Blind zone safe vehicle speed determination method and device, storage medium and vehicle-mounted terminal

Abstract

The invention provides a dead zone safe vehicle speed determination method and device, a storage medium and a vehicle-mounted terminal. The method comprises the steps of obtaining a driving mode of a vehicle, traffic state information of a road, a lane position of a shielded vehicle and a parking position of the shielded vehicle; determining the transverse distance between the vehicle and the shielded vehicle according to the parking position; determining a blind area early warning level according to the traffic state information, the lane position and the parking position; the safety speed of the vehicle in the blind area is determined according to the blind area early warning level, the transverse distance and the driving mode, and the safety speed of the vehicle passing through the blind area is determined by judging the blind area early warning level of the blind area to improve the driving safety of the vehicle. And the corresponding safe vehicle speed is determined according to the driving mode, so that the situation that the vehicle speed is too high due to the fact that a driver mistakenly judges or neglects a blind area or mistakenly judges the blind area of intelligent driving, and braking and collision avoidance cannot be conducted in time in a blind area crossing scene can be avoided.

Description

Technical Field

[0001] The present invention relates to the field of vehicle assisted driving technology, and in particular to a method, device, storage medium and vehicle-mounted terminal for determining a safe vehicle speed in a blind spot. Background Art

[0002] Vehicle blind spots are a common cause of traffic accidents, especially when changing lanes, turning or reversing, as it is difficult for the driver to fully observe the surrounding environment. For drivers with insufficient driving experience, it is easy to misjudge or ignore the blind spot scene, resulting in excessive speed and failure to brake in time to avoid collisions when crossing the blind spot.

[0003] However, the blind spot collision avoidance assist function in related technologies cannot accurately judge the blind spot scene for objects crossing in front and in the obstructed blind spot, and there is no any processing strategy for blind spots or objects that cannot be identified; and the NCA (Navigation Cruise Assist) intelligent driving function only has a deceleration strategy for intersections and zebra crossings, and the deceleration ratio is mechanical, which is difficult to adapt to complex traffic environments. There is also no systematic processing strategy for blind spot crossing situations, resulting in incorrect blind spot scene judgment, resulting in excessive vehicle speed, and then failure to brake in time to avoid collision in blind spot crossing scenes, affecting the safety of intelligent assisted driving. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a method, device, storage medium and vehicle-mounted terminal for determining a safe vehicle speed in a blind spot that overcome the above problems or at least partially solve the above problems.

[0005] According to a first aspect of the present invention, a method for determining a safe vehicle speed in a blind spot is provided, the method comprising: Acquiring a vehicle's driving mode, traffic status information of a road, a lane position of an obstructing vehicle, and a parking position of the obstructing vehicle; the traffic status information includes a drivable state of a lane on the road; determining a lateral distance between the vehicle and the obstructing vehicle based on the parking position; determining a blind spot warning level based on the traffic state information, the lane position, and the parking position; the blind spot being a user's field of view observable in the vehicle that is blocked by the blocking vehicle; A safe speed of the vehicle in the blind spot is determined according to the blind spot warning level, the lateral distance, and the driving mode.

[0006] Optionally, the traffic status information includes at least one of traffic light information and guide arrow information of the road; Determining a blind spot warning level according to the traffic state information, the lane position, and the parking position includes: determining a drivable state of a corresponding lane according to the traffic light information and / or the guide arrow information; A blind spot warning level is determined according to a matching result of the lane position, the parking position, and the drivable state.

[0007] Optionally, determining the drivable state of a corresponding lane according to the traffic light information and / or the guide arrow information includes: Determining the drivable direction of each lane according to the guide arrow information; The drivable state of the drivable direction of each lane is determined according to the traffic light information.

[0008] Optionally, the drivable state includes: a first drivable state and a second drivable state; Determining a blind spot warning level according to a matching result of the lane position, the parking position, and the drivable state includes: When the lane position is located in the lane of the first drivable state, the parking position does not match the drivable state, and the road ahead is set to the first blind spot warning level; When the lane position is in the lane of the second drivable state, or when there are parking positions with a preset number of obstructed vehicles in the lane of the first drivable state, the parking position matches the drivable state, and the road ahead is set to the second blind spot warning level.

[0009] Optionally, the driving mode includes a first driving mode and a second driving mode; Determining a safe speed of the vehicle in the blind spot according to the blind spot warning level, the lateral distance, and the driving mode includes: When the driving mode is a first driving mode, determining a first reaction time corresponding to the first driving mode; determining a first safe vehicle speed according to the blind spot warning level, the lateral distance, and the first reaction time; When the driving mode is the second driving mode, determining a second reaction time and a lateral movement distance corresponding to the second driving mode; A second safe vehicle speed is determined according to the blind spot warning level, the lateral distance, the second reaction time, and the lateral movement distance.

