Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle control method and device, a vehicle and a storage medium. The method comprises the steps that first lightening information corresponding to a high-mount stop lamp on a front vehicle is obtained; according to the first lightening information, the first brake opening degree of the front vehicle is determined; and according to the first braking opening degree and the preset braking opening degree, the vehicle is controlled to conduct braking action. By applying the technical scheme, the braking intention of the front vehicle can be quickly sensed, the braking response time under the vehicle following scene can be shortened, the rear-end collision risk is reduced, and the implementation cost is lower than that in the prior art.

Description

Technical Field

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

[0002] At present, the number of vehicles in use is increasing year by year, and the traffic congestion situation is also increasing year by year. Among them, the proportion of rear-end collision accidents is relatively high. Coupled with the fact that the popularization of intelligent driving is also on the rise year by year, more aspects are needed to ensure the distance between the front and rear vehicles in terms of longitudinal distance control to avoid rear-end collisions.

[0003] In the existing related technologies, it is necessary to judge the distance between the front and rear vehicles to realize the braking of the vehicle, which leads to a corresponding increase in the hardware cost of the vehicle. Therefore, how to achieve vehicle operation safety at low cost and high efficiency has become an urgent technical problem to be solved. Summary of the Invention

[0004] In view of the above problems, the embodiments of the present invention provide a control method, device, vehicle, and storage medium for a vehicle, which are used to solve the technical problems such as high cost in the implementation of vehicle braking in the prior art.

[0005] According to one aspect of the embodiments of the present invention, a control method for a vehicle is provided, and the method includes:

[0006] Obtain the first lighting information corresponding to the high-mounted brake light on the front vehicle;

[0007] Determine the first brake opening degree of the front vehicle according to the first lighting information;

[0008] Control the vehicle to perform a braking action according to the first brake opening degree and a preset brake opening degree.

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

[0010] An obtaining module, configured to obtain the first lighting information corresponding to the high-mounted brake light on the front vehicle;

[0011] A determining module, configured to determine the first brake opening degree of the front vehicle according to the first lighting information;

[0012] A control module, configured to control the vehicle to perform a braking action according to the first brake opening degree and a preset brake opening degree.

[0013] According to another aspect of the embodiments of the present invention, a vehicle is provided, including:

[0014] A processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete communication with each other through the communication bus;

[0015] 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 as described above.

[0016] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, in which at least one executable instruction is stored, and the executable instruction causes a vehicle / vehicle control device to perform the operations of the vehicle control method as described above.

[0017] According to another aspect of the embodiments of the present invention, a computer program product is provided, including a computer program, which when executed by a processor, causes a vehicle control device / vehicle to perform the above-mentioned vehicle control method.

[0018] In the embodiments of the present invention, the first lighting information corresponding to the high-mounted brake light of the vehicle ahead is obtained; according to the first lighting information, the first brake opening of the vehicle ahead is determined; according to the first brake opening and a preset brake opening, the vehicle is controlled to perform a braking action. This solution establishes the association between the braking behavior of the vehicle ahead and the braking control of the vehicle by using the easily obtained signal of the lighting state of the high-mounted brake light, realizes the rapid perception of the braking intention of the vehicle ahead, and by converting the lighting information into a quantitative index of the brake opening and combining the preset threshold to trigger the braking of the vehicle, the braking response time in the following vehicle scenario can be shortened, the risk of rear-end collision can be reduced. The control logic based on simple signal interaction has the characteristics of lightweight deployment, is suitable for the rapid integration of the assisted driving system, improves the driving safety and the driving automation level, and has a lower implementation cost compared with the prior art.

[0019] The above description is only an overview of the technical solutions 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 according to the content of the description. And in order to make the above and other purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the specific embodiments of the present invention are specifically given below. Description of the Drawings

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

[0021] Figure 1 The flowchart of the first embodiment of the vehicle control method provided by the present invention is shown;

[0022] Figure 2 A schematic diagram of the mapping between lighting information and brake opening is shown;

[0023] Figure 3 The flowchart of the second embodiment of the vehicle control method provided by the present invention is shown;

[0024] Figure 4 The flowchart of the third embodiment of the vehicle control method provided by the present invention is shown;

[0025] Figure 5 The flowchart of the fourth embodiment of the vehicle control method provided by the present invention is shown;

[0026] Figure 6 The schematic structural diagram of the embodiment of the vehicle control device provided by the present invention is shown;

[0027] Figure 7 The schematic structural diagram of the embodiment of the vehicle provided by the present invention is shown. Detailed implementation manners

[0028] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying 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 set forth herein.

[0029] With the continuous growth of the vehicle ownership and the increasingly complex road environment, the vehicle driving safety issue has received more and more attention. In the following - vehicle scenario, timely and accurately perceiving the braking intention of the preceding vehicle and making a response is the key to avoiding rear - end collisions. The traditional driver manual braking method depends on the driver's reaction speed and judgment ability, and in the case of high - speed driving, fatigue driving or emergencies, manual braking often has a reaction delay. At the same time, with the rapid development of intelligent driving and assisted driving technologies, how to use vehicle - to - vehicle information interaction to achieve more efficient and intelligent braking control has become an important research direction for improving driving safety and traffic efficiency.

