Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: determining a dangerous longitudinal distance between the vehicle and an obstacle according to the driving speed of the vehicle, the acceleration of the vehicle, the moving speed of the obstacle, the position relation between the vehicle and the obstacle, and the reaction time of a driver of the vehicle; under the condition that the initial longitudinal distance between the vehicle and the obstacle is smaller than or equal to the dangerous longitudinal distance, the first weight of the vehicle, the second weight of the obstacle and the collision speed of the vehicle are obtained; according to the first weight, the second weight and the collision speed, the collision strength of the vehicle under the condition that the vehicle collides with the obstacle is determined; and under the condition that the collision strength is larger than or equal to the collision strength threshold value, the vehicle door is controlled to be unlocked. According to the embodiment of the invention, the vehicle door can be unlocked in advance before collision, so that the timeliness of rescue after collision and the safety of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method, device, vehicle and storage medium. Background Art

[0002] With the rapid development of the automotive industry, vehicle safety technology has also been significantly improved.

[0003] Currently, when a vehicle collides, the airbag controller will detect the collision sensors installed on the vehicle. When the collision requirements are met, the airbag controller will send a collision signal to the body controller. After receiving the collision signal, the body controller will send an unlocking signal to the door lock control unit to control the unlocking of the door, so that rescue personnel can open the door smoothly and rescue the people in the car.

[0004] However, the current door unlocking method needs to go through the processes of collision signal detection, collision signal transmission, collision signal processing, and door unlocking control in the process from collision to door unlocking. During the collision, if the power supply in the vehicle is abnormal and cannot be supplied normally due to the collision, or the low-voltage wiring harness is abnormal and cannot transmit the collision signal and unlocking signal, or the body controller is damaged, the collision signal processing and door unlocking control process cannot be performed, resulting in the door being unable to unlock in an emergency state of collision, and rescue cannot be provided in time, which in turn reduces the safety of the vehicle. Summary of the Invention

[0005] Embodiments of the present invention provide a vehicle control method, device, vehicle, and storage medium to solve the problem in the related art that, in the event of a vehicle collision, vehicle doors cannot be unlocked, resulting in reduced vehicle safety.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a vehicle control method, the method comprising: Obtaining a vehicle's speed, the vehicle's acceleration, an obstacle's moving speed, an initial longitudinal distance between the vehicle and the obstacle, and a positional relationship between the vehicle and the obstacle; determining a dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and a reaction time of the driver of the vehicle; When the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, obtaining a first weight of the vehicle, a second weight of the obstacle, and a collision speed of the vehicle when the vehicle collides with the obstacle; determining, based on the first weight, the second weight, and the collision speed, a collision intensity of the vehicle when the vehicle collides with the obstacle; When the collision intensity is greater than or equal to a collision intensity threshold, the vehicle door is controlled to be unlocked.

[0007] Optionally, determining the dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and the reaction time of the driver of the vehicle includes: determining a first longitudinal distance change between the vehicle and the obstacle within the reaction time according to the driving speed, the moving speed, and a reaction time of the driver of the vehicle; determining, based on the driving speed, the acceleration, and the moving speed, a second longitudinal distance change between the vehicle and the obstacle during a process of adjusting the driving speed to be equal to the moving speed; A dangerous longitudinal distance between the vehicle and the obstacle is determined based on the positional relationship, the first longitudinal distance change value, and the second longitudinal distance change value.

[0008] Optionally, determining the first longitudinal distance change between the vehicle and the obstacle within the reaction time according to the driving speed, the moving speed, and the reaction time of the driver of the vehicle includes: Calculating a relative speed between the vehicle and the obstacle based on the driving speed and the moving speed; A first product of the relative speed and a reaction time of the driver of the vehicle is calculated, and the first product is determined as a first longitudinal distance change value.

[0009] Optionally, determining, based on the driving speed, the acceleration, and the moving speed, a second change in the longitudinal distance between the vehicle and the obstacle in a process of adjusting the driving speed to be equal to the moving speed includes: Calculating a relative speed between the vehicle and the obstacle based on the driving speed and the moving speed; A second longitudinal distance change value between the vehicle and the obstacle during a process of adjusting the travel speed to be equal to the moving speed is calculated based on the relative speed and the acceleration.

[0010] Optionally, determining the dangerous longitudinal distance between the vehicle and the obstacle based on the positional relationship, the first longitudinal distance change value, and the second longitudinal distance change value includes: Determining the driving direction of the vehicle and the moving direction of the obstacle; When the traveling direction of the vehicle is the same as the moving direction of the obstacle, and the positional relationship indicates that the obstacle is located in front of the vehicle, determining a sum of the first longitudinal distance change value and the second longitudinal distance change value as a dangerous longitudinal distance between the vehicle and the obstacle; When the driving direction of the vehicle is the same as the moving direction of the obstacle, and the positional relationship indicates that the obstacle is located behind the vehicle, the difference between the first longitudinal distance change value and the second longitudinal distance change value is determined as the dangerous longitudinal distance between the vehicle and the obstacle.

[0011] Optionally, when the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, obtaining the first weight of the vehicle, the second weight of the obstacle, and a collision speed of the vehicle when the vehicle collides with the obstacle includes: When the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, a collision speed of the vehicle when the vehicle collides with the obstacle is calculated based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time.

[0012] Optionally, calculating the collision speed of the vehicle when the vehicle collides with the obstacle based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time includes: The collision speed of the vehicle when the vehicle collides with the obstacle is calculated based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time, where the collision speed is: ; in, represents the collision velocity; represents the driving speed; represents the movement speed; represents the acceleration; represents the initial longitudinal distance; Indicates the reaction time.

[0013] Optionally, determining, based on the first weight, the second weight, and the collision speed, a collision intensity of the vehicle when the vehicle collides with the obstacle includes: When the moving speed is 0, a second product of the first weight and the collision speed is calculated, and a third product of the second product and a preset coefficient is determined as a collision intensity of the vehicle when the vehicle collides with the obstacle.

[0014] Optionally, determining, based on the first weight, the second weight, and the collision speed, a collision intensity of the vehicle when the vehicle collides with the obstacle includes: When the moving speed is non-zero, calculating a reduced mass between the vehicle and the obstacle based on the first weight and the second weight; A fourth product of the reduced mass and the collision velocity is calculated, and a fifth product of the fourth product and a preset coefficient is determined as a collision intensity of the vehicle when the vehicle collides with the obstacle.

[0015] Optionally, the method further includes: When the collision intensity is greater than or equal to the collision intensity threshold, a collision signal is sent to the cloud platform unit so that the cloud platform unit can monitor the driving status of the vehicle based on the collision signal and send a rescue signal when the vehicle collides with the obstacle.

[0016] In order to solve the above technical problems, an embodiment of the present invention further provides a vehicle control device, the device comprising: a first acquisition module, configured to acquire a vehicle's speed, the vehicle's acceleration, an obstacle's moving speed, an initial longitudinal distance between the vehicle and the obstacle, and a positional relationship between the vehicle and the obstacle; a first determining module, configured to determine a dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and a reaction time of the driver of the vehicle; a second acquisition module, configured to acquire, when the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, a first weight of the vehicle, a second weight of the obstacle, and a collision speed of the vehicle when the vehicle collides with the obstacle; a second determining module, configured to determine a collision intensity of the vehicle when the vehicle collides with the obstacle based on the first weight, the second weight, and the collision speed; The control module is used to control the vehicle door to unlock when the collision intensity is greater than or equal to the collision intensity threshold.

[0017] In order to solve the above technical problems, an embodiment of the present invention further provides a vehicle, the vehicle including an electronic device, the electronic device including: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; Memory for storing computer programs; The processor is configured to implement the steps of any of the above vehicle control methods when executing the program stored in the memory.

[0018] In order to solve the above technical problems, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the vehicle control method as described above are implemented.

