Vehicle distance detection method and device, vehicle, storage medium and program product

Abstract

The invention relates to a vehicle distance detection method and device, a vehicle, a storage medium and a program product. The vehicle distance detection method comprises the steps that a first Bluetooth broadcast signal received by a first Bluetooth chip of a first vehicle is acquired, and the first Bluetooth broadcast signal is a Bluetooth broadcast signal transmitted by a second vehicle; according to the first Bluetooth broadcast signal, determining received signal strength and target information influencing the received signal strength; and determining the distance between the first vehicle and the second vehicle according to the received signal strength and the target information. According to the technical scheme, the cost of vehicle distance detection can be reduced, the accuracy of vehicle distance detection is ensured, and then the safety and reliability of vehicle intelligence, automatic driving and the like are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle distance detection method, device, vehicle, storage medium, and program product. Background Art

[0002] With the continuous development of intelligent vehicles and autonomous driving technology, vehicle safety and driver assistance functions are gaining increasing attention. These functions require the use of inter-vehicle distance information. Therefore, vehicles use appropriate distance detection methods to measure inter-vehicle distance information and utilize this information to ensure vehicle safety and driver assistance functions. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a vehicle distance detection method, device, vehicle, storage medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, a vehicle distance detection method is provided, including obtaining a first Bluetooth broadcast signal received by a first Bluetooth chip of a first vehicle, where the first Bluetooth broadcast signal is a Bluetooth broadcast signal transmitted by a second vehicle; determining a received signal strength and target information that affects the received signal strength based on the first Bluetooth broadcast signal; and determining a distance between the first vehicle and the second vehicle based on the received signal strength and the target information.

[0005] Optionally, determining the distance between the first vehicle and the second vehicle based on the received signal strength and the target information includes: determining a first signal strength loss value based on the received signal strength and the target information; determining the distance between the first vehicle and the second vehicle based on the first signal strength loss value and a preset relationship, wherein the preset relationship is used to characterize the relationship between the first signal strength loss value and the distance.

[0006] Optionally, the target information includes the transmission power of the first Bluetooth broadcast signal, and determining the signal strength loss value based on the received signal strength and the target information includes: determining the difference between the transmission power and the received signal strength as the first signal strength loss value.

[0007] Optionally, the target information includes the transmission power of the first Bluetooth broadcast signal and the vehicle information of the second vehicle, and determining the first signal strength loss value based on the received signal strength and the target information includes: determining the second signal strength loss value based on the vehicle information of the second vehicle; determining the sum of the received signal strength and the second signal strength loss value as the target signal strength; and determining the difference between the transmission power and the target signal strength as the first signal strength loss value.

[0008] Optionally, the preset relationship includes a preset path loss index, which is used to characterize the rate at which the received signal strength decays with distance. The vehicle distance detection method also includes: determining first information that affects the preset path loss index based on the first Bluetooth broadcast signal; updating the preset path loss index based on the first information to obtain a new preset relationship; determining the distance between the first vehicle and the second vehicle based on the first signal strength loss value and the preset relationship, includes: determining the distance between the first vehicle and the second vehicle based on the first signal strength loss value and the new preset relationship.

[0009] Optionally, the second vehicle is located in front of the first vehicle, and the vehicle distance detection method also includes: obtaining the driving speed of the first vehicle; determining the safe distance between the first vehicle and the second vehicle based on the driving speed of the first vehicle; if the distance is less than the safe distance, controlling the first vehicle to brake and / or output warning information, and the warning information is used to indicate that there is a risk of collision with the first vehicle.

[0010] Optionally, determining target information that has an impact on the received signal strength based on the first Bluetooth broadcast signal includes: performing content parsing on the first Bluetooth broadcast signal to obtain the target information.

[0011] Optionally, the vehicle distance detection method also includes: controlling the second Bluetooth chip of the first vehicle to transmit a second Bluetooth broadcast signal, so that a third vehicle determines the distance between the third vehicle and the first vehicle based on the second Bluetooth broadcast signal, and the third vehicle is the vehicle that receives the second Bluetooth broadcast signal.

