Vehicle control method, device and equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicle control, and discloses a vehicle control method, device and equipment and a storage medium, and the method comprises the following steps: responding to the input of an accelerator pedal to meet a first input condition, and determining whether to allow the vehicle to accelerate based on an obtained relative motion parameter between the vehicle and a front obstacle; if the vehicle is allowed to accelerate, determining whether the vehicle is allowed to accelerate to exceed the front obstacle based on the current navigation planning information and the vehicle state information; if the vehicle is not allowed to accelerate to exceed the front obstacle, calculating an allowable acceleration range, and controlling the vehicle to accelerate in the allowable acceleration range; and if the vehicle is allowed to accelerate beyond the front obstacle, controlling the vehicle to accelerate according to the input of the accelerator pedal. According to the technical scheme, traffic accidents caused by misoperation of a driver can be reduced.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of vehicle control, and particularly to a vehicle control method, device, equipment and storage medium. Background Art

[0002] In emergency situations, drivers may make judgment errors due to nervousness, panic or lack of experience, resulting in accidentally stepping on the accelerator or brake pedal. Such misoperations often occur in emergencies, such as suddenly appearing obstacles, sudden stops of the vehicle ahead or other unforeseen road conditions. Accidentally stepping on the accelerator may cause the vehicle to accelerate, increasing the risk of collision, while accidentally stepping on the brake may cause the vehicle to suddenly stop at an inappropriate time, triggering rear-end collisions with the following vehicles. This problem of vehicle out of control caused by drivers' psychological and operational errors may ultimately lead to serious traffic accidents, endangering the safety of drivers, passengers and other road users. Summary of the Invention

[0003] In view of the above problems, the embodiments of the present invention provide a vehicle control method, device, equipment and storage medium, which are used to solve the problem in the prior art that drivers accidentally step on the accelerator or brake in emergency situations, causing traffic accidents.

[0004] According to one aspect of the embodiments of the present invention, a vehicle control method is provided, and the method includes:

[0005] Responding to the input of the accelerator pedal satisfying a first input condition, and determining whether to allow the vehicle to accelerate based on the relative motion parameters obtained between the vehicle and the obstacle ahead;

[0006] If the vehicle is allowed to accelerate, determining whether to allow the vehicle to accelerate beyond the obstacle ahead based on the current navigation planning information and vehicle state information;

[0007] If the vehicle is not allowed to accelerate beyond the obstacle ahead, calculating the allowable acceleration range and controlling the vehicle to accelerate within the allowable acceleration range;

[0008] If the vehicle is allowed to accelerate beyond the obstacle ahead, controlling the vehicle to accelerate according to the input of the accelerator pedal.

[0009] According to another aspect of the embodiments of the present invention, a vehicle control device is provided, including:

[0010] A first determination module, configured to respond to the input of the accelerator pedal satisfying a first input condition, and determine whether to allow the vehicle to accelerate based on the relative motion parameters obtained between the vehicle and the obstacle ahead;

[0011] A second determination module, configured to, if vehicle acceleration is permitted, determine whether to permit the vehicle to accelerate past an obstacle ahead based on current navigation planning information and vehicle state information;

[0012] A first control module, configured to, if the vehicle is not permitted to accelerate past an obstacle ahead, calculate a permitted acceleration range and control the vehicle to accelerate within the permitted acceleration range;

[0013] A second control module, configured to, if the vehicle is permitted to accelerate past an obstacle ahead, control the vehicle to accelerate according to the input of the accelerator pedal.

[0014] According to another aspect of an embodiment of the present invention, a vehicle control device is provided, including:

[0015] A processor, a memory, a communication interface, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus;

[0016] The memory is configured to store at least one executable instruction, and the executable instruction causes the processor to execute the operations of the vehicle control method as described above.

[0017] According to still another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, where at least one executable instruction is stored in the storage medium, and the executable instruction causes a vehicle control device / apparatus to execute the operations of the vehicle control method as described above.

[0018] Embodiments of the present invention can evaluate potential collision risks before acceleration by responding to the input of the accelerator pedal and combining relative motion parameters between the vehicle and an obstacle ahead. This pre-judgment ability effectively reduces the collision risk caused by blind acceleration, especially in a complex traffic environment, and improves driving safety. When vehicle acceleration is permitted, current navigation planning information and vehicle state information are further combined to determine whether it is possible to safely overtake an obstacle ahead. This multi-level judgment mechanism ensures that when the vehicle accelerates, it not only considers power requirements but also comprehensively considers path planning and vehicle state, thereby optimizing the acceleration performance and enhancing the vehicle's dynamic response ability. When overtaking an obstacle ahead is not permitted, by restricting the acceleration range, sudden acceleration changes can be avoided, providing a smoother driving experience. When it is determined that the vehicle is permitted to overtake an obstacle ahead, the vehicle can accelerate normally according to the driver's input of the accelerator pedal. This method can reduce traffic accidents caused by driver misoperations through staged judgment and control strategies.