[0030] Currently, the existing technologies for vehicle - to - vehicle braking information interaction mainly include perception solutions based on sensors such as radar and cameras, and some vehicle - to - vehicle communication (abbreviation in English: V2V) technologies. That is, the sensor - based solution perceives the speed and distance changes of the preceding vehicle through millimeter - wave radar, lidar or vision cameras, and then judges whether the preceding vehicle brakes through algorithms; while the vehicle - to - vehicle communication technology requires the vehicle to be equipped with a dedicated communication module to directly transmit braking signals through dedicated short - range communication (abbreviation in English: DSRC) or cellular networks (such as C - V2X, etc.).

[0031] However, the existing technologies have the following technical problems:

[0032] 1), The sensor - based solutions are vulnerable to adverse weather (such as heavy rain, thick fog), lighting conditions and sensor failures, resulting in inaccurate or ineffective perception;

[0033] 2), Although vehicle - to - vehicle communication technology can directly obtain the braking information of the vehicle ahead, it requires additional hardware support, has a high deployment cost, and poor compatibility with different vehicle models.

[0034] Based on the above - mentioned technical problems, the technical concept of the present invention is as follows: When users deeply study the field of vehicle safe driving, they keenly perceive the limitations of the existing technology, that is, sensor perception is vulnerable to environmental interference, vehicle - to - vehicle communication is costly and has poor compatibility, and traditional lighting signals cannot quantify the braking degree. As a standard configuration of the vehicle, the high - mounted brake light will surely light up when the vehicle brakes, and its status information is easy to obtain. Therefore, users associate that by analyzing the lighting information of the high - mounted brake light, a quantitative relationship with the brake opening is established, and this common and stable signal is converted into data that can be used for braking control. This idea not only avoids relying on complex sensors and communication devices, reduces costs, but also can accurately reflect the braking degree of the vehicle ahead, thereby realizing the effective control of the braking action of the vehicle itself to solve the braking safety problem in the following - vehicle scenario.

[0035] Next, the technical solution of the present invention will be described in detail through specific embodiments. The execution subject of the present invention is a vehicle, specifically, it can be a vehicle control unit (VCU) in the vehicle, etc.

[0036] It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0037] Figure 1 The flowchart of the first embodiment of the control method for a vehicle provided by the present invention is shown. As Figure 1 shown, the method includes the following steps:

[0038] Step 11: Obtain the first lighting information corresponding to the high - mounted brake light on the vehicle ahead;

[0039] In this step, when the vehicle or the user analyzes the braking of the vehicle ahead, it is more important to obtain the response of the high - mounted brake light. At this time, the detailed situation of the high - mounted brake light on the vehicle ahead changing from the "unlit state" to the "lit state" can be obtained in real time through devices such as a camera unit.

[0040] Among them, the high - mounted brake light can be a brake light installed above the rear of the vehicle (such as near the rear windshield, on the roof spoiler, etc.).

[0041] In a possible implementation, in the vehicle ahead or the relevant embodiments of the following vehicle of the present invention, the higher the accuracy requirement of the high - mounted brake light, the better, and the length can be one meter.

[0042] Correspondingly, the first lighting information can be the length of the lit part of the high - mounted brake light, such as x cm.

[0043] Optionally, the implementation of step 11 can be as follows:

[0044] Step 1: In response to the user enabling the intelligent driving function of the vehicle, obtain the image information of the high-mounted brake light on the vehicle ahead;

[0045] In this implementation, when the user enables the intelligent driving function on the vehicle, the vehicle will use visual sensors such as on-vehicle cameras to collect the image information of the rear area of the vehicle ahead in real time, focusing on capturing visual information such as the appearance state, brightness change, and lighting moment of its high-mounted brake light.

[0046] Step 2: According to the image information, determine the first ratio of the lit light units to all the light units in the high-mounted brake light on the vehicle ahead;

[0047] In this implementation, the vehicle rear image of the vehicle ahead is captured in real time by an on-vehicle camera, focusing on the high-mounted brake light area. The image information can be preprocessed (such as noise reduction, contrast enhancement) to accurately identify the state of the light units (the ratio of lit / unlit); this first ratio is used to represent the braking intensity of the vehicle ahead. The larger the ratio, the greater the braking intensity, and vice versa, the smaller the ratio, the smaller the braking intensity.

[0048] Among them, in a possible implementation, the first ratio of the lit light units to all the light units (such as 10, determined based on the specific vehicle configuration design, etc.) can be the ratio of length (unit: cm), the ratio of quantity, the ratio of area, etc. Specifically, it can be:

[0049] 1), the ratio of the number of lit light units to the number of all the corresponding light units; 2), the ratio of the area value of the lit light units to the area value of all the corresponding light units; 3) the ratio of the length value of the lit light units to the length value of all the corresponding light units.