[0019] Compared with the prior art, the present invention has the following advantages: The vehicle control method provided in an embodiment of the present invention determines a dangerous longitudinal distance between the vehicle and the obstacle based on the vehicle's speed, the vehicle's acceleration, the obstacle's moving speed, the positional relationship between the vehicle and the obstacle, and the driver's reaction time. If the initial longitudinal distance between the vehicle and the obstacle is less than or equal to the dangerous longitudinal distance, it indicates that there is a collision risk between the vehicle and the obstacle. The method further determines the collision intensity to be suffered by the vehicle in the event of a collision between the vehicle and the obstacle based on the vehicle's first weight, the obstacle's second weight, and the vehicle's collision speed when the vehicle collides with the obstacle. If the collision intensity is greater than or equal to a collision intensity threshold, it indicates that the vehicle will suffer relatively serious collision damage in the event of a collision between the vehicle and the obstacle. In this case, the vehicle doors are controlled to be unlocked. The vehicle doors can be unlocked before the vehicle collides with the obstacle, avoiding the problem of the vehicle doors being unable to be unlocked due to vehicle body damage in the event of a collision. The method ensures that the vehicle doors are unlocked after the collision, thereby improving the timeliness of rescue and the safety of the vehicle.

[0020] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments.

[0022] Figure 1 A flowchart of a vehicle control method provided by an embodiment of the present invention; Figure 2 A schematic diagram of the architecture of a vehicle provided by an embodiment of the present invention; Figure 3 A schematic diagram of the installation position of a safety sensor provided by an embodiment of the present invention; Figure 4 A schematic diagram of another vehicle architecture provided by an embodiment of the present invention; Figure 5 A flowchart of another vehicle control method provided by an embodiment of the present invention; Figure 6 This is a logic block diagram of a vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention may be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0024] Method Example Figure 1 1 is a flowchart of a vehicle control method provided by an embodiment of the present invention. The method may include steps 101 to 105: Step 101: Obtain a vehicle's speed, the vehicle's acceleration, an obstacle's moving speed, an initial longitudinal distance between the vehicle and the obstacle, and a positional relationship between the vehicle and the obstacle.

[0025] Step 102: Determine a dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and the reaction time of the driver of the vehicle.

[0026] Step 103: When the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, obtain a first weight of the vehicle, a second weight of the obstacle, and a collision speed of the vehicle when the vehicle collides with the obstacle.

[0027] Step 104: Determine a collision intensity of the vehicle when the vehicle collides with the obstacle based on the first weight, the second weight, and the collision speed.

[0028] Step 105: When the collision intensity is greater than or equal to the collision intensity threshold, control the vehicle door to be unlocked.

[0029] The vehicle control method provided by the embodiment of the present invention can be applied to a vehicle; Figure 2 , shows a schematic diagram of the architecture of a vehicle provided by an embodiment of the present invention, the vehicle includes a vehicle control unit, and a safety sensor, a chassis sensor and a door lock control unit that establish communication connections with the vehicle control unit.

[0030] The vehicle control unit is used to perform operations corresponding to steps 101 to 105 above.

[0031] The safety sensor is used to obtain the obstacle's movement speed, the initial longitudinal distance between the vehicle and the obstacle, and the positional relationship between the vehicle and the obstacle in real time, and transmit the obstacle's movement speed, initial longitudinal distance between the vehicle and the obstacle, and the positional relationship between the vehicle and the obstacle to the vehicle control unit. In embodiments of the present invention, the safety sensor may include, but is not limited to, cameras and millimeter-wave radars. The camera is used to capture images of obstacles and identify obstacle types based on the images; the millimeter-wave radar is used to determine the initial longitudinal distance between the vehicle and the obstacle, as well as the positional relationship between the vehicle and the obstacle, based on millimeter-wave radar technology, based on the time difference between transmitting millimeter waves and receiving echoes.

[0032] As an example, see Figure 3 , shows a schematic diagram of the setting position of a safety sensor provided by an embodiment of the present invention, the safety sensor includes a safety sensor 1, a safety sensor 2, a safety sensor 3 and a safety sensor 4, and the safety sensor 1, the safety sensor 2, the safety sensor 3 and the safety sensor 4 are respectively arranged at the front end, the rear end, the left side and the right side of the vehicle.

[0033] It should be noted that the front end refers to the front of the vehicle, the rear end refers to the rear of the vehicle, the left side refers to the left side along the direction from the rear end to the front end of the vehicle, and the right side refers to the right side along the direction from the rear end to the front end of the vehicle.

[0034] The chassis sensor is used to obtain the vehicle's speed and acceleration in real time and transmit them to the vehicle control unit. In embodiments of the present invention, the chassis sensor may include a speed sensor installed on the vehicle chassis, such as an anti-lock braking system (ABS) speed sensor and an onboard inertial measurement unit (IMU). The vehicle's acceleration is the longitudinal acceleration, which includes the forward acceleration generated by the vehicle's powertrain and the braking acceleration generated by the braking system.

[0035] When the collision intensity is greater than or equal to the collision intensity threshold, the vehicle control unit can send an unlock signal to the door lock control unit. The door lock control unit is used to receive the unlock signal sent by the vehicle control unit and control the door to unlock according to the unlock signal.

[0036] In an embodiment of the present invention, during the process of powering on the vehicle, the vehicle control unit can execute step 101 to obtain the moving speed of the obstacle, the initial longitudinal distance between the vehicle and the obstacle, and the positional relationship between the vehicle and the obstacle in real time through the safety sensor, and obtain the vehicle's driving speed and vehicle acceleration through the chassis sensor.

[0037] Obstacles are objects other than the vehicle within the vehicle's driving range. Obstacles may include, but are not limited to, other vehicles, pedestrians, trees, walls, rocks, roadblocks, etc. It should be noted that the vehicle's driving range refers to the area covered by a preset radius centered on the vehicle, and the detection range of the safety sensor covers the vehicle's driving range. For example, the vehicle's driving range may be covered by a radius of 2m, 5m, 10m, etc. centered on the vehicle.

[0038] Longitudinal refers to the direction from the rear end to the front end of the vehicle; longitudinal distance refers to the shortest distance between the vehicle and the obstacle in the longitudinal direction; the initial longitudinal distance between the vehicle and the obstacle refers to the shortest distance between the vehicle and the obstacle in the longitudinal direction at the moment when the safety sensor executes step 101; specifically, when the obstacle is located in front of the vehicle, the initial longitudinal distance refers to the shortest distance between the obstacle and the front end of the vehicle; when the obstacle is located behind the vehicle, the initial longitudinal distance refers to the shortest distance between the obstacle and the rear end of the vehicle.

[0039] The positional relationship between the vehicle and the obstacle refers to the orientation relationship between the vehicle and the obstacle. Specifically, the positional relationship between the vehicle and the obstacle includes: the obstacle is located in front of the vehicle, the obstacle is located behind the vehicle, the obstacle is located to the side of the vehicle, etc.

[0040] In an embodiment of the present invention, when the vehicle's driving speed, the vehicle's acceleration, the obstacle's moving speed, the initial longitudinal distance between the vehicle and the obstacle, and the positional relationship between the vehicle and the obstacle are obtained through step 101, the vehicle control unit can execute step 102 to determine the dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, acceleration, moving speed, positional relationship, and the reaction time of the vehicle driver.

[0041] The driver's reaction time refers to the time from the moment the driver perceives an obstacle to the moment they perform a braking operation. Specifically, the reaction time is the sum of the driver's perception time, decision time, and execution time. The perception time is the time it takes for the driver to perceive an obstacle and realize the need for action. The decision time is the total time required for the driver to determine whether braking or accelerating is necessary, the required braking or accelerating force, and the timing of the braking or accelerating operation after perceiving the obstacle. The execution time is the time it takes the driver to perform a braking or accelerating operation. In actual application scenarios, the reaction time can range from 0.4s to 1s.

[0042] In an embodiment of the present invention, before step 102, the reaction times of at least two different drivers can be collected in advance, and the average of the collected reaction times of the different drivers can be determined as the reaction time of the vehicle driver, and the reaction time of the vehicle driver can be stored in a preset storage area in the vehicle, so that when the vehicle control unit executes step 102, it can first obtain the reaction time of the vehicle driver from the preset storage area, and then determine the dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, acceleration, moving speed, position relationship and the reaction time of the vehicle driver.

