle direction from the left, at least a part of the first boundary line corresponding to the front part of the vehicle and the second boundary line corresponding to the left side of the vehicle body in the area where the vehicle is located is determined as the preset risk boundary line corresponding to the target object;

[0029] If the oncoming vehicle direction to which the target object belongs is the oncoming vehicle direction from the right, at least a part of the first boundary line corresponding to the front part of the vehicle and the third boundary line corresponding to the right side of the vehicle body in the area where the vehicle is located is determined as the preset risk boundary line corresponding to the target object.

[0030] Further, in some embodiments, the automatically emergency braking control of the vehicle according to the first intersection time between the area where the object is located and the preset risk boundary line includes:

[0031] If there is a first intersection time among the first intersection times corresponding to each of the target objects, the time interval between which and the current time is less than or equal to a preset duration, an activation control instruction for the automatically emergency braking function of the vehicle is generated; or,

[0032] Using the automatically emergency braking function of the vehicle in the activated state, a warning message for a specific target object corresponding to the earliest first intersection time among each of the target objects is generated; or,

[0033] Using the automatically emergency braking function of the vehicle in the activated state, a braking control instruction for the vehicle is generated according to the running data of the specific target object.

[0034] On the other hand, the present invention also provides a computer program product, which includes a computer program, and when the computer program is executed, the steps of the above method are implemented.

[0035] On the other hand, the present invention also provides an electronic device, including: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the steps of the above method.

[0036] Further, in some embodiments, the electronic device includes at least one of a radar device, an image acquisition device, and a domain controller.

[0037] According to the vehicle control method provided by the present invention, the first predicted motion trajectory of the vehicle itself and the second predicted motion trajectory of the target object around the vehicle can be generated respectively according to the first operation data of the vehicle itself and the second operation data of the target object around the vehicle. And, when it is determined based on the first predicted motion trajectory and the second predicted motion trajectory that during the predicted motion process of the target object and the vehicle itself, the area where the target object is located first intersects with the preset risk boundary line of the area where the vehicle is located, the vehicle will be automatically emergency braked according to the first intersection time between the area where the target object is located and the preset risk boundary line. Since the preset risk boundary line can include at least part of the boundary line corresponding to the side of the vehicle body at the area where the vehicle is located and the boundary line corresponding to the front part of the vehicle, but does not include the boundary line corresponding to the rear part of the vehicle at the area where the vehicle is located, it can reduce the interference of target objects that will rear-end the vehicle in the future and target objects that will not collide with the vehicle at all to the automatic emergency braking control process of the vehicle, which is beneficial to improving the accuracy and reliability of the automatic emergency braking control for the vehicle, so as to improve the safety and comfort of the passengers and drivers.

[0038] It should be understood that the content described in the summary of the invention is not intended to limit the key or important features of the embodiments of the present invention, nor to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Brief Description of the Drawings

[0039] Figure 1 It is a schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of a vehicle driving scenario provided by an embodiment of the present invention;

[0041] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed Description of the Embodiments

[0042] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] In the description of one or more embodiments of the present invention, the term "including" and its like should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0044] Currently, in order to enable a vehicle to comprehensively identify the collision risk brought by a target object existing ahead, and to reserve sufficient time for the vehicle to respond to the collision risk, the automatic emergency braking function of the vehicle is usually made to have good sensitivity. However, this may frequently trigger the automatic emergency braking function of the vehicle to give an early warning or control the vehicle braking under unnecessary circumstances. For example, it may mis-trigger the automatic emergency braking function when there will actually be no collision between the vehicle and the surrounding target objects, or mis-trigger the automatic emergency braking function when the interference between the predicted trajectory of the target object and the predicted trajectory of the vehicle occurs at the rear of the vehicle, etc. This not only easily affects the riding comfort of the passengers in the vehicle and their trust in the automatic emergency braking function, but may even cause a collision between the surrounding vehicles and this vehicle, and affect the driving stability and controllability of this vehicle, thus affecting the safety of the passengers in the vehicle.

[0045] Based on this, the present invention proposes a vehicle control method. If, based on the first predicted motion trajectory of the vehicle itself and the second predicted motion trajectory of a target object existing around the vehicle itself, it is determined that during the predicted motion process of the vehicle itself and the target object, the object location area of the target object will first intersect with a preset risk boundary line of the vehicle location area of the vehicle itself, then automatic emergency braking control of the vehicle itself is allowed according to the first intersection time between the object location area of the target object and the preset risk boundary line. Since the preset risk boundary line may include at least part of the boundary line corresponding to the side of the vehicle body at the vehicle location area of the vehicle itself and the boundary line corresponding to the front of the vehicle, but does not include the boundary line corresponding to the rear of the vehicle at the vehicle location area of the vehicle itself, it is possible to reduce the interference of target objects that will not collide with the vehicle itself in the future and target objects that will rear-end the vehicle itself, etc. on the automatic emergency braking control process of the vehicle itself, which is beneficial to improving the accuracy and reliability of the automatic emergency braking control for the vehicle itself, so as to improve the safety and comfort of the passengers.