[0019] The above description is only an overview of the technical solution of the embodiments of the present invention. In order to be able to understand the technical means of the embodiments of the present invention more clearly, it can be implemented in accordance with the content of the specification. And in order to make the above and other purposes, features and advantages of the embodiments of the present invention more obvious and understandable, the following specifically describes the specific embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are only used to illustrate the embodiments and are not considered to limit the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0021] Figure 1 FIG. shows a schematic flow chart of the first embodiment of the vehicle control method provided by the present invention;

[0022] Figure 2 FIG. shows a schematic flow chart of the second embodiment of the vehicle control method provided by the present invention;

[0023] Figure 3 FIG. shows a schematic process diagram of executing acceleration or deceleration of the vehicle control method provided by the present invention;

[0024] Figure 4 FIG. shows a schematic structural diagram of the first embodiment of the vehicle control device provided by the present invention;

[0025] Figure 5 FIG. shows a schematic structural diagram of an embodiment of the vehicle control device provided by the present invention;

[0026] Figure 6 FIG. shows a schematic structural diagram of an embodiment of the vehicle provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The exemplary embodiments of the present invention will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein.

[0028] Figure 1 FIG. shows a flow chart of the first embodiment of the vehicle control method of the present invention, and this method can be executed by an autonomous driving domain controller. As Figure 1 shown, this method includes the following steps:

[0029] Step 110: In response to the input of the acceleration pedal satisfying the first input condition, determine whether to allow the vehicle to accelerate based on the relative motion parameters obtained between the vehicle and the obstacle ahead.

[0030] The autonomous driving domain controller focuses on processing tasks related to autonomous driving. This includes functions such as environmental perception, path planning, decision-making, and vehicle control.

[0031] The first input condition is used to identify the behavior of the driver stepping on the accelerator pedal in an emergency. This behavior may be a misoperation by the driver. In one example, if it is detected that the pedal opening of the accelerator pedal exceeds a preset opening threshold and the duration exceeds a preset time threshold, it can be determined that the input of the accelerator pedal meets the first input condition; in another example, if it is detected that the rate of change of the pedal opening of the accelerator pedal exceeds a preset rate-of-change threshold, that is, the pedal opening increases sharply multiple times in a short period of time, it can also be determined that the input of the accelerator pedal meets the first input condition. Here, the rate of change of the pedal opening refers to the rate of change of the opening of the accelerator pedal with time.

[0032] In the embodiment of the present invention, if the input of the accelerator pedal meets the first input condition, it indicates that the driver's current operation on the accelerator pedal may be a misoperation. At this time, the relative running parameters between the vehicle and the obstacle in front can be obtained through sensors. These parameters can include relative speed, distance, acceleration, etc. The autonomous driving domain controller analyzes these relative motion parameters to decide whether to allow the vehicle to accelerate.

[0033] Step 120: If it is allowed to accelerate the vehicle, based on the current navigation planning information and vehicle state information, determine whether to allow the vehicle to accelerate beyond the obstacle in front.

[0034] If it is allowed to accelerate the vehicle, the current navigation planning information and vehicle state information can be further obtained. Among them, the navigation planning information can include the current driving route of the vehicle, the destination, lane information, traffic rules (such as speed limits), and other factors related to the planned path. The vehicle state information includes the current speed, acceleration, driving direction, and other parameters related to the vehicle dynamics. Based on the navigation planning information and vehicle state information, the autonomous driving domain controller further evaluates whether to allow the vehicle to overtake the obstacle in front.

[0035] Step 130: If it is not allowed to accelerate the vehicle beyond the obstacle in front, calculate the allowable acceleration range and control the vehicle to accelerate within the allowable acceleration range.

[0036] If it is not allowed to accelerate the vehicle beyond the obstacle in front, an allowable acceleration range can be calculated. When accelerating within this acceleration range, the acceleration process of the vehicle is precisely controlled to ensure that the vehicle will not collide with the obstacle in front during the acceleration process.

[0037] Step 140: If it is allowed to accelerate the vehicle beyond the obstacle in front, control the vehicle to accelerate according to the input of the accelerator pedal.

[0038] If the vehicle is allowed to accelerate and overtake the obstacle ahead, the acceleration of the vehicle can be controlled according to the input of the accelerator pedal, which means that the acceleration response of the vehicle will directly reflect the driver's intention.

[0039] The vehicle control method provided by the embodiments of the present invention can evaluate the potential collision risk before acceleration by responding to the input of the accelerator pedal and combining the relative motion parameters between the vehicle and the obstacle ahead. This pre-judgment ability effectively reduces the collision risk caused by blind acceleration, especially in a complex traffic environment, and improves driving safety. When the vehicle is allowed to accelerate, the current navigation planning information and vehicle status information are further combined to determine whether it is possible to safely overtake the obstacle ahead. This multi-level judgment mechanism ensures that when the vehicle accelerates, it not only considers the power demand, but also comprehensively considers the path planning and vehicle status, thereby optimizing the acceleration performance and enhancing the vehicle's dynamic response ability. When overtaking the obstacle ahead is not allowed, by restricting the acceleration range, sudden acceleration changes can be avoided, providing a smoother driving experience. When it is determined that the vehicle is allowed to overtake the obstacle ahead, the vehicle can accelerate normally according to the input of the driver's accelerator pedal. This method can reduce traffic accidents caused by driver's misoperation through phased judgment and control strategies.