[0043] It should be noted that the dangerous longitudinal distance between the vehicle and the obstacle is the minimum longitudinal distance between the vehicle and the obstacle without collision within the reaction time calculated by the vehicle control unit through step 102 and in the process of the vehicle control unit adjusting the vehicle's driving speed to be equal to the moving speed of the obstacle based on the braking or acceleration operation taken by the user.

[0044] Specifically, in step 102, the vehicle control unit first determines the specific position of the obstacle relative to the vehicle based on the positional relationship. When the obstacle is located in front of the vehicle, the vehicle control unit may calculate, based on the driving speed, acceleration, moving speed, and reaction time, the minimum longitudinal distance between the obstacle and the front end of the vehicle, without a collision between the vehicle and the obstacle, during the reaction time and when the vehicle control unit adjusts the driving speed of the vehicle to be equal to the moving speed of the obstacle based on the braking or acceleration operation performed by the user. The minimum longitudinal distance is determined as the dangerous longitudinal distance between the vehicle and the obstacle. When the obstacle is located behind the vehicle, the vehicle control unit may calculate, based on the driving speed, acceleration, moving speed, and reaction time, the minimum longitudinal distance between the obstacle and the rear end of the vehicle, without a collision between the vehicle and the obstacle, during the reaction time and when the vehicle control unit adjusts the driving speed of the vehicle to be equal to the moving speed of the obstacle based on the braking or acceleration operation performed by the user. The minimum longitudinal distance is determined as the dangerous longitudinal distance between the vehicle and the obstacle.

[0045] In the embodiment of the present invention, when the dangerous longitudinal distance is calculated in step 102 , the vehicle control unit may match the initial longitudinal distance obtained in step 101 with the dangerous longitudinal distance determined in step 102 .

[0046] It can be understood that when the vehicle control unit adjusts the vehicle's driving speed to be equal to the moving speed of the obstacle and the vehicle and the obstacle do not collide, if the vehicle maintains the current driving speed and the obstacle maintains the current moving speed, the vehicle and the obstacle will not collide.

[0047] When the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, it indicates that there is a risk of collision between the vehicle and the obstacle within the reaction time or while the vehicle control unit adjusts the vehicle's driving speed to be equal to the moving speed of the obstacle. In this scenario, the vehicle control unit can perform the operation corresponding to step 103.

[0048] When the initial longitudinal distance is greater than the dangerous longitudinal distance, it indicates that the vehicle and the obstacle will not collide within the reaction time and during the process of the vehicle control unit adjusting the vehicle's driving speed to be equal to the moving speed of the obstacle. In this scenario, the vehicle control unit can repeatedly perform the operations corresponding to steps 101 to 102 until the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, and perform the operation corresponding to step 103.

[0049] In this embodiment of the present invention, prior to step 103, a weight database may be pre-stored in a preset storage area of the vehicle. The weight database includes common obstacle types (e.g., cars, two-wheeled vehicles, three-wheeled vehicles, pedestrians, etc.) and weight data corresponding to each obstacle type. In step 103, the vehicle control unit may search the weight database for weight data corresponding to the obstacle type identified by the camera in the safety sensor, and determine the weight data corresponding to the obstacle type found in the weight database as the second weight of the obstacle.

[0050] It can be understood that the first weight of the vehicle is the weight of the vehicle itself. The first weight can be obtained in advance before step 103 and stored in a preset storage area of the vehicle so that the vehicle control unit can obtain the first weight of the vehicle from the preset storage area during the execution of step 103.

[0051] The collision speed of the vehicle is the speed of the vehicle predicted by the vehicle control unit when the vehicle collides with an obstacle.

[0052] In an embodiment of the present invention, after the vehicle control unit obtains the first weight of the vehicle, the second weight of the obstacle and the collision speed of the vehicle through step 103, it can determine the collision intensity of the vehicle when the vehicle collides with the obstacle based on the first weight, the second weight and the collision speed through step 104.

[0053] The collision intensity of a vehicle refers to the collision intensity the vehicle suffers when it collides with an obstacle.

[0054] The magnitude of the collision intensity is directly related to the first weight of the vehicle, the second weight of the obstacle, the vehicle's driving speed, and the moving speed of the obstacle.

[0055] Specifically, in step 104, first, the vehicle control unit may calculate the total momentum of the vehicle and the obstacle when the vehicle collides with the obstacle based on the first weight of the vehicle, the second weight of the obstacle, the vehicle's driving speed, and the obstacle's moving speed: (1) in, It represents the total momentum of the vehicle and the obstacle when the vehicle collides with the obstacle, in kg·m / s; Indicates the first momentum of the vehicle when it collides with the obstacle, unit: kg·m / s; Indicates the second momentum of the obstacle when the vehicle collides with the obstacle, unit: kg·m / s; Indicates the first weight, unit: kg; Indicates the second weight, unit: kg; Indicates the driving speed in m / s. When the vehicle collides with an obstacle, the driving speed is equal to the collision speed. Indicates the moving speed in m / s.

[0056] Then, assume that the collision between the vehicle and the obstacle is inelastic, and that the vehicle and the obstacle move together at the same speed after the collision. According to the law of conservation of momentum, the total momentum of the vehicle and the obstacle after the collision is equal to the total momentum of the vehicle and the obstacle at the time of the collision. Therefore, when the vehicle collides with the obstacle, the change in the momentum of the vehicle can be expressed as: (2) in, Indicates the change in momentum of the vehicle, unit: kg·m / s.

[0057] In actual application scenarios, the collision time between a vehicle and an obstacle is generally 0.1s to 0.2s. The vehicle control unit can calculate the collision intensity of the vehicle when the vehicle collides with the obstacle using the following formula: (3) in, Indicates the collision intensity of the vehicle, unit: N; Indicates the collision duration, unit: s.

[0058] In an embodiment of the present invention, when the vehicle control unit determines the collision intensity of the vehicle through step 104, the collision intensity threshold can match the collision intensity with the collision intensity threshold, wherein the collision intensity threshold is a threshold determined according to the damage to the vehicle caused by the collision; when the collision intensity is greater than or equal to the collision intensity threshold, it indicates that the vehicle is seriously damaged when colliding with the obstacle and there is a risk of injury to the people in the vehicle. In this scenario, the vehicle control unit can control the door to be unlocked through step 105; when the collision intensity is less than the collision intensity threshold, it indicates that the vehicle is slightly damaged when colliding with the obstacle and there is a small risk of injury to the people in the vehicle. In this scenario, the vehicle control unit can continue to perform the operations corresponding to steps 101 to 104 until the collision intensity is greater than or equal to the collision intensity threshold, and then execute step 105.

[0059] Specifically, in step 105, when the collision intensity is greater than or equal to the collision intensity threshold, the vehicle control unit can send an unlocking signal to the door lock control unit, so that the door lock control unit controls the unlocking of the vehicle door according to the unlocking signal. If the vehicle's door handle is a hidden door handle, the hidden door handle is controlled to pop open, thereby improving the timeliness of rescue.

[0060] As an optional embodiment, in step 105, the vehicle control unit controls the unlocking of the vehicle door, which means releasing the electronic lock in the vehicle door (for example, a child lock or a partial lock tongue, etc.). After the vehicle control unit controls the unlocking of the vehicle door through step 105, the mechanical lock tongue of the door is still kept in the engaged state, thereby reducing the resistance to unlocking from the outside while preventing the door from being opened accidentally, which is conducive to further improving the safety of the vehicle.

[0061] Optionally, the vehicle also includes a large screen and a voice device. When the collision intensity is greater than or equal to the collision intensity threshold, the vehicle control unit can also use the large screen and voice device to remind people in the vehicle that a collision with an obstacle is about to occur in the vehicle in the form of text, voice, etc.

[0062] Optionally, the vehicle also includes a headlight controller. When the collision intensity is greater than or equal to the collision intensity threshold, the vehicle control unit can also send a headlight control signal to the headlight controller, so that the headlight controller can control the vehicle's headlights to be in a double flash state according to the headlight control signal.