[0046] Please refer to Figure 1, which is a schematic flowchart of a vehicle control method provided by an embodiment of the present invention. From a program perspective, the execution subject of this process can be a program installed in a vehicle, a radar device, an image acquisition device, or a domain control device. Alternatively, the execution subject of this process can also be a vehicle, a radar device, an image acquisition device, or a domain control device, or other devices that can communicate with a vehicle, a radar device, an image acquisition device, or a domain control device, etc., and no specific limitation is made thereto.

[0047] Next, for Figure 1 the process shown below, the vehicle control method may specifically include the following steps:

[0048] Step S102, obtain first operation data of the vehicle itself and second operation data of a target object around the vehicle itself.

[0049] In the embodiment of the present invention, in order to improve the accuracy and reliability of automatic emergency braking control for the vehicle itself and reduce the false triggering of the automatic emergency braking function of the vehicle, it is usually necessary to combine the relevant operation data of the vehicle itself and the target objects existing around the vehicle itself to accurately identify the collision risk situation between the two. Based on this, the first operation data of the vehicle itself and the second operation data of the target object around the vehicle itself can be obtained.

[0050] Among them, the first operation data usually may include data required to determine the movement trajectory of the vehicle itself within a preset future time period, and the second operation data may include data required to determine the movement trajectory of the target object within a preset future time period. In practical applications, the types of the first / second operation data can usually be set according to actual needs. For example, it may include at least some of the position data, movement speed data, movement acceleration data, current orientation data, and current movement direction data of the vehicle itself / target object, and no specific limitation is made thereto.

[0051] Step S104, generate a first predicted movement trajectory of the vehicle itself and a second predicted movement trajectory of the target object based on the first operation data and the second operation data.

[0052] In the embodiment of the present invention, in order to predict the collision risk between the vehicle itself and the target object, the first predicted movement trajectory that the vehicle itself may generate within a preset future time period can be generated by combining the first operation data, and the second predicted movement trajectory that the target object may generate within a preset future time period can be generated by combining the second operation data. Among them, the first predicted movement trajectory and the second predicted movement trajectory can usually respectively reflect the positions of the vehicle itself and the target object at each moment within a period of time in the future. In addition, they can also reflect information such as the movement states, movement directions, and movement distances of the vehicle itself and the target object, which will not be elaborated herein.

[0053] Step S106: According to the first predicted motion trajectory and the second predicted motion trajectory, determine whether the area where the target object is located first intersects with the preset risk boundary line of the area where the vehicle itself is located during the predicted motion process of the target object and the vehicle itself, and obtain a judgment result; wherein, the preset risk boundary line includes at least part of the boundary line corresponding to the side of the vehicle body of the vehicle itself and the boundary line corresponding to the front part of the vehicle itself at the area where the vehicle is located.

[0054] In the embodiment of the present invention, when there is no intersection between the areas where the vehicle itself and the target object are located within a preset future time period, it often indicates that there is no collision risk between the vehicle itself and the target object, so there is no need to use the automatic emergency braking function to control the driving process of the vehicle itself; and when the area where the target object is located intersects with the boundary line corresponding to the rear of the vehicle itself at the area where the vehicle itself is located, it can indicate that the target object rear-ends the vehicle itself. At this time, it is also not applicable to use the automatic emergency braking function to control the driving process of the vehicle itself; in addition, according to the provisions of some regulations, when the target object collides with the rear part of the vehicle body of the vehicle itself (for example, the rear bumper area and part of the vehicle body areas on both sides of the rear bumper), the target object shall bear the corresponding accident liability, and at this time, it may not be necessary to use the automatic emergency braking function to control the driving process of the vehicle itself.

[0055] On this basis, by using at least part of the boundary line corresponding to the side of the vehicle body of the vehicle itself and the boundary line corresponding to the front part of the vehicle itself at the area where the vehicle is located as the preset risk boundary line, and making it so that during the predicted motion process of the target object and the vehicle itself, only when the area where the target object is located first intersects with the preset risk boundary line of the area where the vehicle itself is located, is it allowed to perform automatic emergency braking control on the vehicle itself based on the target object, which can effectively avoid performing automatic emergency braking control on the vehicle itself in unnecessary situations, and is beneficial to improving the operation accuracy and reliability of the automatic emergency braking function of the vehicle.

[0056] Step S108: If the judgment result indicates that during the predicted motion process of the target object and the vehicle itself, the area where the target object is located first intersects with the preset risk boundary line of the area where the vehicle itself is located, then perform automatic emergency braking control on the vehicle itself according to the first intersection time between the area where the object is located and the preset risk boundary line.