[0050] Step 3: Determine the first ratio as the first lighting information.

[0051] In this implementation, taking the following Figure 2 as an example, the number of all the light units in the high-mounted brake light is 10. Taking the leftmost figure as an example, the first ratio is 20%, then it is determined that the first lighting information indicates that the lit light units in the high-mounted brake light on the vehicle ahead account for 20% of all the light units.

[0052] Step 12: According to the first lighting information, determine the first brake opening of the vehicle ahead;

[0053] In this step, after obtaining the first lighting information of the vehicle ahead, based on this first lighting information, the first ratio can be converted into the initial depression depth of the brake pedal of the vehicle ahead, that is, the first brake opening of the vehicle ahead, through a pre-established mapping model.

[0054] Among them, the mapping model is used to describe the mapping relationship between the lighting information and the brake opening. Specifically, it can be the brake range corresponding to the brake opening. To ensure the safety of the vehicle, the upper limit value of the brake range is used as the brake opening determined for the current vehicle.

[0055] That is, Figure 2 shows a mapping schematic diagram of the lighting information and the brake opening, as Figure 2 shown, presenting examples of 5 different lighting information.

[0056] When the first brake opening is 20% - at parking, the first lighting information is 20%; when the first brake opening is 20% - 40%, the first lighting information is 40%; when the first brake opening is 40% - 60%, the first lighting information is 60%; when the first brake opening is 60% - 80%, the first lighting information is 80%; when the first brake opening is 80% - 100%, the first lighting information is 100%.

[0057] Next, a possible implementation will be used to illustrate the implementation of step 12:

[0058] Step 1: Determine the first product value of the first ratio and the full brake opening;

[0059] In this implementation, if the first ratio is 20% and the full brake opening is 100%, then the first product value is 20%.

[0060] Step 2: Determine the first product value as the first brake opening of the vehicle ahead.

[0061] In this implementation, the first product value 20% is determined as the first brake opening of the vehicle ahead.

[0062] Step 13: Control the vehicle to perform a braking action according to the first brake opening and the preset brake opening.

[0063] In this step, since the braking time of the current vehicle is later than that of the vehicle ahead, it is necessary to appropriately increase the brake opening applied to the vehicle to ensure the safety of the vehicle. At this time, the first brake opening is adjusted with the preset brake opening, and then based on the adjusted brake opening, the vehicle is controlled to perform a braking action.

[0064] The vehicle control method provided by the embodiments of the present invention includes obtaining the first lighting information corresponding to the high-mounted brake light of the vehicle in front; determining the first brake opening of the vehicle in front according to the first lighting information; and controlling the vehicle to perform a braking action according to the first brake opening and a preset brake opening. This solution uses the easily obtainable signal of the lighting state of the high-mounted brake light to establish the correlation between the braking behavior of the vehicle in front and the brake control of the vehicle itself, achieving rapid perception of the braking intention of the vehicle in front. By converting the lighting information into a quantitative index of the brake opening and combining it with a preset threshold to trigger the braking of the vehicle itself, the braking response time in the following vehicle scenario can be shortened, the risk of rear-end collision can be reduced. The control logic based on simple signal interaction has the characteristics of lightweight deployment, is suitable for the rapid integration of the assisted driving system, improves driving safety and the level of driving automation, and has a lower implementation cost compared with the prior art.

[0065] Based on the above embodiments, Figure 3 The flowchart of the second embodiment of the vehicle control method provided by the present invention is shown. As Figure 3 shown, step 13 above may include the following steps:

[0066] Step 31: Determine the first sum value of the first brake opening and the preset brake opening;

[0067] In this step, after determining the first brake opening, the first brake opening is added to the preset brake opening to obtain the first sum value.

[0068] In a possible implementation, the preset brake opening may be 1%. If the first brake opening is 20%, the first sum value is 21%.

[0069] Optionally, the size of the preset brake opening can be determined based on the vehicle type of the vehicle in front (the principle is: the inertia of the vehicle in front). If the vehicle in front is a heavy vehicle, the preset brake opening is relatively small; if the vehicle in front is a light vehicle, the preset brake opening is relatively large.

[0070] Step 32: Control the vehicle to perform a braking action according to the minimum value between the first sum value and the full brake opening.

[0071] In this step, since there is a situation where the first sum value is the first brake opening + the preset brake opening is greater than 100% (i.e., the full brake opening), in order to ensure the normal execution logic of the vehicle, the minimum value between the first sum value and the full brake opening is determined as the opening indicated by the actual braking information executed by the braking system.

[0072] The vehicle control method provided by the embodiment of the present invention controls the vehicle to perform a braking action by determining the first sum value of the first brake opening and the preset brake opening, and according to the minimum value between the first sum value and the full brake opening. This solution controls the vehicle braking by calculating the sum value of the first brake opening and the preset brake opening, and taking the minimum value between the sum value and the full brake opening, which can effectively achieve precise and safe braking control; that is, by summing the two brake openings, the braking degree of the vehicle in front and the braking strategy preset for the vehicle itself can be comprehensively considered to achieve the superposition optimization of the braking intensity; taking the minimum value between the sum value and the full brake opening avoids the risk that the braking force exceeds the system's tolerance due to excessive summation, ensures that the braking action is executed within the safety threshold, and prevents risks such as vehicle out of control and rear-end collision caused by too strong braking.