[0010] Optionally, the method further includes: Get the user's vehicle settings; determining the user's driving habits based on the vehicle settings; The safe vehicle speed is adjusted according to the driving habits.

[0011] Optionally, the method further includes: When the vehicle's running speed exceeds the safe speed, a warning is issued to the user, and / or the vehicle is controlled so that the running speed is lower than the safe speed.

[0012] According to a second aspect of the present invention, a device for determining a safe vehicle speed in a blind spot is provided, the device comprising: a data acquisition module, configured to acquire a vehicle's driving mode, traffic status information of a road, a lane position of an obstructing vehicle, and a parking position of the obstructing vehicle; the traffic status information includes a drivable state of a lane on the road; a first data processing module, configured to determine a lateral distance between the vehicle and the obstructing vehicle according to the parking position; a second data processing module, configured to determine a blind spot warning level based on the traffic state information, the lane position, and the parking position; the blind spot being a user's field of view observable in the vehicle that is blocked by the blocking vehicle; The safe speed determination module is used to determine the safe speed of the vehicle in the blind spot according to the blind spot warning level, the lateral distance and the driving mode.

[0013] According to a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for determining a safe vehicle speed in a blind spot are implemented.

[0014] According to the fourth aspect of the present invention, a vehicle-mounted terminal is provided, which includes: a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute the computer program stored in the memory to implement the steps of the above-mentioned blind spot safety speed determination method.

[0015] The embodiments of the present invention include the following advantages: In an embodiment of the present invention, the driving mode of the vehicle, the traffic status information of the road, the lane position of the obstructing vehicle and the parking position of the obstructing vehicle are obtained; the lateral distance between the vehicle and the obstructing vehicle is determined according to the parking position; the blind spot warning level is determined according to the traffic status information, the lane position and the parking position; the safe speed of the vehicle in the blind spot is determined according to the blind spot warning level, the lateral distance and the driving mode, and the safe speed for passing through the blind spot is determined by judging the blind spot warning level of the blind spot to improve the driving safety of the vehicle. In addition, the corresponding safe speed is determined for the driving mode to avoid excessive speed due to the driver's misjudgment or neglect of the blind spot or misjudgment of the blind spot by the intelligent driving, and the failure to brake and avoid collision in time for the blind spot crossing scene is improved, thereby improving the user's trust in the automatic driving system.

[0016] 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

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a flowchart of an embodiment of a method for determining a safe vehicle speed in a blind spot according to the present invention; Figure 2 1 is a schematic diagram of a scenario of a first blind spot warning level provided by an embodiment of the present invention; Figure 3 2 is a schematic diagram of a scenario of a second blind spot warning level provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of another scenario of the first blind spot warning level provided by an embodiment of the present invention; Figure 5 This is a schematic diagram of another scenario of the second blind spot warning level provided by an embodiment of the present invention; Figure 6 It is a structural block diagram of an embodiment of a device for determining a safe vehicle speed in a blind spot according to the present invention. DETAILED DESCRIPTION

[0019] 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 can 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.

[0020] The terms "first," "second," and the like in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0021] In the following, in conjunction with the accompanying drawings, a method, device, storage medium and vehicle-mounted terminal for determining a safe vehicle speed in a blind spot provided by an embodiment of the present invention are described in detail through specific embodiments and application scenarios.

[0022] Vehicle blind spots are a common cause of traffic accidents, especially when changing lanes, turning or reversing, as it is difficult for the driver to fully observe the surrounding environment. For drivers with insufficient driving experience, it is easy to misjudge or ignore the blind spot scene, resulting in excessive speed and failure to brake in time to avoid collisions when crossing the blind spot.

[0023] However, the blind spot collision avoidance assist function in the related technology cannot well identify objects crossing in front and in the obstructed blind spot, cannot accurately judge the blind spot scene, and has no processing strategy for blind spots or objects that cannot be identified; and the intelligent driving logic of the NCA (Navigation Cruise Assist) intelligent driving function is mostly based on rule processing and responds based on real-time perception of intelligent driving sensors. Vehicles in blind spot scenarios cannot detect the situation in front of the obstructed vehicle, and the current end-to-end solution is not yet mature, and there is no massive learning data to support the intelligent driving system to quickly and accurately identify blind spots; the related technology only has deceleration strategies for intersections and zebra crossings, and the deceleration ratio is mechanical, which is difficult to adapt to complex traffic environments. There is also no systematic processing strategy for blind spot crossing situations, resulting in incorrect blind spot scene judgments, resulting in excessive vehicle speed, and then the failure to brake and avoid collisions in blind spot crossing scenarios, affecting the safety of intelligent assisted driving.