[0057] In an embodiment of the present invention, during the predicted movement of a target object and the host vehicle, if the area where the target object is located can first intersect with a preset risk boundary line of the area where the host vehicle is located, at this time, the target object can be used as an effective risk object for reference in the automatic emergency braking control of the host vehicle. Thus, according to the collision risk brought by such target objects to the host vehicle, the automatic emergency braking control of the host vehicle can be performed, which is beneficial to ensuring the safety of the driving process of the host vehicle and the reliability of the automatic emergency braking function.

[0058] It can be understood that when the area where the target object is located intersects with the area where the host vehicle is located for the first time to generate an overlapping area, if the preset risk boundary line is not included in the overlapping area, at this time, although the target object will collide with the host vehicle, generally, it is not applicable to avoid such collision risks by operating the automatic emergency braking function of the host vehicle. Based on this, if the judgment result indicates that during the predicted movement of the target object and the host vehicle, the area where the target object is located does not first intersect with the boundary line of the area where the host vehicle is located except the preset risk boundary line, then there is no need to perform automatic emergency braking control on the host vehicle according to this target object.

[0059] Figure 2 In the method, by determining that during the predicted movement of the host vehicle and the target object, the area where the target object is located will first intersect with the preset risk boundary line of the area where the host vehicle is located, it is only allowed to perform automatic emergency braking control on the host vehicle according to the first intersection time between the area where the target object is located and the preset risk boundary line. Since the preset risk boundary line may include at least part of the boundary line corresponding to the side of the host vehicle body and the boundary line corresponding to the front of the host vehicle in the area where the host vehicle is located, but does not include the boundary line corresponding to the rear of the host vehicle in the area where the host vehicle is located, it is possible to reduce the interference of target objects that will not collide with the host vehicle in the future and target objects that will rear-end the host vehicle to the automatic emergency braking control process of the host vehicle, which is beneficial to improving the accuracy and reliability of the automatic emergency braking control for the host vehicle, so as to enhance the safety and comfort of the passengers.

[0060] In a feasible implementation manner, the obtaining of the second operation data of the target object around the host vehicle may include:

[0061] Obtaining object-related information of an initial target object detected in the surrounding area of the host vehicle; wherein, the initial target object is obtained by processing data collected from the surrounding area of the host vehicle by a radar device or an image acquisition device, or the initial target object is obtained by processing data collected from the surrounding area of the host vehicle by a radar device and an image acquisition device.

[0062] Determine a credible traffic participant from the initial target object according to the object-related information of the initial target object.

[0063] Obtain the current running data of the credible traffic participant to obtain the second running data of the target object around the vehicle.

[0064] In an embodiment of the present invention, if the vehicle is equipped with an image acquisition device capable of acquiring images of the vehicle surrounding environment, the object-related information of the initial target object existing in the vehicle surrounding area can be obtained by performing target detection processing on the vehicle surrounding environment images acquired by the image acquisition device. Alternatively, if the vehicle is equipped with a radar device capable of environmental perception, the radar can also be used to collect data for the vehicle surrounding area, and by performing radar target detection on the collected radar perception data, the object-related information of the initial target object existing in the vehicle surrounding area can be obtained.

[0065] Of course, it is also possible to jointly analyze and process the data collected by the radar device and the image acquisition device carried by the vehicle to obtain the object-related information of the initial target object existing in the vehicle surrounding area, so as to improve the comprehensiveness and accuracy of the initial target object detected in the vehicle surrounding area. In practical applications, the data collected by the radar device and the image acquisition device can be first subjected to target detection processing respectively to obtain two sets of target objects to be fused; then, the multiple target objects to be fused belonging to the same target in the two sets of target objects to be fused are fused to obtain a reliable initial target object existing in the vehicle surrounding area. Alternatively, the data collected by the radar device and the image acquisition device can also be input into a pre-trained artificial intelligence model, so that the artificial intelligence model can generate a reliable initial target object existing in the vehicle surrounding area by combining the above data, which is efficient and convenient. Of course, other methods can also be used to comprehensively analyze the data collected by the radar device and the image acquisition device to obtain the initial target object existing in the vehicle surrounding area, and no specific limitation is made thereto.

[0066] In practical applications, the preset area around the vehicle can usually be the image acquisition area of the above image acquisition device or the perception area of the radar device. For example, the front area, side area, rear area, etc. of the vehicle are not specifically limited thereto.

[0067] In an embodiment of the present invention, in order to ensure the accuracy and reliability of the automatic emergency braking control for the vehicle, it is usually necessary to select traffic participants with good credibility (such as pedestrians, non-motor vehicles, motor vehicles, and other types of traffic participants) from each initial target object existing around the vehicle as Figure 1the target object mentioned in the medium solution, without targeting the initial target object with poor credibility or the initial target object that does not belong to traffic participants Figure 1 the processing steps of the medium solution, which is also beneficial to saving computing resources.