[0073] Based on the above embodiment, Figure 4 The flowchart of the third embodiment of the vehicle control method provided by the present invention is shown. As Figure 4 shown, the vehicle control method may further include:

[0074] Step 41, when detecting that the vehicle performs a braking action, determine the second lighting information corresponding to the high-mounted brake light on the vehicle according to the second brake opening corresponding to the braking action;

[0075] In this step, when the vehicle detects that the driver performs a braking action (such as stepping on the brake pedal) or the automatic driving function performs a braking action, it will obtain in real time the second brake opening corresponding to the braking action (which can be the brake opening within a period of time), and determine the lighting logic of the high-mounted brake light based on this second brake opening.

[0076] In a possible implementation, it can be based on Figure 2 shown in the brake opening and lighting information. When the second brake opening is 20% - parking, the second lighting information is 20%; when the second brake opening is 20% - 40%, the second lighting information is 40%; when the second brake opening is 40% - 60%, the second lighting information is 60%; when the second brake opening is 60% - 80%, the second lighting information is 80%; when the second brake opening is 80% - 100%, the second lighting information is 100%.

[0077] Optionally, a possible implementation of step 41 may be:

[0078] Step 1, according to the second ratio of the second brake opening and the full brake opening;

[0079] In a possible implementation, if the second brake opening is 20% and the full brake opening is 100%, the second ratio is 20%.

[0080] In another possible implementation, if the second brake opening is 10% and the full brake opening is 100%, then the second ratio is 10%.

[0081] Step 2: Determine the second lighting information according to the second ratio and the number information or length information of the lighting units on the high-level brake light on the vehicle.

[0082] In one possible implementation, if the second ratio is 20% and the number information of the lighting units on the high-level brake light indicates that the total number of lighting units is 10, then the second lighting information is determined to be 20% * 10 = 2, that is, 2 lighting units are lit; if the length information of the lighting units on the high-level brake light indicates that the total length of the high-level brake light is 100 cm, then the second lighting information is determined to be 20% * 100 = 20 cm, that is, 20 cm is lit.

[0083] In another possible implementation, if the second ratio is 10% and the number information of the lighting units on the high-level brake light indicates that the total number of lighting units is 10, then the second lighting information is determined to be 20% * 10 = 1, that is, 1 lighting unit is lit (it should be understood that in some implementations, the lighting units in the high-level brake light are displayed in pairs, then 2 lighting units need to be lit); if the length information of the lighting units on the high-level brake light indicates that the total length of the high-level brake light is 100 cm, then the second lighting information is determined to be 10% * 100 = 10 cm, that is, 10 cm is lit (it should be understood that in some implementations, the lighting units in the high-level brake light are displayed in increments of 20 cm, then 20 cm needs to be lit).

[0084] Step 42: Control the high-level brake light on the vehicle to light up according to the second lighting information.

[0085] In this step, based on the second lighting information, the VCU determines a control signal to indicate lighting the corresponding lighting units in the high-level brake light. After the lighting system obtains this control signal, it parses it to control the corresponding lighting units to light up.

[0086] The control method of the vehicle provided by the embodiment of the present invention determines the second lighting information corresponding to the high-mounted brake light on the vehicle according to the second brake opening corresponding to the brake action when it detects that the vehicle executes a brake action; and controls the high-mounted brake light on the vehicle to light up according to the second lighting information. This solution realizes the dynamic matching of the braking intensity and the warning level by establishing the association between the second brake opening of the vehicle's brake action and the lighting information of the high-mounted brake light, that is, accurately determines the lighting information of the high-mounted brake light according to the brake opening, and enables the brightness, the number of lighting units, etc. of the high-mounted brake light to change in real time with the braking force. The greater the braking force, the stronger the warning effect of the high-mounted brake light. Compared with the traditional fixed-mode lighting method of the high-mounted brake light, this solution can transmit the braking state of the vehicle to the following vehicle more accurately, avoid misjudgment of the following vehicle caused by fuzzy warning information, effectively improve the reaction speed and judgment accuracy of the driver of the following vehicle, and then reduce the risk of rear-end collision, and improve the driving safety and the interaction efficiency of the traffic system.

[0087] Based on the above embodiment, Figure 5 The flowchart of the fourth embodiment of the control method of the vehicle provided by the present invention is shown. As Figure 5 shown, in step 41, "determine the second lighting information corresponding to the high-mounted brake light on the vehicle according to the second brake opening corresponding to the brake action", another possible implementation may include any one of step 51 and step 52:

[0088] Step 51, if the second brake opening corresponding to the brake action indicates that the brake opening of the vehicle changes from 0% to 100% within a preset duration, then determine that the second lighting information corresponding to the high-mounted brake light on the vehicle is that all lighting units are lit;

[0089] In this step, after detecting that the current vehicle executes a brake action, a monitoring mechanism is started. If within a period of time (i.e., the preset duration) corresponding to the brake action, the opening of the brake pedal (i.e., the second brake opening) indicates a rapid change from fully released (0%) to fully depressed (100%), it means that the vehicle is in an emergency braking or high-intensity braking state.