[0063] In a vehicle control method provided by an embodiment of the present invention, a vehicle control unit can determine a dangerous longitudinal distance between the vehicle and the obstacle based on the vehicle's speed, the vehicle's acceleration, the obstacle's moving speed, the positional relationship between the vehicle and the obstacle, and the driver's reaction time. If the initial longitudinal distance between the vehicle and the obstacle is less than or equal to the dangerous longitudinal distance, it indicates that there is a risk of collision between the vehicle and the obstacle. The method then determines a collision intensity to be experienced by the vehicle in the event of a collision between the vehicle and the obstacle based on the vehicle's first weight, the obstacle's second weight, and the vehicle's collision speed at the time of the collision. If the collision intensity is greater than or equal to a collision intensity threshold, it indicates that the vehicle will suffer relatively severe collision damage in the event of a collision between the vehicle and the obstacle. In this case, the vehicle control unit controls the vehicle doors to unlock, thereby unlocking the doors before the vehicle collides with the obstacle. This avoids the problem of the doors being unable to unlock due to vehicle body damage in the event of a collision and ensures that the vehicle doors are unlocked after the collision. This improves the intelligence of the vehicle control method, thereby enhancing the timeliness of rescue and vehicle safety.

[0064] Optionally, the step 102 of determining the dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and the reaction time of the driver of the vehicle includes steps 1021 to 1023: Step 1021: Determine a first longitudinal distance change value between the vehicle and the obstacle within the reaction time according to the driving speed, the moving speed, and the reaction time of the driver of the vehicle.

[0065] Step 1022: Determine, based on the driving speed, the acceleration, and the moving speed, a second longitudinal distance change value between the vehicle and the obstacle during the process of adjusting the driving speed to be equal to the moving speed.

[0066] Step 1023: Determine a dangerous longitudinal distance between the vehicle and the obstacle based on the positional relationship, the first longitudinal distance change value, and the second longitudinal distance change value.

[0067] In an embodiment of the present invention, in the process of determining the dangerous longitudinal distance between the vehicle and the obstacle, the vehicle control unit can determine the first longitudinal distance change value between the vehicle and the obstacle within the reaction time through step 1021, and determine the second longitudinal distance change value between the vehicle and the obstacle in the process of adjusting the vehicle's driving speed to be equal to the moving speed of the obstacle through step 1022. Finally, through step 1023, the dangerous longitudinal distance between the vehicle and the obstacle is determined based on the positional relationship between the vehicle and the obstacle, the first longitudinal distance change value and the second longitudinal distance change value.

[0068] Specifically, within the reaction time, the vehicle continues to travel at the speed obtained in step 101, and the obstacle also continues to move at the speed obtained in step 101. In step 1021: First, the vehicle control unit calculates the sixth product of the driving speed and the reaction time, and determines the sixth product as the first displacement of the vehicle within the reaction time: (4) in, Indicates the first displacement of the vehicle within the reaction time, unit: m; Indicates the reaction time, unit: s.

[0069] Then, the vehicle control unit calculates the seventh product of the moving speed and the reaction time, and determines the seventh product as the second displacement of the obstacle within the reaction time: (5) in, Indicates the second displacement of the obstacle within the reaction time, unit: m; when the obstacle is in a static state, the moving speed of the obstacle is 0, .

[0070] Finally, when the vehicle's driving direction is the same as the obstacle's moving direction, the vehicle control unit can calculate the absolute value of the difference between the first displacement and the second displacement, and determine the absolute value of the difference between the first displacement and the second displacement as the first longitudinal distance change value between the vehicle and the obstacle within the reaction time; when the vehicle's driving direction is opposite to the obstacle's moving direction, the vehicle control unit can calculate the sum of the first displacement and the second displacement, and determine the sum of the first displacement and the second displacement as the first longitudinal distance change value between the vehicle and the obstacle within the reaction time.

[0071] In some embodiments, after determining the first longitudinal distance change value through step 1021, the vehicle control unit may match the initial longitudinal distance with the first longitudinal distance change value; when the initial longitudinal distance is less than or equal to the first longitudinal distance change value, it indicates that there is a risk of collision between the vehicle and the obstacle within the reaction time. In this scenario, the vehicle control unit may directly execute step 1023 to determine the first longitudinal distance change value as the dangerous longitudinal distance, and execute the operation corresponding to step 103 without executing step 1022; when the initial longitudinal distance is greater than the first longitudinal distance change value, it indicates that there is no risk of collision between the vehicle and the obstacle within the reaction time. In this scenario, the vehicle control unit may continue to execute the operations corresponding to steps 1022 to 1023.

[0072] It is understandable that when the vehicle's traveling direction is the same as the obstacle's moving direction and the driver senses the obstacle, the driver will brake or accelerate to reduce the probability of the vehicle colliding with the obstacle.

[0073] Specifically, when the user brakes or accelerates, the vehicle will accelerate (brake acceleration or forward acceleration). At this time, the vehicle control unit can obtain the vehicle acceleration through the chassis sensor and adjust the vehicle's speed to be equal to the moving speed of the obstacle based on the vehicle's acceleration. During this process, the vehicle's third displacement is: (6) in, It indicates the third displacement of the vehicle when the vehicle control unit adjusts the driving speed to be equal to the moving speed. The unit is: m.

[0074] The first duration of the vehicle control unit adjusting the driving speed to be equal to the moving speed is: (7) in, Indicates the first duration, unit: s.

[0075] When the vehicle control unit adjusts the driving speed to be equal to the moving speed, it is assumed that the obstacle continues to move at the moving speed obtained in step 101. Therefore, when the vehicle control unit adjusts the driving speed to be equal to the moving speed, the fourth displacement of the obstacle is: (8) in, It indicates the fourth displacement of the obstacle when the vehicle control unit adjusts the driving speed to be equal to the moving speed. The unit is: m.

[0076] Specifically, when the vehicle's driving direction is the same as the obstacle's moving direction and the obstacle is located in front of the vehicle, the driver perceives the obstacle in front and will take braking action to reduce the probability of collision between the vehicle and the obstacle. In this scenario, the vehicle will generate braking acceleration. At this time, the vehicle control unit can obtain the vehicle's acceleration through the chassis sensor and, based on the vehicle's acceleration, reduce the vehicle's driving speed to the same speed as the obstacle's moving speed. During this process, the vehicle's third displacement is: (9) The first duration is: (10) When the vehicle's driving direction is the same as the obstacle's moving direction and the obstacle is located behind the vehicle, the driver senses the obstacle in front and will accelerate to reduce the probability of collision between the vehicle and the obstacle. In this scenario, the vehicle will generate positive acceleration. At this time, the vehicle control unit can obtain the vehicle's acceleration through the chassis sensor and increase the vehicle's driving speed to the same as the obstacle's moving speed based on the vehicle's acceleration. During this process, the vehicle's third displacement is: (11) The first duration is: (12) In step 1022, when the vehicle's driving direction is the same as the obstacle's moving direction and the obstacle is located in front of the vehicle, the vehicle control unit can calculate the difference between the third displacement and the fourth displacement and determine the difference as the second longitudinal distance change value.

[0077] When the vehicle's driving direction is the same as the obstacle's moving direction and the obstacle is located behind the vehicle, the vehicle control unit can calculate the difference between the fourth displacement and the third displacement, and determine the difference as the second longitudinal distance change value.

[0078] When the vehicle's driving direction is opposite to the obstacle's moving direction, which is generally an application scenario where the vehicle collides while reversing, the default vehicle acceleration is 0. In step 1022, the vehicle control unit can directly determine that the second longitudinal distance change value is 0.

[0079] When the obstacle is in a static state, the moving speed of the obstacle is 0, and the third displacement calculated by the vehicle control unit in step 1022 is: (13) The first duration is: (14) The fourth displacement is: (15) In step 1023, the vehicle control unit may determine the dangerous longitudinal distance between the vehicle and the obstacle based on the first longitudinal distance change value and the second longitudinal distance change value, combined with the orientation relationship between the vehicle and the obstacle indicated by the position relationship.