[0040] Figure 2 The flowchart of another embodiment of the vehicle control method of the present invention is shown, and this method can be executed by the autonomous driving domain controller. As Figure 2 shown, the method includes the following steps:

[0041] Step 210: When the input of the accelerator pedal satisfies the first input condition, based on the relative motion parameters obtained between the vehicle and the obstacle ahead, determine whether to allow the vehicle to accelerate.

[0042] When the input of the accelerator pedal satisfies the first input condition, it can be controlled to detect whether there is an obstacle ahead. If an obstacle ahead is detected, the relative motion parameters between the vehicle and the obstacle ahead can be obtained, and based on the obtained relative motion parameters, determine whether to allow the vehicle to accelerate.

[0043] In an alternative manner, based on the relative motion parameters obtained between the vehicle and the obstacle ahead, determining whether to allow the vehicle to accelerate may specifically include the following steps:

[0044] Perform a collision risk assessment based on the relative motion parameters obtained between the vehicle and the obstacle ahead;

[0045] Based on the collision risk assessment result, determine whether to allow the vehicle to accelerate.

[0046] In this embodiment, the collision risk is evaluated based on the relative motion parameters between the vehicle and the obstacle ahead. Among them, the relative motion parameters may include one or more of the current vehicle speed, the distance between the vehicle and the obstacle ahead, and the predicted time to collision and the predicted deceleration time calculated based on the current vehicle speed. The predicted time to collision refers to the time required for the vehicle to collide with the obstacle ahead predicted under the current vehicle speed condition. The predicted deceleration time refers to the time point at which the vehicle needs to start decelerating to avoid colliding with the obstacle ahead under the current vehicle speed and distance conditions.

[0047] Based on the above relative motion parameters, the collision risk is evaluated. The purpose of the evaluation is to determine whether there is a risk of the vehicle colliding with the obstacle ahead under the current conditions. According to the collision risk evaluation result, it is decided whether to allow the vehicle to accelerate.

[0048] Step 220: If the vehicle is allowed to accelerate, then based on the current navigation planning information and vehicle state information, it is determined whether to allow the vehicle to accelerate beyond the obstacle ahead.

[0049] In an embodiment of the present invention, if the vehicle is allowed to accelerate, it can further be determined whether it is possible to safely accelerate beyond the obstacle ahead. Specifically, it can be based on the current navigation planning information and the current vehicle speed to evaluate whether it is possible to safely accelerate beyond the obstacle ahead, and based on the evaluation result, it is decided whether to allow the vehicle to accelerate beyond the obstacle ahead.

[0050] Step 230: If it is not allowed to accelerate beyond the obstacle ahead, then calculate the allowable acceleration range and control the vehicle to accelerate within the allowable acceleration range.

[0051] Even if it is not allowed to accelerate beyond the obstacle ahead, the vehicle can still be allowed to accelerate within a certain acceleration range. Among them, the allowable acceleration range can be calculated based on the relative motion parameters between the vehicle and the obstacle ahead and the vehicle state information.

[0052] In an alternative manner, when it is not allowed to accelerate beyond the obstacle ahead, the vehicle control method in an embodiment of the present invention may specifically further include the following steps:

[0053] Control the vehicle to issue a warning to inform the driver of a misoperation.

[0054] The warning sound can be played through the in-vehicle speakers, or the warning signal can be displayed on the instrument panel or the head-up display, such as a flashing icon. A suppression time window (e.g., 3 to 5 seconds) can be set, during which the acceleration suppression state is maintained. This time window allows the driver sufficient time to realize the misoperation and adjust their behavior. After the suppression time ends, the current acceleration cycle is exited, and normal acceleration control is restored. At this time, no warning is issued again, unless the driver attempts an unsafe acceleration operation again.

[0055] Step 240: If the vehicle is allowed to accelerate beyond the obstacle ahead, control the vehicle to accelerate according to the input of the acceleration pedal.

[0056] In an alternative manner, the vehicle control method according to an embodiment of the present invention may specifically further include the following steps:

[0057] If the vehicle is not allowed to accelerate, control the vehicle not to respond to the input of the acceleration pedal and / or control the vehicle to activate automatic emergency braking, and / or control the vehicle to enter the intelligent driving mode.

[0058] In this embodiment, if the vehicle is not allowed to accelerate, multiple safety measures can be taken to ensure driving safety. These measures include ignoring the driver's acceleration pedal input to prevent improper acceleration, activating automatic emergency braking to actively avoid potential collision risks, and switching the vehicle to the intelligent driving mode so that the driving assistance system takes over part or all of the driving tasks.

[0059] Step 250: In response to the input of the brake pedal satisfying the second input condition, calculate the allowable deceleration range based on the relative motion parameters between the vehicle and the obstacle ahead, and / or the relative motion parameters between the vehicle and the obstacle behind.