[0024] Reference Figure 1, shows a flowchart of an embodiment of a method for determining a safe vehicle speed in a blind spot according to the present invention, which may specifically include the following steps: Step 101: Acquire a vehicle's driving mode, road traffic status information, a lane position of an obstructing vehicle, and a parking position of the obstructing vehicle; the traffic status information includes a drivable state of a lane on the road; During the vehicle's journey, onboard sensors or domain controllers can acquire real-time driving patterns. Through the fusion of lidar, cameras, and millimeter-wave radar, the system can identify traffic conditions on the road ahead, the lane position of obstructing vehicles, and the parking location of these vehicles. This comprehensive understanding of the road, lane, and parking location of obstructing vehicles enables better response to complex traffic conditions and provides early warning of potential blind spot hazards.

[0025] In practical applications, obstructing vehicles include vehicles that obstruct the driver's field of view, camera and radar detection fields. For example, a vehicle with a driving speed lower than 5 km / h and obstructing the driver's field of view, camera and radar detection fields can be determined as an obstructing vehicle, or a vehicle with a driving speed lower than a calibrated value can be determined as an obstructing vehicle.

[0026] Step 102, determining the lateral distance between the vehicle and the blocking vehicle based on the parking position; The lateral distance refers to the distance between two vehicles when they are driving side by side. This distance is related to the lane position and parking position of the vehicle. After obtaining the lane position and parking position of the obstructing vehicle, the coordinate system data of the obstructing vehicle in the global coordinate system or local coordinate system can be obtained through coordinate system conversion. The lateral distance between the vehicle and the obstructing vehicle is determined through the coordinate system data of the vehicle and the obstructing vehicle.

[0027] By determining the lateral distance between the host vehicle and the obstructing vehicle based on the parking position and lane position of the obstructing vehicle, the accuracy and reliability of distance measurement can be significantly improved, the safety and efficiency of the autonomous driving or assisted driving system can be enhanced, and the safe speed for passing through the blind spot can be better determined.

[0028] Step 103: determining a blind spot warning level based on the traffic status information, the lane position, and the parking position; the blind spot is a user's field of view observable in the vehicle that is blocked by the blocking vehicle; In actual applications, since traffic status information can reflect the drivable status of the road ahead, traffic status information, the lane position and parking position of the obstructing vehicle will affect the driver's field of view to a certain extent. Through traffic status information, the lane position and parking position of the obstructing vehicle, it can be determined whether the current area is a blind spot and the urgency of the blind spot, that is, the blind spot warning level.

[0029] Step 104 : determining a safe speed of the vehicle in the blind spot according to the blind spot warning level, the lateral distance, and the driving mode.

[0030] After obtaining the driving mode of the vehicle, a corresponding calculation strategy can be used based on different driving modes to obtain the safe vehicle speed of the corresponding driving mode in the blind spot.

[0031] Specifically, the driving modes include at least: driver-active driving and intelligent driving; when the driver of this vehicle is actively driving, a corresponding calculation strategy is used to determine the safe speed of the vehicle when the driver is actively driving in the blind spot based on the blind spot warning level and the lateral distance; when this vehicle is in intelligent driving, a corresponding calculation strategy is used to determine the safe speed of the vehicle when the driver is intelligently driving in the blind spot based on the blind spot warning level and the lateral distance.

[0032] An embodiment of the present invention provides a method for determining a safe speed in a blind spot, which obtains the vehicle's driving mode, traffic status information of the road, the lane position of the obstructing vehicle and the parking position of the obstructing vehicle; determines the lateral distance between the vehicle and the obstructing vehicle according to the parking position; determines the blind spot warning level according to the traffic status information, the lane position and the parking position; determines the safe speed of the vehicle in the blind spot according to the blind spot warning level, the lateral distance and the driving mode, and improves the driving safety of the vehicle by determining the blind spot warning level of the blind spot and determining the safe speed for passing through the blind spot. In addition, determining the corresponding safe speed for the driving mode can avoid excessive speed due to the driver's misjudgment or neglect of the blind spot or misjudgment of the blind spot by the intelligent driving blind spot, and the failure to brake and avoid collision in time for the blind spot crossing scene, which improves the user's trust in the automatic driving system.

[0033] In one embodiment of the present invention, the traffic status information includes at least one of traffic light information and guide arrow information of the road; Determining a blind spot warning level according to the traffic state information, the lane position, and the parking position includes: determining a drivable state of a corresponding lane according to the traffic light information and / or the guide arrow information; A blind spot warning level is determined according to a matching result of the lane position, the parking position, and the drivable state.

[0034] In an embodiment of the present invention, traffic status information includes at least one of traffic light information and guide arrow information; the drivable status of each lane can be determined through traffic light information, that is, red and green light information; guide arrow information, that is, the drivable direction of each lane marked on each lane; the drivable status of the corresponding lane can be determined based on the red and green light information and / or guide arrow information.