[0068] In practical applications, among the object-related information of the initial target object obtained through image target detection processing or radar target detection processing, data for determining whether the initial target object is credible and its object type can usually be included. For example, the existence probability of the initial target object, the obstacle probability, the variance of motion attributes (such as motion speed, motion acceleration, and location), etc. Based on this, when the existence probability of the initial target object reaches the first threshold, the obstacle probability reflecting its belonging to traffic participants reaches the second threshold, and / or the variance of the motion attributes is less than the third threshold, the initial target object can be regarded as a credible traffic participant, and no specific limitation is made here.

[0069] In a feasible implementation manner, generating the first predicted motion trajectory of the vehicle and the second predicted motion trajectory of the target object based on the first operation data and the second operation data may include:

[0070] Using a constant acceleration model, based on the first operation data, generating the first predicted motion trajectory of the vehicle within a preset future time period; where the first operation data includes the vehicle position data, the first motion speed data, and the first motion acceleration data of the vehicle.

[0071] Using the constant acceleration model, based on the second operation data, generating the second predicted motion trajectory of the target object within the preset future time period; where the second operation data includes the object position data, the second motion speed data, and the second motion acceleration data of the target object.

[0072] In the embodiments of the present invention, the constant acceleration model may refer to a model that can predict the motion trajectory of an object at various future moments based on the known initial motion conditions (such as initial position, initial velocity, initial acceleration, etc.) when the acceleration remains unchanged during the object's motion process. Based on this, the constant acceleration model, the first operation data of the vehicle, and the second operation data of the target object can be conveniently and quickly used to generate the first predicted motion trajectory and the second predicted motion trajectory of the vehicle and the target object within a preset future time period. The preset time period can be set according to actual needs, for example, several seconds to more than ten seconds, and no specific limitation is made here.

[0073] In practical applications, the constant acceleration model can be expressed as: V1 = V0 + A * Δ t, P1 = P0 + V0 * Δt + 0.5 * A * Δ t * Δ t, where V1 can be the motion speed of the object at a future moment t, V0 can be the current motion speed data of the object (e.g., the first / second motion speed data), and A can be the current motion acceleration data of the object (e.g., the first / second motion acceleration data). Δ t can represent the time interval between the future moment t and the current moment, P1 can reflect the position of the object at the future moment t, and P0 can reflect the current position of the object.

[0074] It can be understood that in order to improve the rationality of the constant acceleration model, when the current motion acceleration data of the object is negative, that is, when the object is gradually decelerating, it can be considered that the motion speed of the object remains stationary after decreasing to 0, that is, the motion speed of the object will remain 0 and will not change anymore. Therefore, the position of the object will also remain unchanged after its speed decreases to 0, and this will not be elaborated here.

[0075] In a feasible implementation manner, the method of determining whether the area where the target object is located first intersects with the preset risk boundary line of the area where the vehicle is located during the predicted motion process of the target object and the vehicle according to the first predicted motion trajectory and the second predicted motion trajectory, and obtaining a judgment result includes:

[0076] According to the first predicted motion trajectory and the second predicted motion trajectory, determine the first position information of the area where the vehicle is located at each future preset moment of the vehicle, and the second position information of the area where the target object is located at each future preset moment of the target object.

[0077] According to the first position information of the area where the vehicle is located and the second position information of the area where the object is located at the same preset moment, determine the first intersection moment between the area where the object is located and the area where the vehicle is located.

[0078] Judge whether the preset risk boundary line is included in the overlapping area between the area where the object is located and the area where the vehicle is located at the first intersection moment, and obtain a judgment result.

[0079] In an embodiment of the present invention, in order to accurately determine whether the area where the target object is located can first intersect with the preset risk boundary line of the area where the vehicle of the present vehicle is located, it is usually necessary to identify whether there is a certain moment within a preset future time period such that there is an overlapping area between the areas where the two are located. If so, it is necessary to identify the first intersection moment of the two. Subsequently, it is possible to identify whether the preset risk boundary line is included in the overlapping area between the areas where the two are located at the first intersection moment; if so, it can be indicated that the area where the target object is located first intersects with the preset risk boundary line of the area where the vehicle of the present vehicle is located; otherwise, it can be indicated that the area where the target object is located does not first intersect with the preset risk boundary line of the area where the vehicle of the present vehicle is located. In addition, if there is no moment within the preset future time period such that there is an overlapping area between the areas where the two are located, at this time, it can also be considered that the area where the target object is located does not first intersect with the preset risk boundary line of the area where the vehicle of the present vehicle is located.

[0080] In practical applications, in order to save computing resources, the time period within the preset future time period can usually be divided into multiple preset moments according to a preset time interval, so as to determine whether there is an overlapping area between the area where the target object is located and the area where the vehicle is located at each preset moment according to the first position information of the area where the target object is located and the second position information of the area where the vehicle of the present vehicle is located at each preset moment. If there is an overlapping area between the area where the target object is located and the area where the vehicle is located at one or more preset moments, the earliest preset moment can be used as the first intersection moment between the area where the target object is located and the area where the vehicle is located, which is convenient and fast. Among them, the value of the preset time interval can be set according to actual needs. For example, it can be several milliseconds to several hundred milliseconds, etc., and no specific limitation is made in this regard.