[0060] The second input condition is used to identify the driver's behavior of stepping on the brake pedal in an emergency. This behavior may be a misoperation by the driver. In one example, if it is detected that the pedal opening of the brake pedal exceeds a preset opening threshold and the duration exceeds a preset time threshold, it can be determined that the input of the brake pedal satisfies the second input condition. This means that the driver may have applied too much braking force in a short period of time. In another example, if it is detected that the rate of change of the pedal opening of the brake pedal exceeds a preset rate-of-change threshold, that is, the pedal opening increases sharply multiple times in a short period of time, it can also be determined that the input of the brake pedal satisfies the second input condition. The rate of change of the pedal opening refers to the rate of change of the opening of the brake pedal over time, and such multiple sharp changes may indicate that the driver has performed repeated braking operations in an emergency.

[0061] In an embodiment of the present invention, if the input of the brake pedal meets the second input condition, it indicates that the driver's current operation on the brake pedal may be a misoperation. At this time, the relative running parameters between the vehicle and the obstacle in front can be obtained through sensors, and the relative running parameters between the vehicle and the obstacle behind can also be obtained. Based on these parameters, a permitted deceleration range is calculated. This range ensures that the vehicle will not collide with the front and rear obstacles during the deceleration process.

[0062] Step 260: If the deceleration generated based on the input of the brake pedal is within the permitted deceleration range, control the vehicle to decelerate according to the input of the brake pedal.

[0063] If the deceleration generated when the driver presses the brake pedal is within the calculated deceleration range, the vehicle can be allowed to decelerate according to the input of the brake pedal. This means that the driver's braking operation is safe, and the vehicle can decelerate at the expected deceleration.

[0064] Step 270: If the deceleration generated based on the input of the brake pedal exceeds the permitted deceleration range, control the vehicle to decelerate within the permitted deceleration range.

[0065] If the deceleration generated when the driver presses the brake pedal exceeds the safe range, it is necessary to limit the deceleration of the vehicle to keep it within the permitted range. This intervention ensures that the vehicle will not have safety problems such as loss of control or collision with obstacles due to excessive braking during the deceleration process.

[0066] In addition, when there are both an obstacle in front and an obstacle (vehicle) behind at the same time, it is necessary to perform a priority judgment. Based on the safety principle, the priority of the obstacle in front is higher because the risk of collision with the obstacle in front is usually more direct and urgent. Therefore, priority will be given to avoiding collision with the obstacle in front.

[0067] In an alternative manner, the vehicle control method of the embodiment of the present invention may specifically further include the following steps:

[0068] Respond to the manual takeover instruction, and control to detect whether there is an obstacle in front;

[0069] If it is detected that there is an obstacle in front, when controlling the vehicle to exit the intelligent driving mode, control the vehicle to activate automatic emergency braking.

[0070] In this embodiment, when receiving the manual takeover instruction, the automatic driving domain controller can control the corresponding sensors in the vehicle to detect whether there is an obstacle in front. If an obstacle in front is detected, during the process of the vehicle exiting the intelligent driving mode, automatic emergency braking will be actively activated. This measure aims to prevent the vehicle from colliding when the driver has not fully adapted to the changes in the surrounding environment during the process of exiting the intelligent driving mode.

[0071] In an alternative manner, the vehicle control method according to the embodiments of the present invention may specifically further include the following steps:

[0072] Control the detection of the driver's state in response to the manual takeover instruction;

[0073] If the detection result indicates that the driver cannot complete the takeover within a short time, when controlling the vehicle to exit the intelligent driving mode, control the vehicle to activate the automatic emergency braking and turn on the warning light.

[0074] In this embodiment, after receiving the manual takeover instruction, the detection of the driver's state can be further started. An in-vehicle camera, sensor or other monitoring devices can be used to evaluate the driver's attention level, wakefulness state and reaction ability. If the detection result shows that the driver cannot effectively take over the vehicle control within a short time due to some reasons (such as fatigue, distraction or health problems), then during the process of the vehicle exiting the intelligent driving mode, the automatic emergency braking will be actively activated, and at the same time, the warning light of the vehicle (such as the hazard warning lights) will be turned on to remind the surrounding traffic participants of the abnormal state of the vehicle.

[0075] Subsequently, the driver's state can be continuously monitored to determine whether he is ready to take over the vehicle control. When it is detected that the driver has not recovered to the driving state, restrictions will be imposed on the driver's acceleration operation. This means that even if the driver tries to step on the accelerator pedal, the input may be ignored or restricted to prevent potential dangers caused by the driver's poor state.

[0076] Among them, the distance between the driver and the steering wheel, the seat position and the driver's body size data can be obtained through the camera to evaluate whether the driver is in a state where he can take over the vehicle emergently. The line-of-sight direction and activity state of the driver can be detected through the camera. If the driver's line of sight is not focused on the driving task or he is performing other activities (such as using a mobile device or talking to others), it will be determined that the driver cannot complete the takeover within a short time.

[0077] Refer to Figure 3 As shown, it is a schematic diagram of the process of performing acceleration or deceleration of the vehicle control method provided by the present invention. In this method, the autonomous driving domain controller judges whether to respond to the driver's acceleration operation or braking operation in combination with the vehicle surrounding environment information and the driver's state for the driver's acceleration pedal input or braking pedal input. Subsequently, the power domain controller controls the vehicle to perform the corresponding acceleration or deceleration operation according to the instruction of the autonomous driving domain controller.