[0080] The vehicle control method provided in the embodiment of the present invention fully considers the first longitudinal distance change value between the vehicle and the obstacle within the reaction time and the second longitudinal distance change value between the vehicle and the obstacle when the vehicle control unit adjusts the vehicle's driving speed to be equal to the moving speed of the obstacle. This method is conducive to covering a variety of application scenarios in which vehicles collide with obstacles, accurately determining the dangerous longitudinal distance between the vehicle and the obstacle in different application scenarios, and thus improving the accuracy of the vehicle control unit in executing step 103 based on the dangerous longitudinal distance, further improving the reliability and safety of the vehicle unlocking control process.

[0081] Optionally, the step 1021 of determining the first longitudinal distance change between the vehicle and the obstacle within the reaction time based on the driving speed, the moving speed, and the reaction time of the driver of the vehicle includes steps A11 to A12: Step A11: Calculate the relative speed between the vehicle and the obstacle based on the driving speed and the moving speed.

[0082] Step A12: Calculate a first product of the relative speed and the reaction time of the driver of the vehicle, and determine the first product as a first longitudinal distance change value.

[0083] In an embodiment of the present invention, the vehicle control unit may execute steps A11 to A12 to determine a first longitudinal distance change value between the vehicle and the obstacle within the reaction time when the vehicle's traveling direction is the same as the obstacle's moving direction.

[0084] Among them, the relative speed is used to reflect the relative motion state between the vehicle and the obstacle.

[0085] In step A11, the vehicle control unit may calculate the absolute value of the difference between the driving speed and the moving speed, and determine the absolute value of the difference between the driving speed and the moving speed as the relative speed between the vehicle and the obstacle.

[0086] (16) in, Indicates the relative speed between the vehicle and the obstacle, unit: m / s.

[0087] Specifically, when the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located in front of the vehicle, if the obstacle's moving speed is greater than or equal to the vehicle's traveling speed, the vehicle will not collide with the obstacle. In the scenario where the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located in front of the vehicle, the following description focuses on the case where the obstacle's moving speed is less than the vehicle's traveling speed. When the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located in front of the vehicle, the vehicle control unit can use the difference between the traveling speed and the moving speed as the relative speed between the vehicle and the obstacle: (17) When the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located behind the vehicle, if the vehicle's traveling speed is greater than or equal to the obstacle's moving speed, the vehicle will not collide with the obstacle. In the scenario where the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located behind the vehicle, the following description focuses on the case where the vehicle's traveling speed is less than the obstacle's moving speed. When the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located behind the vehicle, the vehicle control unit can use the difference between the moving speed and the traveling speed as the relative speed between the vehicle and the obstacle: (18) In step A12, the vehicle control unit may calculate a first product of the relative speed and the reaction time of the driver of the vehicle, and determine the first product as a first longitudinal distance change value: (19) in, Indicates the first longitudinal distance change value, unit: m.

[0088] The vehicle control method provided by an embodiment of the present invention determines the first product of the relative speed and the driver's reaction time as the first longitudinal distance change value when the vehicle's driving direction is the same as the obstacle's moving direction. This simplifies the calculation amount of the process of determining the first longitudinal distance change value by the vehicle control unit, which is beneficial to the efficiency of the vehicle control unit in determining the first longitudinal distance change value.

[0089] Optionally, the determining, in step 1022, of a second longitudinal distance change between the vehicle and the obstacle in a process of adjusting the driving speed to be equal to the moving speed based on the driving speed, the acceleration, and the moving speed includes steps A21 to A22: Step A21: Calculate the relative speed between the vehicle and the obstacle based on the driving speed and the moving speed.

[0090] Step A22: Calculate, based on the relative speed and the acceleration, a second longitudinal distance change between the vehicle and the obstacle during the process of adjusting the driving speed to be equal to the moving speed.

[0091] In an embodiment of the present invention, the vehicle control unit can execute steps A21 to A22 to determine the second longitudinal distance change value between the vehicle and the obstacle in the process of adjusting the driving speed to be equal to the moving speed when the vehicle's driving direction is the same as the moving direction of the obstacle.

[0092] Among them, the specific implementation of step A21 can refer to step A11, and to avoid repetition, it will not be repeated here.

[0093] In step A22, the process of the vehicle control unit adjusting the driving speed to be equal to the moving speed can be understood as the process of adjusting the relative speed to 0. Therefore, the vehicle control unit can calculate the second longitudinal distance change between the vehicle and the obstacle during the process of adjusting the driving speed to be equal to the moving speed based on the relative speed and acceleration using the following formula: (20) in, Indicates the second longitudinal distance change value, unit: m.

[0094] In the vehicle control method provided by an embodiment of the present invention, when the vehicle's driving direction is the same as the obstacle's moving direction, the vehicle control unit calculates the second longitudinal distance change value between the vehicle and the obstacle in the process of adjusting the driving speed to be equal to the moving speed based on the relative speed between the vehicle and the obstacle and the vehicle's acceleration. This simplifies the calculation amount of the vehicle control unit in the process of determining the second longitudinal distance change value, which is conducive to improving the efficiency of the vehicle control unit in determining the second longitudinal distance change value.

[0095] Optionally, determining the dangerous longitudinal distance between the vehicle and the obstacle based on the positional relationship, the first longitudinal distance change value, and the second longitudinal distance change value in step 1023 includes steps A31 to A33: Step A31: Determine the driving direction of the vehicle and the moving direction of the obstacle.

[0096] Step A32: When the driving direction of the vehicle is the same as the moving direction of the obstacle, and the positional relationship indicates that the obstacle is located in front of the vehicle, the sum of the first longitudinal distance change value and the second longitudinal distance change value is determined as the dangerous longitudinal distance between the vehicle and the obstacle.

[0097] Step A33: When the driving direction of the vehicle is the same as the moving direction of the obstacle, and the positional relationship indicates that the obstacle is located behind the vehicle, the difference between the first longitudinal distance change value and the second longitudinal distance change value is determined as the dangerous longitudinal distance between the vehicle and the obstacle.

[0098] In an embodiment of the present invention, the vehicle control unit can execute steps A31 to A33 to determine the dangerous longitudinal distance between the vehicle and the obstacle based on the positional relationship between the vehicle and the obstacle, the first longitudinal distance change value and the second longitudinal distance change value when the vehicle's driving direction is the same as the obstacle's moving direction.

[0099] Specifically, the vehicle control unit may first perform step A31 to determine the vehicle's driving direction and the obstacle's moving direction, wherein the vehicle control unit may obtain the vehicle's driving mode through chassis sensors and obtain the obstacle's moving direction through safety sensors.

[0100] In some embodiments, the vehicle control unit may obtain the vehicle's driving direction and the obstacle's moving direction at the same time as obtaining the vehicle's driving speed and the obstacle's moving speed in step 101 .

[0101] When the vehicle's traveling direction is the same as the obstacle's moving direction, and the positional relationship indicates that the obstacle is located in front of the vehicle, the vehicle control unit may execute step A32 to calculate the sum of the first longitudinal distance change value and the second longitudinal distance change value, and determine the sum of the first longitudinal distance change value and the second longitudinal distance change value as the dangerous longitudinal distance: (twenty one) in, Indicates the dangerous longitudinal distance, unit: m.