[0035] In actual application, when the parking position of the blocking vehicle is in the straight lane and the traffic light information of the straight lane is green, since the vehicle is parked in a lane in a passable state, it can be considered that the matching results of the lane's drivable state, the lane position of the blocking vehicle, and the parking position are mismatched. It should be emphasized that the above scenarios are specific embodiments listed in the present invention, and the matching results are judged according to traffic regulations. For example: not driving or driving at a low speed on the road, or the parking position of the blocking vehicle is abnormal, all of which belong to the lane's drivable state, the lane position of the blocking vehicle, and the parking position are mismatched.

[0036] Determining the blind spot warning level based on the matching results of the lane's drivable status, the lane position of the obstructing vehicle, and the parking position can avoid the problem of excessive speed caused by traditional methods that only rely on sensors to detect whether there are objects in the blind spot, resulting in incorrect or ignored blind spot judgments or intelligent driving blind spot judgment errors.

[0037] Specifically, since the guide arrow information on the lane is aging and fading, in an embodiment, when the guide arrow information on the lane is aging or fading and the guide arrow information cannot be distinguished, the drivable status of the corresponding lane can be determined based on the traffic light information combined with navigation software or historical driving data.

[0038] In one embodiment of the present invention, determining the drivable state of a corresponding lane according to the traffic light information and / or the guide arrow information includes: Determining the drivable direction of each lane according to the guide arrow information; The drivable state of the drivable direction of each lane is determined according to the traffic light information.

[0039] In an embodiment of the present invention, determining the drivable direction of each lane based on the guide arrow information may include: if the guide arrow information of the current lane is straight ahead, then the drivable direction of the current lane is straight ahead; if the guide arrow information of the current lane is left turn, then the drivable direction of the current lane is left turn; if the guide arrow information of the current lane is right turn plus straight ahead, then the drivable direction of the current lane is right turn and straight ahead.

[0040] The drivable state of each lane in the drivable direction determined according to traffic light information may include: if the traffic light of the straight lane is in the green light state, the drivable state of the straight lane is the first drivable state, that is, the passable state; if the traffic light information of the straight lane is in the red light state, the drivable state of the straight lane is the second drivable state, that is, the non-passable state. The drivable state of the drivable direction of each lane can be obtained according to the above method.

[0041] By integrating lane-level guide arrow information and real-time traffic light information, the driver can be promptly reminded of changes in the traffic status of the lane ahead, thereby improving the accuracy of judging blind spots and blind spot warning levels.

[0042] In one embodiment of the present invention, the drivable state includes: a first drivable state and a second drivable state; Determining a blind spot warning level according to a matching result of the lane position, the parking position, and the drivable state includes: When the lane position is located in the lane of the first drivable state, the parking position does not match the drivable state, and the road ahead is set to the first blind spot warning level; When the lane position is in the lane of the second drivable state, or when there are parking positions with a preset number of obstructed vehicles in the lane of the first drivable state, the parking position matches the drivable state, and the road ahead is set to the second blind spot warning level.

[0043] In this embodiment, the drivable state includes at least a first drivable state and a second drivable state. The first drivable state is also a passable state, at which time vehicles on the lane can drive normally; the second drivable state is also an impassable state.

[0044] When the obstructing vehicle's lane position is in the first drivable state, i.e., a passable lane, and the obstructing vehicle's parking position is in a passable lane, it does not match the lane's drivable state. That is, when the obstructing vehicle stops in the driving lane, the scenario is a sudden special situation. The obstructing vehicle may be faulty, or there may be pedestrians or non-motor vehicles crossing in front of the obstructing vehicle, or a traffic accident. Inexperienced drivers or related technologies reacting based on the real-time perception of intelligent driving sensors may ignore the reason for the obstructing vehicle's parking, which may lead to misjudgment or neglect of the blind spot or misjudgment of the intelligent driving blind spot. Therefore, the road ahead is an abnormal blind spot, i.e., the first blind spot warning level. The probability of abnormal situations occurring at the first blind spot warning level is greater than that at the second blind spot warning level. Therefore, different blind spot strategies can be formulated based on the first and second blind spot warning level scenarios. Optionally, the first blind spot warning level can be set to a lower speed than the second blind spot warning level as a safe speed.

[0045] Specifically, refer to Figure 2, shows a schematic diagram of a scenario of the first blind spot warning level provided by an embodiment of the present invention. Taking a three-lane scenario as an example, the obstructing vehicle 1 is in the leftmost lane, and the host vehicle 2 is in the middle lane. The guide arrow information of these two lanes is a straight arrow, and the current traffic light information is a straight green light. Therefore, the drivable state of the drivable direction of the lane where the obstructing vehicle 1 and the host vehicle 2 are located is the first drivable state, that is, the passable state. However, at this time, the obstructing vehicle 1 is parked in the lane with the first drivable state. The parking position of the obstructing vehicle 1 does not match the drivable state. At this time, there is a pedestrian crossing the road in front of the obstructing vehicle 1. The road ahead can be set to the first blind spot warning level, so that the host vehicle passes through the blind spot of the first blind spot warning level at a lower speed. When a pedestrian or non-motor vehicle crossing the road in front of the obstructing vehicle 1 is found, there is sufficient reaction time to avoid a collision with the pedestrian or non-motor vehicle crossing the road in front of the obstructing vehicle 1.