[0078] The vehicle control method provided by the embodiments of the present invention can evaluate potential collision risks before acceleration by responding to the input of the acceleration pedal and combining the relative motion parameters between the vehicle and the obstacle ahead. This pre-judgment ability effectively reduces the collision risks caused by blind acceleration, especially in complex traffic environments, and improves driving safety. When the vehicle is allowed to accelerate, it further combines the current navigation planning information and vehicle status information to determine whether it is possible to safely overtake the obstacle ahead. This multi-level judgment mechanism ensures that when the vehicle accelerates, it not only considers the power demand but also comprehensively considers the path planning and vehicle status, thereby optimizing the acceleration performance and enhancing the vehicle's dynamic response ability. When it is not allowed to overtake the obstacle ahead, by restricting the acceleration range, sudden acceleration changes can be avoided, providing a smoother driving experience. When it is determined that the vehicle is allowed to overtake the obstacle ahead, the vehicle can accelerate normally according to the input of the driver's acceleration pedal. This method can reduce traffic accidents caused by driver's misoperations through phased judgment and control strategies.

[0079] Figure 4 The structural schematic diagram of the embodiment of the vehicle control device of the present invention is shown. As Figure 4 shown, the vehicle control device 400 includes: a first determination module 410, a second determination module 420, a first control module 430, and a second control module 440.

[0080] The first determination module is configured to, when the input of the acceleration pedal satisfies the first input condition, determine whether to allow the vehicle to accelerate based on the relative motion parameters between the vehicle and the obstacle ahead obtained;

[0081] The second determination module is configured to, if the vehicle is allowed to accelerate, determine whether to allow the vehicle to accelerate and overtake the obstacle ahead based on the current navigation planning information and vehicle status information;

[0082] The first control module is configured to, if the vehicle is not allowed to accelerate and overtake the obstacle ahead, calculate the allowable acceleration range and control the vehicle to accelerate within the allowable acceleration range;

[0083] The second control module is configured to, if the vehicle is allowed to accelerate and overtake the obstacle ahead, control the vehicle to accelerate according to the input of the acceleration pedal.

[0084] In an optional manner, the vehicle control device is further specifically configured to:

[0085] When the input of the brake pedal satisfies the second input condition, calculate the allowable deceleration range based on the relative motion parameters between the vehicle and the obstacle ahead, and / or the relative motion parameters between the vehicle and the obstacle behind;

[0086] If the deceleration generated based on the input of the brake pedal is within the allowable deceleration range, the vehicle is controlled to decelerate according to the input of the brake pedal;

[0087] If the deceleration generated based on the input of the brake pedal exceeds the allowable deceleration range, the vehicle is controlled to decelerate within the allowable deceleration range.

[0088] In an alternative manner, the first determination module is specifically configured to:

[0089] Perform a collision risk assessment based on the obtained relative motion parameters between the vehicle and the obstacle ahead;

[0090] Based on the collision risk assessment result, determine whether to allow the vehicle to accelerate.

[0091] In an alternative manner, the vehicle control device is further specifically configured to:

[0092] Control the vehicle to issue a warning to inform the driver of a misoperation.

[0093] In an alternative manner, the vehicle control device is further specifically configured to:

[0094] If the vehicle is not allowed to accelerate, control the vehicle not to respond to the input of the accelerator pedal and / or control the vehicle to activate automatic emergency braking and / or control the vehicle to enter the intelligent driving mode.

[0095] In an alternative manner, the vehicle control device is further specifically configured to:

[0096] Respond to the manual takeover instruction and control to detect whether there is an obstacle ahead;

[0097] If it is detected that there is an obstacle ahead, when controlling the vehicle to exit the intelligent driving mode, control the vehicle to activate automatic emergency braking.

[0098] In an alternative manner, the vehicle control device is further specifically configured to:

[0099] Control to detect the driver's state to respond to the manual takeover instruction;

[0100] If the detection result indicates that the driver cannot complete the takeover within a short time, when controlling the vehicle to exit the intelligent driving mode, control the vehicle to activate automatic emergency braking and turn on the warning light.

[0101] The vehicle control method provided by the embodiments of the present invention can evaluate potential collision risks before acceleration by responding to the input of the accelerator pedal and combining the relative motion parameters between the vehicle and the obstacle in front. This predictive ability effectively reduces the collision risks caused by blind acceleration, especially in complex traffic environments, and improves driving safety. When the vehicle is allowed to accelerate, it further combines the current navigation planning information and vehicle state information to determine whether it is possible to safely overtake the obstacle in front. This multi-level judgment mechanism ensures that the vehicle not only considers the power demand when accelerating, but also comprehensively considers the path planning and vehicle state, thereby optimizing the acceleration performance and enhancing the vehicle's dynamic response ability. When it is not allowed to overtake the obstacle in front, by restricting the acceleration range, sudden acceleration changes can be avoided, providing a smoother driving experience. When it is determined that the vehicle is allowed to overtake the obstacle in front, the vehicle can accelerate normally according to the driver's input on the accelerator pedal. This method can reduce traffic accidents caused by driver's misoperations through phased judgment and control strategies.