[0012] Optionally, controlling the second Bluetooth chip of the first vehicle to transmit the second Bluetooth broadcast signal includes: determining second information that affects the received signal strength of the second Bluetooth broadcast signal; and controlling the second Bluetooth chip to generate the second Bluetooth broadcast signal according to the second information.

[0013] Optionally, the first Bluetooth chip is arranged at the front end of the first vehicle, and the second Bluetooth chip is arranged at the rear end of the first vehicle, and both the first Bluetooth chip and the second Bluetooth chip are low-power Bluetooth chips.

[0014] According to a second aspect of an embodiment of the present disclosure, a vehicle distance detection device is provided, including: an acquisition module, configured to acquire a first Bluetooth broadcast signal received by a first Bluetooth chip of a first vehicle, wherein the first Bluetooth broadcast signal is a Bluetooth broadcast signal transmitted by a second vehicle; a detection module, configured to: determine a received signal strength and target information that affects the received signal strength based on the first Bluetooth broadcast signal; and determine the distance between the first vehicle and the second vehicle based on the received signal strength and the target information.

[0015] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to: execute the executable instructions to implement the vehicle distance detection method described in the first aspect of the present disclosure.

[0016] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the vehicle distance detection method described in the first aspect of the present disclosure is implemented.

[0017] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the vehicle distance detection method described in the first aspect of the present disclosure.

[0018] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects: The first Bluetooth chip in the first vehicle receives the first Bluetooth broadcast signal transmitted by the second vehicle. Based on the first Bluetooth broadcast signal, the received signal strength and target information that affects the received signal strength are determined. The distance between the vehicles is then determined based on the received signal strength and target information. Measuring distance based on Bluetooth broadcast signals requires relatively low Bluetooth chip costs. Furthermore, by using received signal strength and target information to determine the distance between vehicles, the accuracy of the distance measurement results is guaranteed, taking into account the impact of other factors on the transmission of the Bluetooth broadcast signal. Therefore, this technical solution can reduce the cost of distance detection while ensuring the accuracy of distance detection, thereby improving the safety and reliability of intelligent vehicles and autonomous driving.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0021] Figure 1 The figure is a flow chart of a vehicle distance detection method according to an exemplary embodiment.

[0022] Figure 2 The figure is a schematic diagram showing a configuration method of a Bluetooth chip according to an exemplary embodiment.

[0023] Figure 3 FIG. 1 is a flowchart of a first interactive application according to an exemplary embodiment.

[0024] Figure 4 FIG. 1 is a flow chart of a second interactive application according to an exemplary embodiment.

[0025] Figure 5 FIG. 4 is a flowchart of a third interactive application according to an exemplary embodiment.

[0026] Figure 6 The figure is a block diagram of a vehicle distance detection device according to an exemplary embodiment.

[0027] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0029] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0030] With the continuous development of vehicle intelligence and autonomous driving technology, vehicle safety and driver assistance functions are receiving increasing attention. Vehicle safety and driver assistance functions require the use of distance information between vehicles.

[0031] For example, autonomous driving technology involves automatic emergency braking systems, which are active safety technologies that automatically apply the brakes when a collision is imminent to avoid or mitigate an accident. Automatic emergency braking systems can determine whether to apply the brakes based on the distance between vehicles.

[0032] For example, intelligent or driver-assistance features include parking assistance, a driver-assistance technology that generates parking strategies (such as route planning) to help users park smoothly. Parking assistance can generate parking strategies based on the distance between vehicles.

[0033] For example, in a fleet management scenario, the distance between vehicles needs to be kept constant, which can also be achieved through autonomous driving technology. Fleet management can control the movement of vehicles based on the distance between them.

[0034] It can be seen that in the above-mentioned various scenarios, the distance information between vehicles can be applied.

[0035] Related technologies rely on sensors such as radar, lidar, or cameras to obtain distance information between vehicles. These sensors are costly and susceptible to environmental factors (such as rain, snow, and smog), resulting in limitations. Consequently, they cannot guarantee the safety and reliability of intelligent vehicles and autonomous driving.