[0081] In a feasible implementation manner, the determining the first position information of the area where the vehicle of the present vehicle is located at each preset moment in the future according to the first predicted motion trajectory and the second predicted motion trajectory, and the second position information of the area where the target object is located at each preset moment in the future may include:

[0082] According to the first predicted motion trajectory and the second predicted motion trajectory, determine the third position data of the preset position at the vehicle of the present vehicle at a specific preset moment, and the fourth position data of the designated position at the target object at the specific preset moment.

[0083] Based on the third position data, the vehicle size information of the present vehicle, and the motion direction information of the present vehicle at the specific preset moment, determine the first position information of the area where the vehicle of the present vehicle is located at the specific preset moment.

[0084] Based on the fourth position data, the object size information of the target object, and the motion direction information of the target object at a specific preset moment, determine the second position information of the area where the target object is located at the specific preset moment.

[0085] In an embodiment of the present invention, the first predicted motion trajectory of the vehicle often reflects the position data of the preset position of the vehicle at each moment within a preset future duration, while the second predicted motion trajectory of the target object usually can reflect the position data of the specified position of the target object at each moment within a preset future duration. Among them, the preset position may include positions such as the center point of the rear axle of the vehicle, the center of mass of the vehicle, etc., and the specified position may be the center position or corner position of the target object, which is not specifically limited herein.

[0086] Based on this, when it is necessary to determine the first position information of the area where the vehicle is located at any specific preset moment within a preset future duration, after determining the third position data of the preset position of the vehicle at the specific preset moment, the tangential direction of the first predicted motion trajectory of the vehicle at the specific preset moment can also be used as the motion direction information of the vehicle at the specific preset moment. In addition, it is also necessary to obtain the vehicle size information of the vehicle (for example, the vehicle body length and the vehicle body width), so as to accurately determine the first position information of the area where the vehicle is located at the specific preset moment according to the above information.

[0087] In practical applications, the width of the area where the vehicle is located reflected by the first position information of the area where the vehicle is located may be the same as the vehicle body width of the vehicle, and the length of the area where the vehicle is located reflected by the first position information of the area where the vehicle is located may be the same as the vehicle body length of the vehicle. Of course, in order to improve the safety of the vehicle during operation, it is also possible to make the width of the area where the vehicle is located reflected by the first position information of the area where the vehicle is located greater than the vehicle body width of the vehicle, and / or make the length of the area where the vehicle is located reflected by the first position information of the area where the vehicle is located greater than the vehicle body length of the vehicle, which is not specifically limited herein.

[0088] Of course, based on the same technical principle, it is also possible to determine the second position information of the area where the target object is located at a specific preset moment. However, the length and width of the area where the target object is located reflected by the second position information of the area where the target object is located can either be obtained through image / radar target detection, or can be preset lengths and preset widths that have a corresponding relationship with the object type to which the target object belongs (for example, pedestrians, non-motor vehicles, cars, trucks, etc.), which is not specifically limited herein.

[0089] In a feasible implementation manner, before determining whether the preset risk boundary line is included in the overlapping area between the area where the object is located and the area where the vehicle is located at the first intersection moment, the following steps may further be included:

[0090] According to the first predicted motion trajectory and the second predicted motion trajectory, determine the oncoming direction to which the target object belongs.

[0091] According to the oncoming direction to which the target object belongs, determine the preset risk boundary line corresponding to the target object from the boundary lines of the vehicle area where the vehicle is located.

[0092] In the embodiments of the present invention, when a target object gradually approaches the vehicle from the left area of the vehicle, the target object usually cannot first collide with the right side of the vehicle body, but may first collide with the front part, the rear part or the left side of the vehicle body of the vehicle. Similarly, when a target object gradually approaches the vehicle from the right area of the vehicle, the target object usually cannot first collide with the left side of the vehicle body, but may first collide with the front part, the rear part or the right side of the vehicle body of the vehicle. It can be seen that the oncoming direction to which the target object belongs will affect the type of the preset risk boundary line corresponding thereto.

[0093] Based on this, the oncoming direction to which the target object belongs can be determined according to the first predicted motion trajectory and the second predicted motion trajectory, so as to accurately determine the preset risk boundary line corresponding to the target object from the boundary lines of the vehicle area where the vehicle is located in combination with the oncoming direction to which the target object belongs.

[0094] In a feasible implementation manner, the step of determining the preset risk boundary line corresponding to the target object from the boundary lines of the vehicle area where the vehicle is located according to the oncoming direction to which the target object belongs may include:

[0095] If the oncoming direction to which the target object belongs is the left oncoming direction, at least part of the boundary lines of the first boundary line corresponding to the front part of the vehicle and the second boundary line corresponding to the left side of the vehicle body in the vehicle area are determined as the preset risk boundary line corresponding to the target object.