[0102] Figure 5 The structural schematic diagram of the embodiment of the vehicle control device of the present invention is shown. The specific embodiments of the present invention do not limit the specific implementation of the vehicle control device.

[0103] As Figure 5 shown, the vehicle control device may include: a processor 502, a communications interface 504, a memory 506, and a communication bus 508.

[0104] Among them: the processor 502, the communications interface 504, and the memory 506 communicate with each other through the communication bus 508. The communications interface 504 is used to communicate with network elements of other devices such as clients or other servers. The processor 502 is used to execute the program 510, and specifically can execute the relevant steps in the above embodiments of the vehicle control method.

[0105] Specifically, the program 510 may include program code, and the program code includes computer-executable instructions.

[0106] The processor 502 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention. One or more processors included in the vehicle control device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0107] A memory 506 for storing a program 510. The memory 506 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0108] The program 510 can be specifically called by the processor 502 to enable the vehicle control device to perform the following operations:

[0109] In response to the input of the accelerator pedal satisfying a first input condition, based on the obtained relative motion parameters between the vehicle and the obstacle ahead, determine whether to allow the vehicle to accelerate;

[0110] If the vehicle is allowed to accelerate, based on the current navigation planning information and vehicle state information, determine whether to allow the vehicle to accelerate beyond the obstacle ahead;

[0111] If the vehicle is not allowed to accelerate beyond the obstacle ahead, calculate the allowable acceleration range and control the vehicle to accelerate within the allowable acceleration range;

[0112] If the vehicle is allowed to accelerate beyond the obstacle ahead, control the vehicle to accelerate according to the input of the accelerator pedal.

[0113] In an alternative manner, the program 510 can be specifically called by the processor 502 to enable the vehicle control device to perform the following operations:

[0114] In response to the input of the brake pedal satisfying a second input condition, based on the obtained relative motion parameters between the vehicle and the obstacle ahead, and / or the relative motion parameters between the vehicle and the obstacle behind, calculate the allowable deceleration range;

[0115] If the deceleration generated based on the input of the brake pedal is within the allowable deceleration range, control the vehicle to decelerate according to the input of the brake pedal;

[0116] If the deceleration generated based on the input of the brake pedal exceeds the allowable deceleration range, control the vehicle to decelerate within the allowable deceleration range.

[0117] In an alternative manner, the program 510 can be specifically called by the processor 502 to enable the vehicle control device to perform the following operations:

[0118] Perform a collision risk assessment based on the obtained relative motion parameters between the vehicle and the obstacle ahead;

[0119] Based on the collision risk assessment result, determine whether to allow the vehicle to accelerate.

[0120] In an alternative manner, in the case where the vehicle is not allowed to accelerate beyond the obstacle ahead, the program 510 can be specifically called by the processor 502 to enable the vehicle control device to perform the following operations:

[0121] Control the vehicle to issue a warning to inform the driver of an incorrect operation.

[0122] In an alternative manner, program 510 is specifically called by the processor 502 to cause the vehicle control device to perform the following operations:

[0123] If the vehicle is not allowed to accelerate, then control the vehicle not to respond to the input of the accelerator pedal and / or, control the vehicle to activate automatic emergency braking, and / or control the vehicle to enter the intelligent driving mode.

[0124] In an alternative manner, program 510 is specifically called by the processor 502 to cause the vehicle control device to perform the following operations:

[0125] In response to the manual takeover instruction, control to detect whether there is an obstacle ahead;

[0126] If it is detected that there is an obstacle ahead, then when controlling the vehicle to exit the intelligent driving mode, control the vehicle to activate automatic emergency braking.

[0127] In an alternative manner, program 510 is specifically called by the processor 502 to cause the vehicle control device to perform the following operations:

[0128] Control to detect the driver's state in response to the manual takeover instruction;

[0129] If the detection result indicates that the driver cannot complete the takeover within a short time, then when controlling the vehicle to exit the intelligent driving mode, control the vehicle to activate automatic emergency braking and turn on the warning light.

[0130] The vehicle control method provided by the embodiments of the present invention can evaluate the potential collision risk before acceleration by responding to the input of the accelerator pedal and combining the relative motion parameters between the vehicle and the obstacle ahead. This pre-judgment ability effectively reduces the collision risk caused by blind acceleration, especially in a complex traffic environment, and improves driving safety. When the vehicle is allowed to accelerate, further combine the current navigation planning information and vehicle state information to determine whether it is possible to safely overtake the obstacle ahead. This multi-level judgment mechanism ensures that the vehicle not only considers the power demand when accelerating, but also comprehensively considers the path planning and vehicle state, thereby optimizing the acceleration performance and enhancing the vehicle's dynamic response ability. When it is not allowed to overtake the obstacle ahead, by restricting the acceleration range, sudden acceleration changes can be avoided, providing a smoother driving experience. When it is determined that the vehicle is allowed to overtake the obstacle ahead, the vehicle can accelerate normally according to the driver's input of the accelerator pedal. This method can reduce traffic accidents caused by driver's incorrect operations through phased judgment and control strategies.