[0036] Based on this, the disclosed embodiments provide a technical solution that uses Bluetooth broadcast signals for distance measurement, utilizing a relatively low-cost Bluetooth chip. Furthermore, the distance between vehicles is determined using received signal strength and target information that influences received signal strength. This solution also takes into account the impact of other factors on Bluetooth broadcast signal transmission, ensuring the accuracy of the distance measurement results. Therefore, this technical solution can reduce the cost of vehicle-to-vehicle distance detection while ensuring accurate distance detection.

[0037] Therefore, applying this vehicle distance detection solution to scenarios such as vehicle intelligence and autonomous driving can improve the safety and reliability of vehicle intelligence and autonomous driving.

[0038] Figure 1 is a flow chart of a vehicle distance detection method according to an exemplary embodiment. Figure 1 As shown, the vehicle distance detection method is used in a vehicle, comprising the following steps: Step S11: acquiring a first Bluetooth broadcast signal received by a first Bluetooth chip of a first vehicle, where the first Bluetooth broadcast signal is a Bluetooth broadcast signal transmitted by a second vehicle.

[0039] Step S12: determining the received signal strength and target information that affects the received signal strength according to the first Bluetooth broadcast signal.

[0040] Step S13: determining the distance between the first vehicle and the second vehicle based on the received signal strength and the target information.

[0041] In order to implement the vehicle distance detection solution of the embodiment of the present disclosure, it is necessary to configure a Bluetooth chip for distance measurement on the vehicle to realize the transmission and reception of Bluetooth broadcast signals.

[0042] In some embodiments, the Bluetooth chip used for ranging and the Bluetooth chip configured in the vehicle for implementing other functions (such as a Bluetooth chip for implementing vehicle-machine interconnection function) do not affect each other.

[0043] In some embodiments, the vehicle is configured with a Bluetooth chip for transmitting Bluetooth broadcast signals and a Bluetooth chip for receiving (scanning) Bluetooth broadcast signals.

[0044] Taking the first vehicle as an example, the first vehicle may be configured with a first Bluetooth chip and a second Bluetooth chip, the first Bluetooth chip being used to receive Bluetooth broadcast signals transmitted by other vehicles, and the second Bluetooth chip being used to transmit Bluetooth broadcast signals.

[0045] In some embodiments, the first Bluetooth chip may be disposed at a front end position of the first vehicle, for example, at the front of the vehicle, and the second Bluetooth chip may be disposed at a rear end position of the first vehicle, for example, at the rear of the vehicle.

[0046] It can be understood that the configuration method of the Bluetooth chip of the second vehicle can be the same as the configuration method of the Bluetooth chip of the first vehicle.

[0047] In some embodiments, the Bluetooth chip may be a Bluetooth chip based on Bluetooth low energy technology, that is, a BLE (Bluetooth Low Energy) chip.

[0048] Bluetooth low energy technology, with its advantages of low power consumption, low cost, and strong anti-interference performance, holds broad application prospects in both inter-vehicle and intra-vehicle communications. Real-time distance detection using Bluetooth low energy technology can reduce costs and improve the safety and reliability of intelligent vehicles and autonomous driving. For example, it can provide more reliable auxiliary information to automatic emergency braking systems, thereby improving their reliability.

[0049] Figure 2 is a schematic diagram showing a setting method of a Bluetooth chip according to an exemplary embodiment. Figure 2 In the figure, vehicle A and vehicle B are included. Vehicle A and vehicle B may be two vehicles traveling on a road; or, they may be two vehicles in a fleet; or, they may be two vehicles in a parking lot, etc.

[0050] At the front end of vehicle A, a low-power Bluetooth chip BLE1 for receiving Bluetooth broadcast signals is provided, and at the rear end of vehicle A, a low-power Bluetooth chip BLE2 for transmitting Bluetooth broadcast signals is provided.

[0051] At the front end of vehicle B, a low-power Bluetooth chip BLE3 for receiving Bluetooth broadcast signals is provided, and at the rear end of vehicle B, a low-power Bluetooth chip BLE4 for transmitting Bluetooth broadcast signals is provided.