[0046] Reference Figure 4 , shows a schematic diagram of another scenario of the first blind spot warning level provided by an embodiment of the present invention. Taking a three-lane scenario as an example, the obstructing vehicle 1 is in the leftmost lane, and the host vehicle 2 is in the middle lane. Both lanes have no guide arrow information and traffic light information. At this time, all lanes can be driven normally and are all lanes in the first drivable state. However, the obstructing vehicle 1 is parked in the lane in the first drivable state. The parking position of the obstructing vehicle 1 does not match the drivable state. At this time, there is a pedestrian crossing the road in front of the obstructing vehicle 1. The road ahead can be set to the first blind spot warning level, so that the host vehicle passes through the blind spot of the first blind spot warning level at a lower speed. When a pedestrian or non-motor vehicle crossing the road in front of the obstructing vehicle 1 is found, there is enough reaction time to avoid a collision with the pedestrian or non-motor vehicle crossing the road in front of the obstructing vehicle 1.

[0047] When the lane position of the blocking vehicle is in the second drivable state, that is, the lane in the impassable state, and the parking position of the blocking vehicle is in the impassable lane, the blocking vehicle matches the drivable state of the lane. That is to say, when the blocking vehicle is parked in the parking lane, or when there are a preset number of blocking vehicles whose parking positions are located in the impassable lane, the lane may belong to a temporary parking area. Inexperienced drivers or related technologies that respond based on real-time perception of intelligent driving sensors can usually identify the blind spots in the above situations. Therefore, the road ahead belongs to a normal blind spot, that is, the second blind spot warning level.

[0048] Reference Figure 3, shows a schematic diagram of a scenario of the second blind spot warning level provided by an embodiment of the present invention. Taking a three-lane scenario as an example, the lane positions of the blocking vehicles 1 and 2 are in the two lanes on the left, and the lane position of the vehicle 3 is in the rightmost lane. The guide arrow information of the lanes where the blocking vehicles are located are all straight arrows, and the guide arrow information of the lane where the vehicle is located is a right turn arrow, and the current traffic light information is a straight red light. Therefore, the drivable state of the drivable direction of the lanes where the blocking vehicles 1 and 2 are located is the second drivable state, that is, the impassable state, and the drivable state of the drivable direction of the lane where the vehicle 3 is located is the first drivable state, that is, the passable state. Therefore, according to relevant traffic regulations and driving habits, this scenario belongs to a normal blind spot. Inexperienced drivers or relevant technologies that respond based on real-time perception of intelligent driving sensors can usually identify the blind spots in the above situation. Therefore, this scenario can be set to the second blind spot warning level, that is, the normal blind spot.

[0049] Reference Figure 5 , a schematic diagram of another scenario of the second blind spot warning level provided by an embodiment of the present invention is shown. Taking a two-lane scenario as an example, the lane positions of blocking vehicles 1, 2, and 3 are in the rightmost lane, and the lane position of vehicle 4 is in the leftmost lane. There is no guide arrow information or traffic light information in these two lanes. At this time, all lanes are drivable normally and are all lanes in the first drivable state. The parking positions of blocking vehicles 1, 2, and 3 are all in the first drivable state. At this time, there are many blocking vehicles temporarily parked on the roadside. Although the planned stop line light information is not recognized, in actual applications, in residential areas or streets with old supporting facilities, due to insufficient parking spaces, vehicles may be temporarily parked on the roadside. Therefore, this area may be a parking area. When passing this scene, the driver is more likely to recognize this area as a blind spot based on driving experience. Therefore, this scene can be set to the second blind spot warning level, that is, the normal blind spot.

[0050] By dividing the blind spot into a first blind spot warning level and a second blind spot warning level, i.e., an abnormal blind spot and a normal blind spot, the corresponding safe speed is determined based on different blind spot warning levels. Usually, the first blind spot warning level is set to a lower speed than the second blind spot warning level as the safe speed. This method can help the driver better judge whether the road ahead belongs to a blind spot, and thereby determine the safe speed in the blind spot, avoiding the situation where the driver's misjudgment or neglect of the blind spot or the intelligent driving's misjudgment of the blind spot causes the vehicle to have an excessively high speed, and the driver cannot brake in time to avoid collisions in blind spot crossing scenarios.