[0131] Figure 6The structural schematic diagram of an embodiment of the vehicle of the present invention is shown. As Figure 6 shown, the vehicle 600 includes: sensors, cameras, one or more processors, and a communication interface;

[0132] The camera is used to detect whether there are obstacles in front of or behind the vehicle, and to monitor the driver's state;

[0133] The sensors are used to collect the inputs of the accelerator pedal or the brake pedal, and to detect the relative motion parameters between the vehicle and the obstacle in front or behind;

[0134] The processor is used to execute the steps in the above-mentioned embodiments of the vehicle control method.

[0135] The vehicle control method provided by the embodiments of the present invention can evaluate the potential collision risk before acceleration by responding to the input of the accelerator pedal and combining the relative motion parameters between the vehicle and the obstacle in front. This pre-judgment ability effectively reduces the collision risk caused by blind acceleration, especially in a complex traffic environment, and improves driving safety. When the vehicle is allowed to accelerate, further combining the current navigation planning information and the vehicle state information to determine whether it is possible to safely overtake the obstacle in front. This multi-level judgment mechanism ensures that when the vehicle accelerates, it not only considers the power demand, but also comprehensively considers the path planning and the vehicle state, thereby optimizing the acceleration performance and enhancing the dynamic response ability of the vehicle. When it is not allowed to overtake the obstacle in front, by restricting the acceleration range, sudden acceleration changes can be avoided, providing a smoother driving experience. When it is determined that the vehicle is allowed to overtake the obstacle in front, the vehicle can accelerate normally according to the input of the driver's accelerator pedal. This method can reduce traffic accidents caused by driver's misoperation through phased judgment and control strategies.

[0136] The embodiments of the present invention provide a computer-readable storage medium, and the storage medium stores at least one executable instruction. When the executable instruction runs on a vehicle control device / apparatus, the vehicle control device / apparatus is caused to execute the vehicle control method in any of the above method embodiments.

[0137] The executable instruction can specifically be used to cause the vehicle control device / apparatus to perform the following operations:

[0138] Respond to the input of the accelerator pedal satisfying the first input condition, and based on the obtained relative motion parameters between the vehicle and the obstacle in front, determine whether to allow the vehicle to accelerate;

[0139] If the vehicle is allowed to accelerate, then based on the current navigation planning information and the vehicle state information, determine whether to allow the vehicle to accelerate and overtake the obstacle in front;

[0140] If the vehicle is not allowed to accelerate beyond the obstacle ahead, calculate the allowable acceleration range and control the vehicle to accelerate within the allowable acceleration range;

[0141] If the vehicle is allowed to accelerate beyond the obstacle ahead, control the vehicle to accelerate according to the input of the accelerator pedal.

[0142] In an alternative manner, executable instructions cause the vehicle control device / unit to perform the following operations:

[0143] In response to the input of the brake pedal satisfying the second input condition, calculate the allowable deceleration range based on the obtained relative motion parameters between the vehicle and the obstacle ahead, and / or the relative motion parameters between the vehicle and the obstacle behind;

[0144] If the deceleration generated based on the input of the brake pedal is within the allowable deceleration range, control the vehicle to decelerate according to the input of the brake pedal;

[0145] If the deceleration generated based on the input of the brake pedal exceeds the allowable deceleration range, control the vehicle to decelerate within the allowable deceleration range.

[0146] In an alternative manner, executable instructions cause the vehicle control device / unit to perform the following operations:

[0147] Perform a collision risk assessment based on the obtained relative motion parameters between the vehicle and the obstacle ahead;

[0148] Based on the collision risk assessment result, determine whether to allow the vehicle to accelerate.

[0149] In an alternative manner, when the vehicle is not allowed to accelerate beyond the obstacle ahead, executable instructions cause the vehicle control device / unit to perform the following operations:

[0150] Control the vehicle to issue a warning to inform the driver of a misoperation.

[0151] In an alternative manner, executable instructions cause the vehicle control device / unit to perform the following operations:

[0152] If the vehicle is not allowed to accelerate, control the vehicle not to respond to the input of the accelerator pedal and / or control the vehicle to activate automatic emergency braking and / or control the vehicle to enter the intelligent driving mode.

[0153] In an alternative manner, executable instructions cause the vehicle control device / unit to perform the following operations:

[0154] In response to the manual takeover instruction, control to detect whether there is an obstacle ahead;

[0155] If an obstacle ahead is detected, when controlling the vehicle to exit the intelligent driving mode, the vehicle is controlled to activate automatic emergency braking.

[0156] In an alternative manner, the executable instruction causes the vehicle control device / unit to perform the following operations:

[0157] Control the detection of the driver's state in response to the manual takeover instruction;

[0158] If the detection result indicates that the driver cannot complete the takeover within a short time, when controlling the vehicle to exit the intelligent driving mode, the vehicle is controlled to activate automatic emergency braking and turn on the warning lights.