[0096] If the oncoming direction to which the target object belongs is the right oncoming direction, at least part of the boundary lines of the first boundary line corresponding to the front part of the vehicle and the third boundary line corresponding to the right side of the vehicle body in the vehicle area are determined as the preset risk boundary line corresponding to the target object.

[0097] In the embodiments of the present invention, the oncoming vehicle direction to which the target object belongs may include any one of the left oncoming vehicle direction and the right oncoming vehicle direction. Among them, the left oncoming vehicle direction may correspond to the situation where the target object is located in the left area of the first predicted motion trajectory of the vehicle before the first intersection moment; and the right oncoming vehicle direction may correspond to the situation where the target object is located in the right area of the first predicted motion trajectory of the vehicle before the first intersection moment, which will not be elaborated here.

[0098] In the embodiments of the present invention, since when the oncoming vehicle direction to which the target object belongs is the left oncoming vehicle direction, the target object usually cannot collide with the right side of the vehicle body of the vehicle first. Also, if the target object collides with the rear part of the vehicle first, the vehicle usually should not apply braking at this time to avoid increasing the harm caused by the collision between the two. Based on this, at least part of the boundary lines of the first boundary line corresponding to the front part of the vehicle at the vehicle location area of the vehicle, and the second boundary line corresponding to the left side of the vehicle body at the vehicle location area (for example, this part of the boundary line whose distance from the rear bumper of the vehicle exceeds the threshold) can be used as the preset risk boundary line corresponding to the target object, which is beneficial to improving the accuracy and rationality of the target object required for subsequent automatic emergency braking control for the vehicle.

[0099] Similarly, when the oncoming vehicle direction to which the target object belongs is the right oncoming vehicle direction, at least part of the boundary lines of the first boundary line corresponding to the front part of the vehicle at the vehicle location area of the vehicle, and the third boundary line corresponding to the right side of the vehicle body at the vehicle location area (for example, this part of the boundary line whose distance from the rear bumper of the vehicle exceeds the threshold) can be used as the preset risk boundary line corresponding to the target object, which is also beneficial to improving the accuracy and rationality of the target object required for subsequent automatic emergency braking control for the vehicle.

[0100] Figure 2 It is a schematic diagram of a vehicle driving scenario provided by the embodiments of the present invention. For the sake of easy understanding, in combination with Figure 2 herein, an example is given to illustrate the principle of judging whether the object location area of the target object first intersects with the preset risk boundary line of the vehicle location area of the vehicle during the predicted motion of the target object and the vehicle. As Figure 2 shown, assume that the vehicle 21 will turn right within a future preset time period, and it can have a first predicted motion trajectory 201. And the target object 23 has a second predicted motion trajectory 202 within the future preset time period. Also, at the same future preset moment, the vehicle location area of the vehicle and the object location area of the target object 23 will overlap, and the overlapping area at the first intersection moment can be a triangular area 25.

[0101] Since the target object 23 is located in the left region of the first predicted motion trajectory of the host vehicle (i.e., the left region of the host vehicle) before the first intersection moment with the host vehicle, the target object 23 will gradually approach the host vehicle from far to near in the left region of the host vehicle, and then collide with the host vehicle. At this time, the incoming vehicle direction to which the target object 23 belongs can be the left incoming vehicle direction. Therefore, at least part of the first boundary line corresponding to the front part of the host vehicle and the second boundary line corresponding to the left side of the host vehicle body in the vehicle location area of the host vehicle can be used as the preset risk boundary line.

[0102] Since it can be seen from the content shown in Figure 2 that the overlapping area 25 between the vehicle location area of the host vehicle 21 and the object location area of the target object 23 at the first intersection moment contains the first boundary line in the above preset risk boundary line. Therefore, it can be determined that during the predicted motion process of the target object 23 and the host vehicle 21, the object location area of the target object 23 will first intersect with the preset risk boundary line of the vehicle location area of the host vehicle 21, and then the host vehicle can be automatically emergency braked according to the target object 23.

[0103] It can be understood that the host vehicle may also go straight or turn left, so that the first predicted motion trajectory of the host vehicle can also be as shown in trajectory 205 or trajectory 206. At this time, the scheme provided in the above embodiment can also be used to accurately determine whether it is necessary to automatically emergency brake the host vehicle according to each target object, which will not be elaborated here.

[0104] In addition, since it can be seen from the predicted motion trajectory 204 of the target object 24 within a preset future time period that the target object 24 is gradually moving away from the host vehicle 21, so that there will be no overlapping situation between their locations. Therefore, it can be determined that during the predicted motion process of the target object 24 and the host vehicle 21, the object location area of the target object 24 will not intersect with the preset risk boundary line of the vehicle location area of the host vehicle 21, and thus the host vehicle will not be automatically emergency braked according to the target object 24.