[0090] Once the above situation occurs, the vehicle can determine that the second lighting information of the high-mounted brake light is that all lighting units are lit. At this time, regardless of the original lighting logic state of the high-mounted brake light, an instruction will be sent to the lighting system through the in-vehicle communication bus to forcibly activate all lighting units to warn the following vehicle with the highest brightness and improve the safety warning effect.

[0091] In a possible implementation, the preset duration can be 0.5 s.

[0092] Step 52: If the second brake opening corresponding to the braking action causes the vehicle's deceleration to be greater than a preset deceleration threshold, determine that the second lighting information corresponding to the high-mounted brake lights on the vehicle is that all light units are lit.

[0093] In this step, after detecting that the current vehicle is performing a braking action, the monitoring mechanism is turned on. If the vehicle performs a braking action, that is, the second brake opening is executed so that the vehicle's deceleration is detected by the sensor and exceeds the pre-set deceleration critical value (that is, the preset deceleration threshold), it means that the vehicle is in an emergency braking or high-intensity braking state.

[0094] If this happens, the vehicle can determine the second high-mounted brake light activation signal as all light units lighting up. In this case, regardless of the original state of the high-mounted brake light lighting logic, a command will be sent to the lighting system via the vehicle communication bus to force the activation of all light units, warning the following vehicles at full brightness and improving safety warning effects.

[0095] Furthermore, when the vehicle detects that the trigger conditions such as the above-mentioned step 51 or step 52 are met, and thereby determines that the second lighting information corresponding to the high-mounted brake light is that all lighting units are lit, the vehicle's electronic control system will immediately send an instruction to the control module (lighting system) of the high-mounted brake light through the vehicle network (such as the CAN bus), forcibly driving all lighting units (such as LED lamp beads, halogen bulbs, etc.) in the high-mounted brake light to enter the lighting state at the same time, alerting the rear vehicles with the highest brightness and maximum visual warning range.

[0096] The vehicle control method provided by an embodiment of the present invention determines that the second lighting information corresponding to the high-mounted brake lights applied on the vehicle is that all light units are lit if the second brake opening indication corresponding to the braking action changes the vehicle's brake opening from 0% to 100% within a preset time period; or determines that the second lighting information corresponding to the high-mounted brake lights applied on the vehicle is that all light units are lit if the second brake opening indication corresponding to the braking action causes the vehicle's deceleration to be greater than a preset deceleration threshold. This solution monitors the dynamic process of the vehicle's braking action, and associates rapid changes in brake opening or deceleration exceeding a threshold with full illumination of the high-mounted brake lights, which can significantly improve the driving safety warning effect. That is, when the vehicle's brake opening increases sharply from 0% to 100% within a preset time period, or the deceleration exceeds a preset threshold, it means that the vehicle is performing emergency braking. At this time, all light units of the high-mounted brake lights are forced to light up. Compared with the conventional lighting mode, it can more intuitively and clearly transmit emergency braking signals to the following vehicle, effectively shortening the reaction time of the following vehicle driver and reducing the risk of rear-end collisions. At the same time, the solution is triggered in real time based on the vehicle's braking status, avoiding the lag of traditional warning methods, realizing dynamic matching of braking intensity and warning level, and enhancing the safety and interactivity of the vehicle in complex traffic scenarios.

[0097] Based on the above embodiments, Figure 6 The structural schematic diagram of the embodiment of the control device of the vehicle provided by the present invention is shown. As Figure 6 shown, the device includes:

[0098] An acquisition module 61, configured to acquire first lighting information corresponding to a high-mounted brake light on the vehicle ahead;

[0099] A determination module 62, configured to determine a first brake opening of the vehicle ahead according to the first lighting information;

[0100] A control module 63, configured to control the vehicle to perform a braking action according to the first brake opening and a preset brake opening.

[0101] In one or more embodiments, the control module 63 is specifically configured to:

[0102] Determine a first sum value of the first brake opening and the preset brake opening;

[0103] Control the vehicle to perform a braking action according to the minimum value of the first sum value and the full brake opening.

[0104] In one or more embodiments, the first lighting information indicates a first ratio of the lit lighting units to all lighting units in the high-mounted brake light on the vehicle ahead;

[0105] Correspondingly, the determination module 62 is specifically configured to:

[0106] Determine a first product value of the first ratio and the full brake opening;

[0107] Determine the first product value as the first brake opening of the vehicle ahead.

[0108] In one or more embodiments, the determination module 62 is further configured to:

[0109] When it is detected that the vehicle performs a braking action, determine second lighting information corresponding to the high-mounted brake light on the vehicle according to the second brake opening corresponding to the braking action;

[0110] Control the high-mounted brake light on the vehicle to light up according to the second lighting information.