[0159] The vehicle control method provided by the embodiments of the present invention can evaluate the potential collision risk before acceleration by responding to the input of the accelerator pedal and combining the relative motion parameters between the vehicle and the obstacle ahead. This pre-judgment ability effectively reduces the collision risk caused by blind acceleration, especially in a complex traffic environment, and improves driving safety. When the vehicle is allowed to accelerate, further combining the current navigation planning information and vehicle state information to determine whether it is possible to safely overtake the obstacle ahead. This multi-level judgment mechanism ensures that when the vehicle accelerates, it not only considers the power demand, but also comprehensively considers the path planning and vehicle state, thereby optimizing the acceleration performance and enhancing the vehicle's dynamic response ability. When overtaking the obstacle ahead is not allowed, by restricting the acceleration range, sudden acceleration changes can be avoided, providing a smoother driving experience. When it is determined that the vehicle is allowed to overtake the obstacle ahead, the vehicle can accelerate normally according to the driver's input of the accelerator pedal. This method can reduce traffic accidents caused by driver's misoperations through phased judgment and control strategies.

[0160] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. In addition, the embodiments of the present invention are not directed to any specific programming language.

[0161] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. Similarly, in order to streamline the present invention and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Among them, the claims following the specific implementation manners are hereby expressly incorporated into the specific implementation manners, and each claim itself serves as a separate embodiment of the present invention.

[0162] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and arranged in one or more devices different from those of the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive.

[0163] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A vehicle control method, characterized in that, The method includes: In response to the input of the accelerator pedal satisfying a first input condition, based on the obtained relative motion parameters between the vehicle and the obstacle ahead, determining whether to allow the vehicle to accelerate; If it is allowed to accelerate the vehicle, based on the current navigation planning information and vehicle state information, determining whether to allow the vehicle to accelerate beyond the obstacle ahead; If it is not allowed to accelerate the vehicle beyond the obstacle ahead, calculating the allowable acceleration range and controlling the vehicle to accelerate within the allowable acceleration range; If it is allowed to accelerate the vehicle beyond the obstacle ahead, controlling the vehicle to accelerate according to the input of the accelerator pedal.

2. The method according to claim 1, wherein The method further includes: In response to the input of the brake pedal satisfying a second input condition, calculating the allowable deceleration range based on the obtained relative motion parameters between the vehicle and the obstacle ahead and / or the relative motion parameters between the vehicle and the obstacle behind; If the deceleration generated based on the input of the brake pedal is within the allowable deceleration range, controlling the vehicle to decelerate according to the input of the brake pedal; If the deceleration generated based on the input of the brake pedal exceeds the allowable deceleration range, controlling the vehicle to decelerate within the allowable deceleration range.

3. The method according to any one of claims 1-2, characterized in that, Determining whether to allow the vehicle to accelerate based on the obtained relative motion parameters between the vehicle and the obstacle ahead includes: Performing a collision risk assessment based on the obtained relative motion parameters between the vehicle and the obstacle ahead; Based on the collision risk assessment result, determining whether to allow the vehicle to accelerate.

4. The method according to any one of claims 1-2, characterized in that, In the case where it is not allowed to accelerate the vehicle beyond the obstacle ahead, the method further includes: Controlling the vehicle to issue a warning to inform the driver of a misoperation.

5. The method according to any one of claims 1-2, characterized in that, The method further includes: If it is not allowed to accelerate the vehicle, controlling the vehicle not to respond to the input of the accelerator pedal, and / or controlling the vehicle to activate automatic emergency braking, and / or controlling the vehicle to enter the intelligent driving mode.

6. The method according to any one of claims 1-2, characterized in that, The method further includes: In response to an artificial takeover instruction, controlling to detect whether there is an obstacle ahead; If it is detected that there is an obstacle ahead, when controlling the vehicle to exit the intelligent driving mode, controlling the vehicle to activate automatic emergency braking.

7. The method according to claim 6, characterized in that, The method further includes: Controlling to detect the driver's state to respond to the artificial takeover instruction; If the detection result indicates that the driver cannot complete the takeover within a short time, when controlling the vehicle to exit the intelligent driving mode, controlling the vehicle to activate automatic emergency braking and turn on the warning light.

8. A vehicle control device, characterized in that, The device includes: A first determination module, configured to, in response to the input of the accelerator pedal satisfying a first input condition, determine whether to allow the vehicle to accelerate based on the obtained relative motion parameters between the vehicle and the obstacle ahead; A second determination module, configured to, if it is allowed to accelerate the vehicle, determine whether to allow the vehicle to accelerate beyond the obstacle ahead based on the current navigation planning information and vehicle state information; A first control module, configured to, if it is not allowed to accelerate the vehicle beyond the obstacle ahead, calculate the allowable acceleration range and control the vehicle to accelerate within the allowable acceleration range; A second control module, configured to, if it is allowed to accelerate the vehicle beyond the obstacle ahead, control the vehicle to accelerate according to the input of the accelerator pedal.

9. A vehicle control device, characterized in that, Includes: A processor, a memory, a communication interface, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations of the vehicle control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, At least one executable instruction is stored in the storage medium, and when the executable instruction runs on a vehicle control device / apparatus, it causes the vehicle control device / apparatus to perform the operations of the vehicle control method according to any one of claims 1-7.

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