[0102] When the vehicle's traveling direction is the same as the obstacle's moving direction, and the positional relationship indicates that the obstacle is located behind the vehicle, the vehicle control unit may execute step A33 to calculate the difference between the first longitudinal distance change value and the second longitudinal distance change value, and determine the difference between the first longitudinal distance change value and the second longitudinal distance change value as the dangerous longitudinal distance: (twenty two) In some embodiments, when the obstacle is in a static state, the moving speed of the obstacle is 0, and the dangerous longitudinal distance calculated by the vehicle control unit in step A32 is: (twenty three) When the obstacle is in a static state, the moving speed of the obstacle is 0, and the dangerous longitudinal distance calculated by the vehicle control unit in step A33 is: (twenty four) The vehicle control method provided by an embodiment of the present invention provides an implementation method for determining the dangerous longitudinal distance based on the positional relationship between the vehicle and the obstacle, for application scenarios where the obstacle is located in front of the vehicle and application scenarios where the obstacle is located behind the vehicle, when the vehicle's driving direction is the same as the obstacle's moving direction. While achieving pre-unlocking of the vehicle doors, it can also improve the feasibility of the technical solution of the present invention, expand the scope of application of the technical solution of the present invention, reduce the amount of calculation in the process of determining the dangerous longitudinal distance, and thus reduce the occupation of the computing resources of the vehicle control unit by the process of determining the dangerous longitudinal distance, which is conducive to improving the efficiency of the vehicle control unit in determining the dangerous longitudinal distance.

[0103] Optionally, when the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, obtaining the first weight of the vehicle, the second weight of the obstacle, and the collision speed of the vehicle when the vehicle collides with the obstacle in step 103 includes step 1031: Step 1031: When the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, calculate the collision speed of the vehicle when the vehicle collides with the obstacle based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time.

[0104] Specifically, when the vehicle collides with an obstacle while the vehicle control unit adjusts the driving speed to be equal to the moving speed, the change in the third longitudinal distance between the vehicle and the obstacle when the vehicle collides with the obstacle can be expressed as: (25) in, Indicates the collision velocity, unit: m / s; Indicates the third longitudinal distance change value, unit: m.

[0105] Optionally, when the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located in front of the vehicle, when the vehicle collides with the obstacle: (26) in, Indicates the initial longitudinal distance, unit: m.

[0106] According to Formula 27, when the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located in front of the vehicle, the vehicle control unit can calculate the collision speed of the vehicle when the vehicle collides with the obstacle based on the driving speed, acceleration, moving speed, initial longitudinal distance, and reaction time. The collision speed is: (27) Therefore, when the vehicle's driving direction is the same as the obstacle's moving direction and the obstacle is located in front of the vehicle, the vehicle control unit can calculate the vehicle's collision speed when the vehicle collides with the obstacle based on the driving speed, acceleration, moving speed, initial longitudinal distance and reaction time through Formula 27 above. While improving the accuracy of the collision speed obtained by the vehicle control unit, the parameters used to determine the collision speed are easy to obtain, which is conducive to reducing the calculation amount of the vehicle control unit and improving the efficiency of determining the collision speed.

[0107] Optionally, when the vehicle's traveling direction is the same as the obstacle's moving direction and the obstacle is located behind the vehicle, when the vehicle collides with the obstacle: (28) According to Formula 28, the vehicle control unit can calculate the collision speed of the vehicle when it collides with an obstacle based on the driving speed, acceleration, moving speed, initial longitudinal distance, and reaction time. The collision speed is: (29) Optionally, when the vehicle collides with an obstacle within the reaction time, the acceleration of the vehicle is 0, and when the vehicle's traveling direction is opposite to the moving direction of the obstacle and the vehicle collides with the obstacle, the acceleration of the vehicle is also 0.

[0108] When the vehicle's acceleration is 0, according to Formula 27 and Formula 29, the collision speed is: (30) Optionally, when the obstacle is in a static state, the moving speed of the obstacle is 0. When the obstacle is located in front of the vehicle, according to Formula 27, the collision speed is: (31) Optionally, when the obstacle is in a static state, the moving speed of the obstacle is 0. When the obstacle is located behind the vehicle, according to Formula 29, the collision speed is: (32) The vehicle control method provided by the embodiment of the present invention can cover the methods of obtaining collision speed in different application scenarios, thereby improving the applicability and reliability of the embodiment of the present invention in different application scenarios, thereby improving the accuracy of the collision intensity determined by the vehicle control unit according to the collision speed in step 104, and is conducive to improving the reliability and safety of the vehicle unlocking control process.

[0109] Optionally, determining the collision intensity of the vehicle when the vehicle collides with the obstacle based on the first weight, the second weight, and the collision speed in step 104 includes step 1041: Step 1041: When the moving speed is 0, calculate a second product of the first weight and the collision speed, and determine a third product of the second product and a preset coefficient as a collision intensity of the vehicle when the vehicle collides with the obstacle.

[0110] In this embodiment of the present invention, when the obstacle's moving speed is equal to 0, it indicates that the obstacle is in a static state. When the obstacle is static, the scenario in which the vehicle collides with the obstacle is that the vehicle actively collides with the static obstacle. In this scenario, the vehicle control unit can calculate and determine the vehicle's collision intensity using the following formula: (33) in, Indicates the collision intensity of the vehicle, unit: J; Represents the preset coefficient, the value of the preset coefficient can be .

[0111] Optionally, determining the collision intensity of the vehicle when the vehicle collides with the obstacle based on the first weight, the second weight, and the collision speed in step 104 includes steps 1042 to 1043: Step 1042: When the moving speed is non-zero, calculate the reduced mass between the vehicle and the obstacle based on the first weight and the second weight.

[0112] Step 1043: Calculate a fourth product of the reduced mass and the collision velocity, and determine a fifth product of the fourth product and a preset coefficient as a collision intensity of the vehicle when the vehicle collides with the obstacle.

[0113] In the embodiment of the present invention, when the moving speed of the obstacle is not zero, it indicates that the state of the obstacle is dynamic; it can be understood that when the obstacle is dynamic, the scenario of the collision between the vehicle and the obstacle is that the vehicle and the obstacle collide with each other, assuming that the collision between the vehicle and the obstacle is inelastic, and after the collision between the vehicle and the obstacle, the vehicle and the obstacle move together at the same speed; in this scenario, the vehicle control unit can determine the collision intensity of the vehicle through steps 1042 to 1043.

[0114] Specifically, in step 1042, the vehicle control unit may calculate the reduced mass between the vehicle and the obstacle based on the first weight and the second weight: (34) in, Represents the reduced mass, unit: kg. The reduced mass is used to reflect the inertial characteristics of the vehicle and obstacle during the collision process.

[0115] In step 1043, the vehicle control unit may calculate and determine the collision intensity of the vehicle when the vehicle collides with an obstacle using the following formula: (35) In the vehicle control method provided by an embodiment of the present invention, the vehicle control unit fully considers the impact force caused to the vehicle by the obstacle in different scenarios, such as static and dynamic, during the process of determining the collision strength of the vehicle. The collision strength of the vehicle in the event of a collision between the vehicle and the obstacle is thereby determined, thereby achieving accurate determination of the collision strength that the vehicle may be subjected to, and improving the accuracy and feasibility of the vehicle unlocking control in the embodiment of the present invention.

[0116] Optionally, the vehicle further includes a cloud platform unit, and the method further includes step S11: Step S11: When the collision intensity is greater than or equal to the collision intensity threshold, a collision signal is sent to the cloud platform unit so that the cloud platform unit can monitor the driving status of the vehicle based on the collision signal and send a rescue signal when the vehicle collides with the obstacle.

[0117] In the embodiment of the present invention, referring to Figure 4 , shows a schematic diagram of the architecture of another vehicle provided by an embodiment of the present invention, the vehicle also includes a cloud platform unit that establishes a communication connection with the vehicle control unit, the cloud platform unit is used to monitor the vehicle's driving status based on the collision signal when receiving the collision signal sent by the vehicle control unit, and send a rescue signal when the vehicle collides with an obstacle.

[0118] Among them, in the event that a vehicle collides with an obstacle, the cloud platform unit can send a rescue signal to the cloud platform, so that the cloud platform searches for places that can provide rescue services, such as 4S stores (Automobile Sales Service Shop 4S) near the vehicle's location based on the rescue signal, and asks for help from the places that can provide rescue services by sending information to the places that can provide rescue services or automatically dialing a reserved phone number, so as to improve the efficiency and timeliness of rescue for people in the colliding vehicle.

[0119] Reference Figure 5 , shows a flowchart of another vehicle control method provided by an embodiment of the present invention, the method comprising steps 201 to 208: Step 201: Power on and start the vehicle.