[0051] In one embodiment of the present invention, the driving mode includes a first driving mode and a second driving mode; Determining a safe speed of the vehicle in the blind spot according to the blind spot warning level, the lateral distance, and the driving mode includes: When the driving mode is a first driving mode, determining a first reaction time corresponding to the first driving mode; determining a first safe vehicle speed according to the blind spot warning level, the lateral distance, and the first reaction time; When the driving mode is the second driving mode, determining a second reaction time and a lateral movement distance corresponding to the second driving mode; A second safe vehicle speed is determined according to the blind spot warning level, the lateral distance, the second reaction time, and the lateral movement distance.

[0052] In this embodiment, the driving mode includes a first driving mode and a second driving mode, wherein the first driving mode is an active driving mode, that is, the driver controls the vehicle to drive on the road; the second driving mode is an intelligent driving mode, in which the intelligent driving system or the automatic driving system assists the user in controlling the vehicle to drive on the road; since the reaction time of the driver and the reaction time of the intelligent driving system are different, Therefore, different reaction times are determined for different driving modes, and the safe speed for passing through blind spots in different driving modes is calculated based on this. Different reaction times and lateral movement distances can be set for each driving mode, which can better adapt to different driving needs, provide personalized safety protection, and more effectively deal with potential dangers in blind spots. The calculated safe speed is more reliable and meets various complex usage scenarios.

[0053] When the vehicle is in the first driving mode, i.e., the active driving mode, the first reaction time of the driver when observing a pedestrian or non-motor vehicle crossing the road in the blind spot in the active driving mode is determined. ; After determining the lateral distance L between the vehicle and the blocking vehicle according to step 102, the preset speed v of the pedestrian or non-motor vehicle crossing the road is obtained to calculate the first overlap time , that is, the time from the appearance of a pedestrian or non-motor vehicle to the longitudinal overlap with the vehicle ; Since the first overlap time ; Therefore, the first braking time in the first driving mode can be obtained ; in, It is the first reaction time of the driver in active driving mode when he sees pedestrians or non-motor vehicles crossing the road in the blind spot. is the default value; is the braking system response time, is the default value; It is the first braking time from the start of braking by the braking system to the stop of the vehicle.

[0054] Getting the first braking time Then, the first safe speed for driving in the blind spot when the vehicle is in the first driving mode can be determined according to the speed calculation formula. .

[0055] Taking into account the blind spot warning levels, that is, the probability of abnormal situations occurring at the second blind spot warning level (normal blind spot) and the first blind spot warning level (abnormal blind spot) is different. Under normal circumstances, the probability of abnormal situations occurring at the first blind spot warning level is higher. The first blind spot warning level can be set to a lower speed than the second blind spot warning level as a safe speed. Therefore, the first safe speed can be set to Set to the safe speed of the second blind spot warning level (normal blind spot). When in the first blind spot warning level (abnormal blind spot), The first safe speed is obtained by reducing the speed to a certain extent based on the adjustment The degree of reduction can be adjusted according to actual needs and the driver's local traffic regulations, and this embodiment does not impose any restrictions on this.

[0056] When the vehicle is in the second driving mode, i.e., the intelligent driving mode, the second reaction time when the intelligent driving system detects a pedestrian or non-motor vehicle crossing the road in the blind spot in the intelligent driving mode is determined and lateral movement distance X; where lateral movement distance X is determined by the width of the lane and the width of the vehicle. In the second driving mode (intelligent driving mode), when a blind spot scenario is detected ahead, regardless of the first or second blind spot warning level, the vehicle will be controlled to move laterally toward the lane line away from the obstructing vehicle, reserving more space and braking time.

[0057] After determining the lateral distance L between the vehicle and the blocking vehicle according to step 102, the second overlap time is calculated by obtaining the preset speed of the pedestrian or non-motor vehicle crossing the road. , that is, the time from the appearance of a pedestrian or non-motor vehicle to the longitudinal overlap with the vehicle ; Because of the second overlap time ; Therefore, the second braking time in the second driving mode can be obtained ; in, It is the first reaction time when the intelligent driving system detects pedestrians or non-motor vehicles crossing the road in the blind spot in the intelligent driving mode. is the default value; is the braking system response time, is the default value; is the second braking time from the start of braking by the braking system to the vehicle coming to a stop; X is the lateral movement distance of the vehicle; and L is the lateral distance between the vehicle and the blocking vehicle.

[0058] Getting the second braking time Then, the second safe speed for driving in the blind spot when the vehicle is in the second driving mode can be determined according to the speed calculation formula. .