[0052] For BLE1 and BLE3, you can scan the Bluetooth broadcast signal transmitted by the vehicle in front by frequency. For BLE2 and BLE4, you can transmit the Bluetooth broadcast signal to the vehicle behind by frequency.

[0053] The transmission and scanning frequencies of Bluetooth broadcast signals can be configured based on different application scenarios. For example, the transmission and scanning frequencies in road driving scenarios can be higher than those in fleet driving management scenarios. The transmission and scanning frequencies in parking scenarios can be lower, etc.

[0054] For example, the transmission and / or scanning frequency of the Bluetooth broadcast signal may be 20 ms.

[0055] Through this configuration of the Bluetooth chip, the reception and transmission of Bluetooth broadcast signals can be switched without affecting each other, thereby improving the accuracy of Bluetooth broadcast signals and thus improving the ranging accuracy.

[0056] Furthermore, based on the introduction of the above-mentioned Bluetooth chip configuration embodiment, in step S11 , the first Bluetooth chip may receive a first Bluetooth broadcast signal transmitted by a second vehicle located in front of the first vehicle.

[0057] In some embodiments, steps S11 to S13 may be applied to a Bluetooth ranging system of a vehicle, and the Bluetooth ranging system may include: a first Bluetooth chip, a second Bluetooth chip, and a signal processor.

[0058] In step S12, the first Bluetooth broadcast signal is analyzed to determine the received signal strength and target information that affects the received signal strength.

[0059] In some embodiments, the received signal strength can be determined by analyzing the first Bluetooth broadcast signal. Specifically, it can be implemented by using a corresponding signal strength analysis algorithm. Reference can be made to mature technologies in the field, and the details are not presented here.

[0060] In some embodiments, the first Bluetooth broadcast signal may carry target information, and thus, determining the target information may include: performing content parsing on the first Bluetooth broadcast signal to obtain the target information.

[0061] In some embodiments, the Bluetooth broadcast signal transmission between vehicles adopts the corresponding Bluetooth protocol. Therefore, by parsing the Bluetooth broadcast signal according to the content parsing method agreed upon in the Bluetooth protocol, the specific content carried in the Bluetooth broadcast signal, that is, the target information, can be obtained.

[0062] The target information may include, but is not limited to: the transmission power of the first Bluetooth broadcast signal and the vehicle information of the second vehicle.

[0063] Transmit power can represent the transmit signal strength of the first Bluetooth broadcast signal. Its unit is dB, which is consistent with the unit of received signal strength. Transmit power can fundamentally determine the received signal strength.

[0064] The vehicle information of the second vehicle may include, but is not limited to, driving information and hardware information. Driving information may include, for example, speed and driving mode. Hardware information may include, for example, vehicle model and Bluetooth chip model. Vehicle information may affect the transmission and transmission of Bluetooth broadcast signals, and thus the received signal strength.

[0065] In addition, the first Bluetooth broadcast signal may also include identification information of the second vehicle and timestamp information, etc. The identification information of the second vehicle may serve as an identifier of the Bluetooth broadcast signal, and the timestamp information may represent the transmission time of the signal.

[0066] When performing signal analysis, the identification information and timestamp information of the second vehicle may be analyzed together. This information may not be used for ranging, but may have other functions.

[0067] Furthermore, in step S13 , the distance between the first vehicle and the second vehicle is determined based on the received signal strength and the target information.

[0068] In the embodiment of the present disclosure, a Bluetooth ranging solution is adopted. The principle of the Bluetooth ranging solution is: since distance will cause transmission loss of the Bluetooth broadcast signal, the received signal strength is inconsistent with the transmitted signal strength. The received signal strength and the transmitted signal strength can be used to determine the signal strength loss caused by the distance. Then, based on the signal strength loss and the relationship between the distance and the signal strength loss, the distance can be determined.

[0069] For example, assuming the received signal strength is represented by RSSI (Received Signal Strength Indication), the transmitted signal strength is represented by transmit power P, and the distance is represented by D, then RSSI = Pf(D), where f(D) represents the relationship between distance and signal strength loss. For example, f(D) = E × D, where E represents a constant in the relationship between distance and signal strength loss. Therefore, the value of f(D) must be determined before the distance can be determined based on it.