[0105] It should be noted that although there is a target trajectory intersection between the predicted motion trajectory 203 of the target object 22 within a preset future duration and the first predicted motion trajectory 201 of the vehicle 21, there is not necessarily an overlapping area between the area where the target object 22 is located and the area where the vehicle 21 is located at a certain preset moment in the future. For example, when the vehicle 21 is traveling at a relatively high speed and the target object 22 is traveling at a relatively low speed, it is possible that after the vehicle 21 has left the target trajectory intersection for a period of time, the target object 22 arrives at the target trajectory intersection, so that the areas where the two are located do not intersect at any preset moment, that is, there is no collision risk between the target object 22 and the vehicle 21, and thus there is no need to perform automatic emergency braking control on the vehicle 21 based on the target object 22, which is beneficial to improving the accuracy and reliability of the automatic emergency braking control for the vehicle.

[0106] In a feasible implementation manner, the automatic emergency braking control of the vehicle according to the first intersection time between the area where the object is located and the preset risk boundary line may include:

[0107] If there is a first intersection time among the first intersection times corresponding to each target object whose time interval from the current time is less than or equal to a preset duration, an activation control instruction for the automatic emergency braking function of the vehicle is generated; or,

[0108] Using the activated automatic emergency braking function of the vehicle, a warning message for a specific target object with the earliest first intersection time among each target object is generated; or,

[0109] Using the activated automatic emergency braking function of the vehicle, a braking control instruction for the vehicle is generated according to the running data of the specific target object.

[0110] In the embodiment of the present invention, it is usually necessary to activate the automatic emergency braking function of the vehicle when the time interval for a collision between the vehicle and the target object is relatively small. Therefore, during the determination of the predicted motion process between the target object and the vehicle, after the area where the target object is located first intersects with the preset risk boundary line of the area where the vehicle is located, it is also necessary to calculate the target interval duration between the first intersection time between the area where the target object is located and the preset risk boundary line of the vehicle and the current time. If there is a target interval duration less than or equal to the preset duration, the automatic emergency braking function of the vehicle can be activated to perform automatic emergency braking control on the vehicle using this automatic emergency braking function. If there is no target interval duration less than or equal to the preset duration, it is not necessary to activate the automatic emergency braking function of the vehicle to reduce the mis-triggering of this automatic emergency braking function, which is beneficial to ensuring the operational reliability of the automatic emergency braking function of the vehicle.

[0111] In the embodiments of the present invention, there may be a situation where the regions where multiple target objects are located all intersect with the preset risk boundary line of the vehicle region of the vehicle first. Since the smaller the first intersection time between the target object and the vehicle, the higher the collision risk brought by the target object to the vehicle, and the better the effectiveness of the automatic emergency braking control of the vehicle based on the target object. Therefore, the specific target object to which the minimum value of the first intersection time belongs can be determined according to the numerical magnitudes of the first intersection times corresponding to each of the target objects, so as to use the activated automatic emergency braking function of the vehicle to perform early warning processing for the specific target object, or control the vehicle to brake based on the position data, speed data, acceleration data, etc. of the specific target object, so as to effectively reduce the collision risk between the vehicle and the specific target object.

[0112] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed, the steps of the vehicle control method in the above embodiments are implemented. The specific execution process can refer to the specific descriptions in the above embodiments and will not be elaborated here.

[0113] In one embodiment, the present invention also provides Figure 3 the structural schematic diagram of the electronic device shown. As Figure 3 , at the hardware level, the electronic device may include a processor 31 and a memory 35. Of course, it may also include an internal bus 32, a network interface 33, a memory 34, and other hardware required for other services. The processor 31 can read the corresponding computer program from the memory 35 into the memory and then run it to implement the above vehicle control method. The specific execution process can refer to the specific descriptions in the above embodiments and will not be elaborated here.

[0114] In a feasible implementation manner, the electronic device may include at least one of a radar device, an image acquisition device, and a domain controller. Of course, the electronic device may also include other in-vehicle devices or remote devices capable of communicating with the vehicle, and no specific limitation is made thereto.

[0115] Finally, the embodiments of the present invention are all described in a progressive manner. The same or similar parts between the embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments. In particular, for embodiments such as computer program products and electronic devices, since they are basically similar to the method embodiments, the descriptions are relatively simple, and the relevant parts can refer to the partial descriptions of the method embodiments.

[0116] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A vehicle control method, comprising: Obtaining first operation data of the host vehicle and second operation data of a target object around the host vehicle; Generating a first predicted motion trajectory of the host vehicle and a second predicted motion trajectory of the target object based on the first operation data and the second operation data; According to the first predicted motion trajectory and the second predicted motion trajectory, determining whether the area where the target object is located first intersects a preset risk boundary line of the area where the host vehicle is located during the predicted motion of the target object and the host vehicle, to obtain a determination result; wherein the preset risk boundary line includes at least part of the boundary line corresponding to the side of the host vehicle body and the boundary line corresponding to the front of the host vehicle at the area where the vehicle is located; If the determination result indicates that during the predicted motion of the target object and the host vehicle, the area where the target object is located first intersects the preset risk boundary line of the area where the host vehicle is located, then performing automatic emergency braking control on the host vehicle according to the first intersection time between the area where the object is located and the preset risk boundary line.