[0059] Similarly, taking into account the blind spot warning levels, that is, the probabilities of abnormal situations occurring at the second blind spot warning level (normal blind spot) and the first blind spot warning level (abnormal blind spot), under normal circumstances, the probability of abnormal situations occurring at the first blind spot warning level is greater, and the first blind spot warning level can be set to a lower speed than the second blind spot warning level as a safe speed; therefore, the second safe speed can be set to the safe speed of the second blind spot warning level (normal blind spot). When in the first blind spot warning level (abnormal blind spot), the second safe speed can be set to the safe speed of the second blind spot warning level (normal blind spot). The second safe speed is obtained by reducing the speed to a certain extent based on the adjustment The degree of reduction can be adjusted according to actual needs and the driver's local traffic regulations, and this embodiment does not impose any restrictions on this.

[0060] In one embodiment of the present invention, the method further comprises: Get the user's vehicle settings; determining the user's driving habits based on the vehicle settings; The safe vehicle speed is adjusted according to the driving habits.

[0061] In this embodiment, corresponding vehicle setting options will be set on the vehicle system for users to choose. Different vehicle setting options represent different driving habits of drivers. For example, for determining the safe speed in blind spots, "later", "comfortable" and "earlier" vehicle settings can be set.

[0062] In actual application, when the user selects "Comfort", it means that the driver prefers a more comfortable driving experience and can use the calculated first safe speed or the second safe speed Set to a safe speed in the Comfort setting; When the user selects "later", it means that the driver and / or passengers can accept a relatively late braking when a scene of crossing the blind spot is found, that is, a relatively aggressive driving habit with a large braking deceleration. Therefore, the speed can be increased by a preset value or a preset percentage based on the safe speed corresponding to the "comfort" setting. For example, the first safe speed or the second safe speed Add 5 km / h or 5% of the speed to the previous setting and use the adjusted speed as the safe speed for the "late" setting; When the user selects "Earlier", it means that the driver and / or passengers are more sensitive to sudden braking and are more likely to experience motion sickness or other discomfort symptoms when braking suddenly. Therefore, the speed can be reduced by a preset value or percentage based on the safe speed corresponding to the "Comfort" setting. For example, the speed can be reduced by 5 km / h or 5% based on the first or second safe speed, and the adjusted speed will be used as the safe speed under the "Earlier" setting; By obtaining the user's vehicle settings and analyzing driving habits, it can dynamically adjust the safe vehicle speed while ensuring the user's driving safety, thereby improving driving safety and providing a personalized driving experience.

[0063] In one embodiment of the present invention, the method further comprises: When the vehicle's running speed exceeds the safe speed, a warning is issued to the user, and / or the vehicle is controlled so that the running speed is lower than the safe speed.

[0064] In actual application, when the current speed of the vehicle is greater than the safe speed, a prompt sound can be issued through the in-car speakers, or a warning light can flash on the instrument panel or HUD (Head Up Display), to remind the driver to reduce the speed to a safe speed through sound and light warnings. If the vehicle is in intelligent driving mode, in addition to issuing a prompt sound through the in-car speakers, or flashing a warning light on the instrument panel or HUD (Head Up Display), to remind the driver to reduce the speed to a safe speed through sound and light warnings, if the driver fails to respond to the reminder within the set time, the intelligent driving domain controller will intervene and control the braking system to smoothly reduce the speed to the corresponding safe speed.

[0065] By combining audio and visual reminders with the intelligent driving domain controller's active braking control, the system proactively intervenes if the driver fails to respond promptly, ensuring the vehicle's speed remains within a safe range. This significantly improves driving safety, reduces human error, and adapts to complex road conditions and special areas. Furthermore, multi-level intervention mechanisms and active braking control in emergencies further enhance the system's intelligence and practicality.

[0066] Reference Figure 6 , shows a structural block diagram of an embodiment of a blind spot safety speed determination device of the present application, which may specifically include the following modules: Data acquisition module 601, for acquiring the vehicle's driving mode, traffic status information of the road, the lane position of the obstructing vehicle, and the parking position of the obstructing vehicle; the traffic status information includes the drivable status of the lanes in the road; A first data processing module 602 is configured to determine a lateral distance between the vehicle and the blocking vehicle based on the parking position; The second data processing module 603 is configured to determine a blind spot warning level based on the traffic state information, the lane position, and the parking position; the blind spot is a user's field of view observable in the vehicle that is blocked by the blocking vehicle; The safe speed determination module 604 is configured to determine a safe speed of the vehicle in the blind spot according to the blind spot warning level, the lateral distance, and the driving mode.

[0067] In an embodiment of the present application, the blind spot safety speed determination device provided in the embodiment of the present application obtains the vehicle's driving mode, road traffic status information, lane position of the obstructing vehicle and parking position of the obstructing vehicle; determines the lateral distance between the vehicle and the obstructing vehicle according to the parking position; determines the blind spot warning level according to the traffic status information, lane position and parking position; determines the safe speed of the vehicle in the blind spot according to the blind spot warning level, lateral distance and driving mode, and improves vehicle driving safety by determining the blind spot warning level of the blind spot and determining the safe speed of the blind spot according to the driving mode, and determines the corresponding safe speed according to the driving mode to avoid excessive speed due to the driver's misjudgment or neglect of the blind spot or misjudgment of the blind spot by the intelligent driving, and fails to brake and avoid collision in time for the blind spot crossing scene, thereby improving users' trust in the automatic driving system.