[0070] Therefore, as an optional implementation, step S13 includes: determining a first signal strength loss value based on the received signal strength and target information; determining the distance between the first vehicle and the second vehicle based on the first signal strength loss value and a preset relationship, where the preset relationship is used to characterize the relationship between the first signal strength loss value and the distance.

[0071] In some embodiments, the preset relationship can be determined through actual vehicle testing.

[0072] In some embodiments, the preset relationship may include a preset path loss index, which is used to characterize the rate at which the received signal strength decays with distance. The specific value of the preset path loss index can be determined through actual vehicle testing.

[0073] For example, the preset relationship can be expressed as: f(D)=10×S×log10(D), where f(D) represents the signal strength loss caused by distance, and S represents the preset path loss index.

[0074] In free space, S can be set to 2; in different environments (such as urban and suburban areas), it can be set to between 2 and 4. For example, in an urban environment, the preset path loss exponent can be between 2.7 and 3.5.

[0075] In some embodiments, when the target information includes the transmission power of the first Bluetooth broadcast signal, the transmission power can be directly determined as the transmission signal strength, thereby determining the signal strength loss value based on the received signal strength and the target information, including: determining the difference between the transmission power and the received signal strength as the first signal strength loss value.

[0076] Through the above implementation, the signal strength loss caused by distance can be determined simply and quickly, thereby improving the efficiency of Bluetooth ranging.

[0077] It is understood that during the transmission of Bluetooth broadcast signals, in addition to signal strength loss due to distance, other factors may also affect the received signal strength of the Bluetooth broadcast signal, resulting in inconsistencies between the transmitted signal strength and the received signal strength. Therefore, the relevant information in the target information also corresponds to a signal strength loss value.

[0078] For example, assume that the received signal strength is represented by RSSI (Received Signal Strength Indication), the transmitted signal strength is represented by transmit power P, the distance is represented by D, and the signal strength loss caused by the relevant information is represented by Q(x). Then, RSSI = Pf(D) - Q(x). Q(x) represents the signal strength loss caused by the relevant information x.

[0079] Regarding the relevant information x, in combination with the introduction of the aforementioned embodiment, it may be the vehicle information of the second vehicle.

[0080] Therefore, as an optional implementation, in the case of the transmission power of the first Bluetooth broadcast signal and the vehicle information of the second vehicle, the first signal strength loss value is determined according to the received signal strength and the target information, including: determining the second signal strength loss value according to the vehicle information of the second vehicle; determining the sum of the received signal strength and the second signal strength loss value as the target signal strength; and determining the difference between the transmission power and the target signal strength as the first signal strength loss value.

[0081] In some embodiments, the relationship between vehicle information and the second signal strength loss value can be determined through actual vehicle testing. For example, Q(x)=Hx, where H represents a constant in the relationship between vehicle information and signal strength loss, which can be determined through actual vehicle testing. Furthermore, based on the relationship between the vehicle information and the second signal strength loss value and the vehicle information, the second signal strength loss value can be determined.

[0082] In some embodiments, a network model can be pre-trained to predict a signal strength loss value based on vehicle information. The training data corresponding to the network model can include sample vehicle information and sample labels. The sample labels can be determined through actual measurements and characterize the signal strength loss caused by the vehicle information. Thus, the network model is trained using this training data so that the network model can determine a second signal strength loss value based on the vehicle information. The network model can be a neural network model, a random forest model, etc., and is not limited here.

[0083] Furthermore, based on the RSSI = Pf(D) - Q(x) example above, we can deduce that f(D) = P - RSSI - Q(x). Therefore, the sum of the received signal strength and the second signal strength loss value can be first determined as the target signal strength, and the difference between the transmit power and the target signal strength can be determined as the first signal strength loss value.

[0084] It is understandable that in addition to vehicle information, target information may also include more information that affects the received signal strength. The signal strength loss values ​​corresponding to these information may be determined respectively, and then the above embodiment is processed to determine the first signal strength loss value.

[0085] Through the above implementation, the influence of signal strength loss caused by various information can be fully considered, so that the accuracy of the determined first signal strength loss value is higher, thereby improving the ranging accuracy.