[0111] In one or more embodiments, the determination module 62 determines the second lighting information corresponding to the high-mounted brake light on the vehicle according to the second brake opening corresponding to the braking action, including:

[0112] If the second brake opening corresponding to the braking action indicates that the brake opening of the vehicle changes from 0% to 100% within a preset time period, then determine that the second lighting information corresponding to the high-mounted brake light on the vehicle is that all lighting units are lit;

[0113] Alternatively, if the second brake opening corresponding to the execution of the braking action causes the deceleration of the vehicle to be greater than the preset deceleration threshold, it is determined that the second lighting information corresponding to the high-mounted brake light applied to the vehicle is that all lighting units are lit.

[0114] In one or more embodiments, the determining module 62 determines the second lighting information corresponding to the high-mounted brake light applied to the vehicle according to the second brake opening corresponding to the braking action, and specifically is used for:

[0115] According to the second ratio of the second brake opening to the full-brake opening;

[0116] Determine the second lighting information according to the second ratio and the number information or length information of the lighting units on the high-mounted brake light of the vehicle.

[0117] In one or more embodiments, the obtaining module 61 is specifically used for:

[0118] In response to the user turning on the intelligent driving function of the vehicle, obtain the image information of the high-mounted brake light on the vehicle in front;

[0119] According to the image information, determine the first ratio of the lit lighting units to all lighting units in the high-mounted brake light on the vehicle in front;

[0120] Determine the first ratio as the first lighting information.

[0121] It should be noted that it should be understood that the division of each module of the above device is only a logical function division. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by processing elements. They can also all be implemented in the form of hardware. It is also possible that some modules are implemented in the form of software called by processing elements, and some modules are implemented in the form of hardware. In addition, all or part of these modules can be integrated together or independently implemented. Here, the processing element can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the hardware integrated logic circuit or software-form instructions in the processor element.

[0122] As can be seen from the above, the control device for a vehicle provided by the embodiments of the present invention establishes the association between the braking behavior of the vehicle in front and the braking control of the vehicle by using the easily obtainable signal of the illuminated state of the high-mounted brake light, realizes the rapid perception of the braking intention of the vehicle in front, and by converting the illumination information into a quantitative index of the braking opening degree and triggering the braking of the vehicle in combination with a preset threshold, the braking response time in the following vehicle scenario can be shortened, the risk of rear-end collision can be reduced. Based on the control logic of simple signal interaction, it has the characteristics of lightweight deployment, is suitable for the rapid integration of the assisted driving system, improves the driving safety and the level of driving automation, and has a lower implementation cost compared with the prior art.

[0123] Figure 7 The structural schematic diagram of an embodiment of a vehicle provided by the present invention is shown, as Figure 7 shown, the vehicle may include: a processor 72, a communications interface 74, a memory 76, and a communication bus 78.

[0124] Among them: the processor 72, the communications interface 74, and the memory 76 communicate with each other through the communication bus 78. The communications interface 74 is used to communicate with network elements of other devices such as clients or other servers. The processor 72 is used to execute the program 70, and specifically can execute the relevant steps in the above-mentioned embodiment of the control method for a vehicle.

[0125] Specifically, the program 70 may include program code, and the program code includes computer-executable instructions.

[0126] The processor 72 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 may be of the same type of processor, such as one or more CPUs. It may also be different types of processors, such as one or more CPUs and one or more ASICs.

[0127] The memory 76 is used to store the program 70. The memory 76 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0128] The program 70 can specifically be called by the processor 72 to enable the vehicle to perform the following operations:

[0129] Obtain the first illumination information corresponding to the high-mounted brake light on the vehicle in front;

[0130] Determine the first braking opening of the vehicle ahead based on the first lighting information;

[0131] Control the vehicle to perform a braking action based on the first braking opening and a preset braking opening.

[0132] In one or more embodiments, controlling the vehicle to perform a braking action based on the first braking opening and a preset braking opening includes:

[0133] Determine the first sum value of the first braking opening and the preset braking opening;

[0134] Control the vehicle to perform a braking action based on the minimum value between the first sum value and the full braking opening.

[0135] In one or more embodiments, the first lighting information indicates a first ratio of the illuminated lighting units in the high-mounted brake light of the vehicle ahead to all lighting units;

[0136] Correspondingly, determining the first braking opening of the vehicle ahead based on the first lighting information includes:

[0137] Determine the first product value of the first ratio and the full braking opening;

[0138] Determine the first product value as the first braking opening of the vehicle ahead.

[0139] In one or more embodiments, also perform:

[0140] When it is detected that the vehicle performs a braking action, determine the second lighting information corresponding to the high-mounted brake light of the vehicle based on the second braking opening corresponding to the braking action; [[ID=?]]

[0141] Control the high-mounted brake light of the vehicle to be illuminated based on the second lighting information.