[0068] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0069] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements the various processes of the aforementioned embodiment of the method for determining a safe vehicle speed in a blind spot, achieving the same technical effects. To avoid repetition, the details are omitted here. The computer-readable storage medium may be, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0070] An embodiment of the present application also provides a vehicle-mounted terminal, comprising: a processor, a memory, and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory, and when the computer program is executed by the processor, the various processes of the above-mentioned blind spot safety speed determination method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0071] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0072] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, apparatuses, or computer program products. Therefore, the embodiments of the present application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware. Furthermore, the embodiments of the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0076] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0077] Finally, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0078] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0079] The above is a detailed introduction to a method, device, storage medium and vehicle-mounted terminal for determining a safe speed in a blind spot provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for determining a safe vehicle speed in a blind spot, characterized in that: The method comprises: Acquiring a vehicle's driving mode, traffic status information of a road, a lane position of an obstructing vehicle, and a parking position of the obstructing vehicle; the traffic status information includes a drivable state of a lane on the road; determining a lateral distance between the vehicle and the obstructing vehicle based on the parking position; determining a blind spot warning level based on the traffic state information, the lane position, and the parking position; the blind spot being a user's field of view observable in the vehicle that is blocked by the blocking vehicle; A safe speed of the vehicle in the blind spot is determined according to the blind spot warning level, the lateral distance, and the driving mode.

2. The method according to claim 1, characterized in that The traffic status information includes at least one of traffic light information and guide arrow information of the road; Determining a blind spot warning level according to the traffic state information, the lane position, and the parking position includes: determining a drivable state of a corresponding lane according to the traffic light information and / or the guide arrow information; A blind spot warning level is determined according to a matching result of the lane position, the parking position, and the drivable state.

3. The method according to claim 2, characterized in that Determining the drivable state of the corresponding lane according to the traffic light information and / or the guide arrow information includes: Determining the drivable direction of each lane according to the guide arrow information; The drivable state of the drivable direction of each lane is determined according to the traffic light information.

4. The method according to claim 2, characterized in that The drivable state includes: a first drivable state and a second drivable state; Determining a blind spot warning level according to a matching result of the lane position, the parking position, and the drivable state includes: When the lane position is located in the lane of the first drivable state, the parking position does not match the drivable state, and the road ahead is set to the first blind spot warning level; When the lane position is in the lane of the second drivable state, or when there are parking positions with a preset number of obstructed vehicles in the lane of the first drivable state, the parking position matches the drivable state, and the road ahead is set to the second blind spot warning level.

5. The method according to claim 1, wherein The driving mode includes a first driving mode and a second driving mode; Determining a safe speed of the vehicle in the blind spot according to the blind spot warning level, the lateral distance, and the driving mode includes: When the driving mode is a first driving mode, determining a first reaction time corresponding to the first driving mode; determining a first safe vehicle speed according to the blind spot warning level, the lateral distance, and the first reaction time; When the driving mode is the second driving mode, determining a second reaction time and a lateral movement distance corresponding to the second driving mode; A second safe vehicle speed is determined according to the blind spot warning level, the lateral distance, the second reaction time, and the lateral movement distance.

6. The method according to claim 1, characterized in that The method further comprises: Get the user's vehicle settings; determining the user's driving habits based on the vehicle settings; The safe vehicle speed is adjusted according to the driving habits.

7. The method according to claim 1, characterized in that The method further comprises: When the vehicle's running speed exceeds the safe speed, a warning is issued to the user, and / or the vehicle is controlled so that the running speed is lower than the safe speed.

8. A device for determining a safe vehicle speed in a blind spot, characterized in that: The device comprises: a data acquisition module, configured to acquire a vehicle's driving mode, traffic status information of a road, a lane position of an obstructing vehicle, and a parking position of the obstructing vehicle; the traffic status information includes a drivable state of a lane on the road; a first data processing module, configured to determine a lateral distance between the vehicle and the obstructing vehicle according to the parking position; a second data processing module, configured to determine a blind spot warning level based on the traffic state information, the lane position, and the parking position; the blind spot being a user's field of view observable in the vehicle that is blocked by the blocking vehicle; The safe speed determination module is used to determine the safe speed of the vehicle in the blind spot according to the blind spot warning level, the lateral distance and the driving mode.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for determining a safe vehicle speed in a blind spot is implemented according to any one of claims 1 to 7.

10. A vehicle-mounted terminal, characterized in that: It includes a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute the computer program stored in the memory to implement the blind spot safety speed determination method according to any one of claims 1 to 7.

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