[0086] Furthermore, after determining the first signal strength loss value, the distance can be calculated based on a preset relationship. For example, based on f(D) = 10 × S × log10(D), assuming f(D) is 25 and S is 2, then log10(D) = 1.25, and D = 10^1.25. The unit of distance can be meters.

[0087] In some embodiments, a signal attenuation algorithm may be directly pre-configured, and the signal attenuation algorithm is an algorithm for determining received signal strength. Alternatively, received signal strength and related information may be brought into the determination algorithm to determine the distance.

[0088] For example, the signal attenuation algorithm is expressed as RSSI=Pf(D). Then, the received signal strength RSSI and the transmit power P can be directly substituted into the algorithm to solve the value of f(D), thereby determining the distance D based on the value of f(D).

[0089] For example, the signal attenuation algorithm is expressed as RSSI = Pf(D) - Q(x). Then, the received signal strength RSSI, the transmission power P, and the signal strength loss Q(x) caused by the vehicle information x can be brought into the algorithm to solve the value of f(D). Based on the value of f(D), the distance D can be determined.

[0090] By adopting the above-mentioned implementation mode, the distance can be determined quickly and accurately based on the content obtained by parsing the Bluetooth broadcast signal.

[0091] It can be understood that since the preset path loss index may be affected by the environment, the preset path loss index may be updated.

[0092] Therefore, in some embodiments, the first Bluetooth broadcast signal may also carry first information that affects the preset path loss index. The preset path loss index may be updated using the first Bluetooth broadcast signal.

[0093] Furthermore, the vehicle distance detection method may also include: determining first information that affects a preset path loss index based on a first Bluetooth broadcast signal; updating the preset path loss index based on the first information to obtain a new preset relationship; determining the distance between the first vehicle and the second vehicle based on the first signal strength loss value and the preset relationship, including: determining the distance between the first vehicle and the second vehicle based on the first signal strength loss value and the new preset relationship.

[0094] The first information may be information characterizing the driving environment, such as an urban environment, a suburban environment, or the like. The first information may be measured by relevant sensors of the second vehicle and carried in the first Bluetooth broadcast signal. For example, the shaking of the vehicle is measured by a vibration sensor, and the road conditions are determined based on the shaking, thereby determining the driving environment. Alternatively, different driving modes usually correspond to different driving environments. By obtaining the driving mode of the vehicle, the driving environment in which the vehicle is located can also be quickly determined based on the driving mode.

[0095] In some embodiments, the first information may be obtained through signal analysis, and reference may be made to the aforementioned embodiments.

[0096] In some embodiments, the preset path loss index may be a path loss index corresponding to a preset driving environment. The driving environment represented by the first information is compared with the preset driving environment. If the transmission effect is better than that of the preset driving environment, the preset path loss index may be reduced. If the transmission effect is worse than that of the preset driving environment, the preset path loss index may be increased. For example, if the current driving environment is suburban and the preset driving environment is urban, and the transmission effect in the urban area is worse than that in the suburbs, the preset path loss index may be reduced.

[0097] Furthermore, before determining the distance based on the first signal strength loss value and the preset relationship, the preset relationship can be updated to obtain a new preset relationship, and the distance can be determined using the new preset relationship and the first signal strength loss value. The method for determining the distance is the same as in the previous embodiment and will not be described in detail here.

[0098] Through the above implementation, the preset path loss index can be updated in combination with the actual driving environment to ensure the accuracy of the preset path loss index, thereby improving the accuracy of the ranging result.

[0099] In some embodiments, in addition to receiving Bluetooth broadcast signals transmitted by other vehicles, the first vehicle also needs to transmit Bluetooth broadcast signals to other vehicles.

[0100] Therefore, the vehicle distance detection method may also include: controlling the second Bluetooth chip of the first vehicle to transmit a second Bluetooth broadcast signal, so that the third vehicle determines the distance between the third vehicle and the first vehicle based on the second Bluetooth broadcast signal, and the third vehicle is the vehicle that receives the second Bluetooth broadcast signal.