2. The method according to claim 1, wherein the obtaining the second operation data of the target object around the host vehicle comprises: Obtaining object-related information of an initial target object detected in the surrounding area of the host vehicle; wherein the initial target object is obtained by processing data collected from the surrounding area of the host vehicle by a radar device or an image acquisition device, or the initial target object is obtained by processing data collected from the surrounding area of the host vehicle by a radar device and an image acquisition device; Determining a credible traffic participant from the initial target objects according to the object-related information of the initial target objects; Obtaining the current operation data of the credible traffic participant to obtain the second operation data of the target object around the host vehicle.

3. The method according to claim 1, wherein the generating a first predicted motion trajectory of the host vehicle and a second predicted motion trajectory of the target object based on the first operation data and the second operation data comprises: Using a constant acceleration model, generating a first predicted motion trajectory of the host vehicle within a preset future duration based on the first operation data; wherein the first operation data includes vehicle position data, first motion speed data, and first motion acceleration data of the host vehicle; Using the constant acceleration model, generating a second predicted motion trajectory of the target object within the preset future duration based on the second operation data; wherein the second operation data includes object position data, second motion speed data, and second motion acceleration data of the target object.

4. The method according to claim 1, wherein the determining whether the area where the target object is located first intersects a preset risk boundary line of the area where the host vehicle is located during the predicted motion of the target object and the host vehicle according to the first predicted motion trajectory and the second predicted motion trajectory, to obtain a determination result, comprises: Based on the first predicted motion trajectory and the second predicted motion trajectory, determine the first position information of the vehicle's location area at each future preset moment, and the second position information of the object's location area of the target object at each future preset moment; Based on the first position information of the vehicle's location area and the second position information of the object's location area at the same preset moment, determine the first intersection moment between the object's location area and the vehicle's location area; Judge whether the preset risk boundary line is included in the overlapping area between the object's location area and the vehicle's location area at the first intersection moment, and obtain a judgment result.

5. The method according to claim 4, wherein the determining the first position information of the vehicle's location area at each future preset moment, and the second position information of the object's location area of the target object at each future preset moment based on the first predicted motion trajectory and the second predicted motion trajectory includes: Based on the first predicted motion trajectory and the second predicted motion trajectory, determine the third position data of the preset position at the vehicle at a specific preset moment, and the fourth position data of the designated position at the target object at the specific preset moment; Based on the third position data, the vehicle size information of the vehicle, and the motion direction information of the vehicle at the specific preset moment, determine the first position information of the vehicle's location area at the specific preset moment; Based on the fourth position data, the object size information of the target object, and the motion direction information of the target object at the specific preset moment, determine the second position information of the object's location area of the target object at the specific preset moment.

6. The method according to claim 4, before judging whether the preset risk boundary line is included in the overlapping area between the object's location area and the vehicle's location area at the first intersection moment, further includes: Based on the first predicted motion trajectory and the second predicted motion trajectory, determine the oncoming direction of the target object; According to the oncoming direction of the target object, determine the preset risk boundary line corresponding to the target object from the boundary lines of the vehicle's location area of the vehicle.

7. The method according to claim 6, wherein the determining the preset risk boundary line corresponding to the target object from the boundary lines of the vehicle's location area of the vehicle according to the oncoming direction of the target object includes: If the oncoming direction of the target object is the left oncoming direction, determine at least part of the boundary lines of the first boundary line corresponding to the vehicle head part and the second boundary line corresponding to the left side of the vehicle body at the vehicle's location area as the preset risk boundary line corresponding to the target object; If the oncoming direction of the target object is the right oncoming direction, determine at least part of the boundary lines of the first boundary line corresponding to the vehicle head part and the third boundary line corresponding to the right side of the vehicle body at the vehicle's location area as the preset risk boundary line corresponding to the target object.

8. The method according to claim 1, wherein the automatic emergency braking control of the vehicle based on the first intersection time between the area where the object is located and the preset risk boundary line includes: If there is a first intersection time among the first intersection times corresponding to each of the target objects, and the time interval between this first intersection time and the current time is less than or equal to a preset duration, then an activation control instruction for the automatic emergency braking function of the vehicle is generated; Or, Using the activated automatic emergency braking function of the vehicle, a warning message for a specific target object with the earliest first intersection time among each of the target objects is generated; Or, Using the activated automatic emergency braking function of the vehicle, a braking control instruction for the vehicle is generated according to the running data of the specific target object.

9. A computer program product, which includes a computer program that, when executed, implements the steps of the method according to any one of claims 1 to 8.

10. An electronic device, comprising: A processor and a memory; wherein the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the steps of the method according to any one of claims 1 to 8.

11. The electronic device according to claim 10, wherein the electronic device includes at least one of a radar device, an image acquisition device, and a domain controller.

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