[0142] In one or more embodiments, determining the second lighting information corresponding to the high-mounted brake light of the vehicle based on the second braking opening corresponding to the braking action includes:

[0143] If the second braking opening corresponding to the braking action indicates that the braking opening of the vehicle changes from 0% to 100% within a preset time period, then determine that the second lighting information corresponding to the high-mounted brake light of the vehicle is that all lighting units are illuminated;

[0144] Or, if the second braking opening corresponding to the braking action causes the deceleration of the vehicle to be greater than a preset deceleration threshold, then determine that the second lighting information corresponding to the high-mounted brake light of the vehicle is that all lighting units are illuminated.

[0145] In one or more embodiments, determining the second lighting information corresponding to the high-mounted brake light of the vehicle based on the second braking opening corresponding to the braking action includes:

[0146] According to the second ratio of the second brake opening to the full brake opening;

[0147] Determine the second lighting information according to the second ratio and the number information or length information of the lighting units on the high-mounted brake light on the vehicle.

[0148] In one or more embodiments, obtaining the first lighting information corresponding to the high-mounted brake light on the preceding vehicle includes:

[0149] In response to the user turning on the intelligent driving function of the vehicle, obtain the image information of the high-mounted brake light on the preceding vehicle;

[0150] According to the image information, determine the first ratio of the lit lighting units to all the lighting units in the high-mounted brake light on the preceding vehicle;

[0151] Determine the first ratio as the first lighting information.

[0152] As can be seen from the above, the vehicle provided by the embodiments of the present invention establishes the association between the braking behavior of the preceding vehicle and the braking control of the vehicle by using the easily obtained signal of the lighting state of the high-mounted brake light, realizes the rapid perception of the braking intention of the preceding vehicle, and by converting the lighting information into a quantitative index of the brake opening, combined with a preset threshold to trigger the braking of the vehicle, can shorten the braking response time in the following vehicle scenario, reduce the risk of rear-end collision, and based on the control logic of simple signal interaction, has the characteristics of lightweight deployment, is suitable for the rapid integration of the assisted driving system, improves the driving safety and the level of driving automation, and has a lower implementation cost compared with the prior art.

[0153] The embodiments of the present invention provide a computer-readable storage medium, and the storage medium stores at least one executable instruction, which, when running on the control device / vehicle of the vehicle, enables the control device / vehicle of the vehicle to execute the vehicle control method in any of the above method embodiments.

[0154] The executable instruction can specifically be used to enable the control device / vehicle of the vehicle to perform the following operations:

[0155] Obtain the first lighting information corresponding to the high-mounted brake light on the preceding vehicle;

[0156] Determine the first brake opening of the preceding vehicle according to the first lighting information;

[0157] Control the vehicle to perform a braking action according to the first brake opening and the preset brake opening.

[0158] In one or more embodiments, controlling the vehicle to perform a braking action according to the first brake opening and the preset brake opening includes:

[0159] Determine the first sum value of the first brake opening and the preset brake opening;

[0160] Control the vehicle to perform a braking action according to the minimum value of the first sum value and the full braking opening degree.

[0161] In one or more embodiments, the first lighting information indicates a first ratio of the lit lighting units to all lighting units in the high-mounted brake light of the vehicle ahead;

[0162] Correspondingly, determining the first braking opening degree of the vehicle ahead according to the first lighting information includes:

[0163] Determine a first product value of the first ratio and the full braking opening degree;

[0164] Determine the first product value as the first braking opening degree of the vehicle ahead.

[0165] In one or more embodiments, further perform:

[0166] When it is detected that the vehicle performs a braking action, determine second lighting information corresponding to the high-mounted brake light of the vehicle according to the second braking opening degree corresponding to the braking action;

[0167] Control the high-mounted brake light of the vehicle to light up according to the second lighting information.

[0168] In one or more embodiments, determining the second lighting information corresponding to the high-mounted brake light of the vehicle according to the second braking opening degree corresponding to the braking action includes:

[0169] If the second braking opening degree corresponding to the braking action indicates that the braking opening degree of the vehicle changes from 0% to 100% within a preset time period, determine that the second lighting information corresponding to the high-mounted brake light of the vehicle is that all lighting units are lit;

[0170] Or, if the second braking opening degree corresponding to the braking action causes the deceleration of the vehicle to be greater than a preset deceleration threshold, determine that the second lighting information corresponding to the high-mounted brake light of the vehicle is that all lighting units are lit.

[0171] In one or more embodiments, determining the second lighting information corresponding to the high-mounted brake light of the vehicle according to the second braking opening degree corresponding to the braking action includes:

[0172] According to a second ratio of the second braking opening degree and the full braking opening degree;

[0173] Determine the second lighting information according to the second ratio and the quantity information or length information of the lighting units on the high-mounted brake light of the vehicle.

[0174] In one or more embodiments, obtaining the first lighting information corresponding to the high-mounted brake light of the vehicle ahead includes:

[0175] In response to the user enabling the intelligent driving function of the vehicle, obtain the image information of the high-mounted brake light of the vehicle ahead;

[0176] According to the image information, determine the first ratio of the lit light units to all the light units in the high-mounted brake light of the vehicle ahead;

[0177] Determine the first ratio as the first lighting information.