[0120] Step 202: The vehicle control unit obtains the vehicle's driving speed and acceleration in real time through chassis sensors, and obtains the obstacle's moving speed, the initial longitudinal distance between the vehicle and the obstacle, and the positional relationship between the vehicle and the obstacle in real time through safety sensors.

[0121] Step 203: The vehicle control unit determines the dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, acceleration, moving speed, position relationship, and the reaction time of the vehicle driver.

[0122] Step 204: The vehicle control unit determines whether there is a collision risk for the vehicle.

[0123] Specifically, the vehicle control unit matches the initial longitudinal distance obtained through step 202 with the dangerous longitudinal distance determined through step 203; when the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, the vehicle control unit determines that the vehicle is at risk of collision and executes step 205; when the initial longitudinal distance is greater than the dangerous longitudinal distance, the vehicle control unit determines that the vehicle is not at risk of collision and executes step 202.

[0124] In addition, if the vehicle is determined to be at risk of collision, the vehicle control unit can also send a collision risk signal (Crash_Dangerous = 1) to the vehicle's safety system. Upon receiving the collision risk signal, the vehicle's safety system can activate in advance before the vehicle collides with an obstacle to maximize the safety of the vehicle's occupants. The vehicle's safety system may include, but is not limited to, airbag systems and pre-tensioned seatbelt systems.

[0125] Step 205: The vehicle control unit obtains the first weight of the vehicle, the second weight of the obstacle, and the collision speed of the vehicle when the vehicle collides with the obstacle.

[0126] Specifically, when it is determined that the vehicle is at risk of collision, the vehicle control unit obtains the first weight of the vehicle and the second weight of the obstacle, and calculates the collision speed of the vehicle when the vehicle collides with the obstacle based on the driving speed, acceleration, moving speed, initial longitudinal distance and reaction time.

[0127] Step 206: The vehicle control unit determines the collision intensity of the vehicle when the vehicle collides with the obstacle based on the first weight, the second weight, and the collision speed.

[0128] Step 207: The vehicle control unit determines whether the collision intensity is greater than or equal to a collision intensity threshold.

[0129] Specifically, the vehicle control unit matches the collision intensity obtained in step 206 with the collision intensity threshold; if it is determined that the collision intensity is greater than or equal to the collision intensity threshold, the vehicle control unit executes step 208; if it is determined that the collision intensity is less than the collision intensity threshold, the vehicle control unit executes step 202.

[0130] In addition, when the collision intensity is greater than or equal to the collision intensity threshold, the vehicle control unit can also send a collision intensity signal (Crash_Strength = 1) to the vehicle's safety system so that the vehicle's safety system can enter an emergency state before the vehicle collides with an obstacle upon receiving the collision danger signal, so as to maximize the safety of the people in the vehicle.

[0131] Step 208: The vehicle control unit controls the vehicle to enter an emergency state.

[0132] Specifically, when it is determined that the collision intensity is greater than or equal to the collision intensity threshold, the vehicle control unit controls the vehicle to enter an emergency state, including: sending an unlocking signal to the door lock control unit so that the door lock control unit controls the unlocking of the vehicle door according to the unlocking signal; sending a collision signal to the cloud platform unit so that the cloud platform unit monitors the driving status of the vehicle according to the collision signal, and sends a rescue signal when the vehicle collides with an obstacle; prompting people in the vehicle in text, voice, etc. through the large screen of the vehicle computer and the voice device that a collision with an obstacle is about to occur; sending a headlight control signal to the headlight controller so that the headlight controller controls the vehicle's headlights to be in a double flash state according to the headlight control signal.

[0133] In summary, the vehicle control method provided in the embodiment of the present invention determines the dangerous longitudinal distance between the vehicle and the obstacle based on the vehicle's driving speed, the vehicle's acceleration, the obstacle's moving speed, the positional relationship between the vehicle and the obstacle, and the driver's reaction time. When the initial longitudinal distance between the vehicle and the obstacle is less than or equal to the dangerous longitudinal distance, it indicates that there is a risk of collision between the vehicle and the obstacle. The method further determines the collision intensity to be suffered by the vehicle in the event of a collision between the vehicle and the obstacle based on the first weight of the vehicle, the second weight of the obstacle, and the collision speed of the vehicle when the vehicle collides with the obstacle. When the collision intensity is greater than or equal to a collision intensity threshold, it indicates that the vehicle will suffer relatively serious collision damage in the event of a collision between the vehicle and the obstacle. At this time, the vehicle doors are controlled to be unlocked. The vehicle doors can be unlocked before the vehicle collides with the obstacle, avoiding the problem of the vehicle doors being unable to be unlocked due to vehicle body damage in the event of a collision. The method ensures that the vehicle doors are unlocked after the collision, thereby improving the timeliness of rescue and the safety of the vehicle.

[0134] Device embodiment Reference Figure 6 , shows a logic block diagram of a vehicle control device provided by an embodiment of the present invention, the device comprising: A first acquisition module 601 is configured to acquire a vehicle's speed, the vehicle's acceleration, an obstacle's moving speed, an initial longitudinal distance between the vehicle and the obstacle, and a positional relationship between the vehicle and the obstacle; A first determining module 602 is configured to determine a dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and the reaction time of the driver of the vehicle; A second acquisition module 603 is configured to acquire, when the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, a first weight of the vehicle, a second weight of the obstacle, and a collision speed of the vehicle when the vehicle collides with the obstacle; a second determining module 604, configured to determine a collision intensity of the vehicle when the vehicle collides with the obstacle based on the first weight, the second weight, and the collision speed; The control module 605 is configured to control the vehicle door to be unlocked when the collision intensity is greater than or equal to a collision intensity threshold.

[0135] Optionally, the first determining module includes: a first determining submodule, configured to determine a first longitudinal distance change value between the vehicle and the obstacle within the reaction time according to the driving speed, the moving speed, and the reaction time of the driver of the vehicle; a second determining submodule, configured to determine, based on the driving speed, the acceleration, and the moving speed, a second longitudinal distance change between the vehicle and the obstacle during a process of adjusting the driving speed to be equal to the moving speed; The third determining submodule is configured to determine a dangerous longitudinal distance between the vehicle and the obstacle according to the positional relationship, the first longitudinal distance change value, and the second longitudinal distance change value.

[0136] Optionally, the first determining submodule includes: a first calculating unit, configured to calculate a relative speed between the vehicle and the obstacle based on the driving speed and the moving speed; The first determining unit is configured to calculate a first product of the relative speed and a reaction time of the driver of the vehicle, and determine the first product as a first longitudinal distance change value.

[0137] Optionally, the second determining submodule includes: a second calculating unit, configured to calculate a relative speed between the vehicle and the obstacle based on the driving speed and the moving speed; A third calculation unit is configured to calculate, based on the relative speed and the acceleration, a second longitudinal distance change value between the vehicle and the obstacle in a process of adjusting the driving speed to be equal to the moving speed.

[0138] Optionally, the third determining submodule includes: a second determining unit, configured to determine a driving direction of the vehicle and a moving direction of the obstacle; a third determining unit configured to determine, when a traveling direction of the vehicle is the same as a moving direction of the obstacle and the positional relationship indicates that the obstacle is located in front of the vehicle, a sum of the first longitudinal distance change value and the second longitudinal distance change value as a dangerous longitudinal distance between the vehicle and the obstacle; a fourth determination unit, configured to determine a difference between the first longitudinal distance change value and the second longitudinal distance change value as a dangerous longitudinal distance between the vehicle and the obstacle, when the driving direction of the vehicle is the same as the moving direction of the obstacle and the positional relationship indicates that the obstacle is located behind the vehicle.

[0139] Optionally, the second acquisition module includes: The first calculation submodule is configured to calculate a collision speed of the vehicle when the vehicle collides with the obstacle based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time when the initial longitudinal distance is less than or equal to the dangerous longitudinal distance.

[0140] Optionally, the first calculation submodule includes: a fourth calculation unit, configured to calculate a collision speed of the vehicle when the vehicle collides with the obstacle based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time, wherein the collision speed is: ; in, represents the collision velocity; represents the driving speed; represents the movement speed; represents the acceleration; represents the initial longitudinal distance; Indicates the reaction time.