[0178] As can be seen from the above, the execution instructions in the computer-readable storage medium provided by the embodiments of the present invention establish the association between the braking behavior of the vehicle ahead and the braking control of the vehicle by using the easily obtainable signal of the lighting state of the high-mounted brake light, realize the rapid perception of the braking intention of the vehicle ahead, and trigger the braking of the vehicle by converting the lighting information into a quantitative index of the braking opening degree and combining with a preset threshold, which can shorten the braking response time in the following vehicle scenario, reduce the risk of rear-end collision. Based on the control logic of simple signal interaction, it has the characteristics of lightweight deployment, is suitable for the rapid integration of the assisted driving system, improves the driving safety and the level of driving automation, and has a lower implementation cost compared with the prior art.

[0179] The embodiments of the present invention provide a computer program product, including a computer program, which when executed by a processor implements the operations of the above-mentioned vehicle control method.

[0180] Its implementation principle and technical effects are as disclosed above.

[0181] The descriptions of the above embodiments tend to emphasize the differences between the embodiments. Their similarities or similarities can be referred to each other. For the sake of brevity, they will not be elaborated in this article.

[0182] The methods disclosed in the method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0183] The features disclosed in the product embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0184] The features disclosed in the method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0185] It should be noted that the above computer-readable storage medium may be a ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc. It may also be various vehicles including one or any combination of the above memories.

[0186] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or device. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0187] The serial numbers of the above embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0188] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus necessary general hardware nodes. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions to enable a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, a vehicle-mounted terminal or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0189] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus, devices, and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0190] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0191] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks. The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. In addition, embodiments of the present invention are not directed to any particular programming language.

[0192] 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 claims. 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 the unit claims 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 control method for a vehicle, characterized in that, The method includes: Obtaining first lighting information corresponding to the high-mounted brake light of the vehicle ahead; Determining a first brake opening degree of the vehicle ahead according to the first lighting information; Controlling the vehicle to perform a braking action according to the first brake opening degree and a preset brake opening degree.

2. The method according to claim 1, characterized in that The controlling the vehicle to perform a braking action according to the first brake opening degree and the preset brake opening degree includes: Determining a first sum value of the first brake opening degree and the preset brake opening degree; Controlling the vehicle to perform a braking action according to the minimum value of the first sum value and the full brake opening degree.

3. The method according to claim 1, wherein The first lighting information indicates a first ratio of the lit lighting units in the high-mounted brake light of the vehicle ahead to all lighting units; Correspondingly, the determining the first brake opening degree of the vehicle ahead according to the first lighting information includes: Determining a first product value of the first ratio and the full brake opening degree; Determining the first product value as the first brake opening degree of the vehicle ahead.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: When detecting that the vehicle performs a braking action, determining second lighting information corresponding to the high-mounted brake light of the vehicle according to a second brake opening degree corresponding to the braking action; Controlling the high-mounted brake light of the vehicle to light up according to the second lighting information.

5. The method according to claim 4, wherein The determining the second lighting information corresponding to the high-mounted brake light of the vehicle according to the second brake opening degree corresponding to the braking action includes: If the second brake opening degree corresponding to the braking action indicates that the brake opening degree of the vehicle changes from 0% to 100% within a preset time period, determining that the second lighting information corresponding to the high-mounted brake light of the vehicle is that all lighting units are lit; Or, if the second brake opening degree corresponding to the braking action causes the deceleration of the vehicle to be greater than a preset deceleration threshold, determining that the second lighting information corresponding to the high-mounted brake light of the vehicle is that all lighting units are lit.

6. The method according to claim 4, characterized in that, The determining the second lighting information corresponding to the high-mounted brake light of the vehicle according to the second brake opening degree corresponding to the braking action includes: According to a second ratio of the second brake opening degree and the full brake opening degree; Determining the second lighting information according to the second ratio and the quantity information or length information of the lighting units on the high-mounted brake light of the vehicle.

7. The method according to any one of claims 1 to 3, characterized in that The obtaining the first lighting information corresponding to the high-mounted brake light of the vehicle ahead includes: In response to the user turning on the intelligent driving function of the vehicle, obtaining image information of the high-mounted brake light of the vehicle ahead; Determining a first ratio of the lit lighting units to all lighting units in the high-mounted brake light of the vehicle ahead according to the image information; Determining the first ratio as the first lighting information.

8. A control device for a vehicle, characterized in that, The device includes: An obtaining module, configured to obtain first lighting information corresponding to the high-mounted brake light of the vehicle ahead; A determining module, configured to determine a first brake opening degree of the vehicle ahead according to the first lighting information; A controlling module, configured to control the vehicle to perform a braking action according to the first brake opening degree and a preset brake opening degree.

9. A vehicle, characterized in that, Including: 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 the vehicle control device / vehicle, it causes the vehicle control device / vehicle to perform the operations of the vehicle control method according to any one of claims 1-7.

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