[0141] Optionally, the second determining module includes: The fourth determination submodule is used to calculate the second product of the first weight and the collision speed when the moving speed is 0, and determine the third product of the second product and a preset coefficient as the collision intensity of the vehicle when the vehicle collides with the obstacle.

[0142] Optionally, the second determining module further includes: a second calculation submodule, configured to calculate, when the moving speed is non-zero, a reduced mass between the vehicle and the obstacle based on the first weight and the second weight; The fifth determination submodule is configured to calculate a fourth product of the reduced mass and the collision velocity, and determine a fifth product of the fourth product and a preset coefficient as a collision intensity of the vehicle when the vehicle collides with the obstacle.

[0143] Optionally, the device further comprises: The sending module is used to send a collision signal to the cloud platform unit when the collision intensity is greater than or equal to the collision intensity threshold, so that the cloud platform unit can monitor the driving status of the vehicle according to the collision signal and send a rescue signal when the vehicle collides with the obstacle.

[0144] As for the above-mentioned device embodiment, since it is basically similar to the vehicle control method embodiment, the relevant parts can be referred to the partial description of the method embodiment.

[0145] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0146] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0147] An embodiment of the present invention also provides a vehicle, which includes an electronic device, and the electronic device includes: a processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory communicate with each other through the communication bus; the memory is used to store computer programs; and the processor is used to implement the steps in the vehicle control method described above when executing the program stored in the memory.

[0148] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps in the vehicle control method described above when the program is executed by a processor.

[0149] The above embodiments can be implemented in whole or in part through software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions. When loaded and executed on a computer, the computer program instructions fully or partially produce the processes or functions described in accordance with the embodiments of the present invention. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid-state drive (SSD)).

[0150] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. The embodiments of the apparatus, electronic device, computer-readable storage medium, and computer program product containing instructions thereof are generally similar to the method embodiments, so their description is relatively simple. For related portions, reference can be made to the description of the method embodiments.

[0151] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtaining a vehicle's speed, the vehicle's acceleration, an obstacle's moving speed, an initial longitudinal distance between the vehicle and the obstacle, and a positional relationship between the vehicle and the obstacle; determining a dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and a reaction time of the driver of the vehicle; When the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, obtaining a first weight of the vehicle, a second weight of the obstacle, and a collision speed of the vehicle when the vehicle collides with the obstacle; determining, based on the first weight, the second weight, and the collision speed, a collision intensity of the vehicle when the vehicle collides with the obstacle; When the collision intensity is greater than or equal to a collision intensity threshold, the vehicle door is controlled to be unlocked.

2. The method according to claim 1, characterized in that The determining of the dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and the reaction time of the driver of the vehicle includes: determining a first longitudinal distance change between the vehicle and the obstacle within the reaction time according to the driving speed, the moving speed, and a reaction time of the driver of the vehicle; determining, based on the driving speed, the acceleration, and the moving speed, a second longitudinal distance change between the vehicle and the obstacle during a process of adjusting the driving speed to be equal to the moving speed; A dangerous longitudinal distance between the vehicle and the obstacle is determined based on the positional relationship, the first longitudinal distance change value, and the second longitudinal distance change value.

3. The method according to claim 2, characterized in that The determining, based on the driving speed, the moving speed, and the reaction time of the driver of the vehicle, a first longitudinal distance change value between the vehicle and the obstacle within the reaction time includes: Calculating a relative speed between the vehicle and the obstacle based on the driving speed and the moving speed; A first product of the relative speed and a reaction time of the driver of the vehicle is calculated, and the first product is determined as a first longitudinal distance change value.

4. The method according to claim 2, characterized in that The determining, based on the driving speed, the acceleration, and the moving speed, a second longitudinal distance change between the vehicle and the obstacle in a process of adjusting the driving speed to be equal to the moving speed includes: Calculating a relative speed between the vehicle and the obstacle based on the driving speed and the moving speed; A second longitudinal distance change value between the vehicle and the obstacle during a process of adjusting the travel speed to be equal to the moving speed is calculated based on the relative speed and the acceleration.

5. The method according to claim 2, characterized in that Determining the dangerous longitudinal distance between the vehicle and the obstacle based on the positional relationship, the first longitudinal distance change value, and the second longitudinal distance change value includes: Determining the driving direction of the vehicle and the moving direction of the obstacle; When the traveling direction of the vehicle is the same as the moving direction of the obstacle, and the positional relationship indicates that the obstacle is located in front of the vehicle, determining a sum of the first longitudinal distance change value and the second longitudinal distance change value as a dangerous longitudinal distance between the vehicle and the obstacle; When the driving direction of the vehicle is the same as the moving direction of the obstacle, and the positional relationship indicates that the obstacle is located behind the vehicle, the difference between the first longitudinal distance change value and the second longitudinal distance change value is determined as the dangerous longitudinal distance between the vehicle and the obstacle.

6. The method according to claim 1, characterized in that The acquiring, when the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, the first weight of the vehicle, the second weight of the obstacle, and the collision speed of the vehicle when the vehicle collides with the obstacle, includes: When the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, a collision speed of the vehicle when the vehicle collides with the obstacle is calculated based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time.

7. The method according to claim 6, characterized in that The calculating, based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time, a collision speed of the vehicle when the vehicle collides with the obstacle includes: The collision speed of the vehicle when the vehicle collides with the obstacle is calculated based on the driving speed, the acceleration, the moving speed, the initial longitudinal distance, and the reaction time, where the collision speed is: ； in, represents the collision velocity; represents the driving speed; represents the movement speed; represents the acceleration; represents the initial longitudinal distance; Indicates the reaction time.

8. The method according to claim 1, characterized in that The determining, based on the first weight, the second weight, and the collision speed, a collision intensity of the vehicle when the vehicle collides with the obstacle includes: When the moving speed is 0, a second product of the first weight and the collision speed is calculated, and a third product of the second product and a preset coefficient is determined as a collision intensity of the vehicle when the vehicle collides with the obstacle.

9. The method according to claim 1, characterized in that The determining, based on the first weight, the second weight, and the collision speed, a collision intensity of the vehicle when the vehicle collides with the obstacle includes: When the moving speed is non-zero, calculating a reduced mass between the vehicle and the obstacle based on the first weight and the second weight; A fourth product of the reduced mass and the collision velocity is calculated, and a fifth product of the fourth product and a preset coefficient is determined as a collision intensity of the vehicle when the vehicle collides with the obstacle.

10. The method according to claim 1, characterized in that The method further comprises: When the collision intensity is greater than or equal to the collision intensity threshold, a collision signal is sent to the cloud platform unit so that the cloud platform unit can monitor the driving status of the vehicle based on the collision signal and send a rescue signal when the vehicle collides with the obstacle.

11. A vehicle control device, characterized in that: The device comprises: a first acquisition module, configured to acquire a vehicle's speed, the vehicle's acceleration, an obstacle's moving speed, an initial longitudinal distance between the vehicle and the obstacle, and a positional relationship between the vehicle and the obstacle; a first determining module, configured to determine a dangerous longitudinal distance between the vehicle and the obstacle based on the driving speed, the acceleration, the moving speed, the positional relationship, and a reaction time of the driver of the vehicle; a second acquisition module, configured to acquire, when the initial longitudinal distance is less than or equal to the dangerous longitudinal distance, a first weight of the vehicle, a second weight of the obstacle, and a collision speed of the vehicle when the vehicle collides with the obstacle; a second determining module, configured to determine a collision intensity of the vehicle when the vehicle collides with the obstacle based on the first weight, the second weight, and the collision speed; The control module is used to control the vehicle door to unlock when the collision intensity is greater than or equal to the collision intensity threshold.

12. A vehicle, characterized in that: The vehicle includes an electronic device, which includes: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; Memory for storing computer programs; The processor is configured to implement the steps of the vehicle control method according to any one of claims 1 to 10 when executing the program stored in the memory.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 10 are implemented.

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