[0101] With reference to the foregoing embodiments, the third vehicle may be a vehicle located behind the first vehicle, and the first vehicle may transmit a second Bluetooth broadcast signal via a second Bluetooth broadcast chip disposed at the rear end of the first vehicle.

[0102] It can be understood that regarding the implementation method of determining the distance between vehicles by the third vehicle, reference can be made to the implementation method of determining the distance between vehicles by the first vehicle, and a repeated introduction will not be given here.

[0103] Through the above implementation, different vehicles can all detect the distance between vehicles in the same way, so that it can be applied in various scenarios to improve the safety and reliability of the vehicles.

[0104] In some embodiments, controlling the second Bluetooth chip of the first vehicle to transmit the second Bluetooth broadcast signal includes: determining second information that affects the received signal strength of the second Bluetooth broadcast signal; and controlling the second Bluetooth chip to generate the second Bluetooth broadcast signal based on the second information.

[0105] It can be understood that the second information may include but is not limited to: the transmission power of the second Bluetooth broadcast signal and the vehicle information of the first vehicle.

[0106] In some embodiments, driving environment information that affects a preset path loss index may also be determined, and then the second Bluetooth chip may be controlled to generate a second Bluetooth broadcast signal based on the second information and the driving environment information.

[0107] It is understood that the second Bluetooth broadcast information may also include timestamp information and identification information of the first vehicle. Therefore, the second Bluetooth chip may be controlled to generate a second Bluetooth broadcast signal based on the second information, driving environment information, timestamp information, and identification information of the first vehicle.

[0108] It can be understood that the distance detection between vehicles is a process that is continuously repeated and can be triggered based on the Bluetooth broadcast signal received by the Bluetooth chip.

[0109] Furthermore, after the distance between vehicles is determined, it can also be applied.

[0110] As an optional application, in an automatic emergency braking scenario, the vehicle distance detection method also includes: obtaining the driving speed of the first vehicle; determining a safe distance between the first vehicle and the second vehicle based on the driving speed of the first vehicle; if the distance is less than the safe distance, controlling the first vehicle to brake and / or outputting a warning message, the warning message being used to indicate that there is a risk of collision with the first vehicle.

[0111] In this embodiment, different driving speeds may correspond to different inter-vehicle safety distances. Therefore, the safety distance may be determined in combination with the driving speed.

[0112] For example, when the driving speed is less than 30 km / h, the safe distance is 3 meters. When the driving speed is greater than 30 km / h, the safe distance is 10 meters.

[0113] Furthermore, the detected distance is compared with the safety distance, and if the detected distance is smaller than the safety distance, the first vehicle is controlled to brake and / or output a warning message.

[0114] In some embodiments, the Bluetooth ranging system can send braking reference information to the automatic emergency braking system, which uses the braking reference information as auxiliary information to decide whether to brake, thereby avoiding potential collision risks. The braking reference information may include: distance and ranging related information.

[0115] In some embodiments, the Bluetooth ranging system can send warning reference information to the vehicle system, which uses the warning reference information as auxiliary information to decide whether to issue a warning, thereby alerting the driver. The warning reference information may include: distance and ranging related information.

[0116] In some embodiments, the warning methods of the vehicle system include but are not limited to: sound alarms, visual warnings or tactile feedback (such as steering wheel vibration), etc.

[0117] In some embodiments, if the automatic emergency braking system triggers emergency braking, the vehicle interface can also display a prompt message. In addition, both the automatic emergency braking system and the vehicle system can store relevant data for subsequent analysis.

[0118] Figure 3 is a flowchart of a first interactive application according to an exemplary embodiment. Figure 3 As shown, the vehicle involves an automatic emergency braking system, a Bluetooth ranging system and a vehicle-mounted system.

[0119] For the Bluetooth ranging system, the distance between vehicles is detected based on low-power Bluetooth technology. When it is detected that the distance between vehicles is less than the safe distance, the braking reference information is sent to the automatic emergency braking system, and the warning reference information is sent to the vehicle system.

[0120] For the automatic emergency braking system, braking decisions are made based on braking reference information, and if braking is triggered, relevant data will also be recorded.

[0121] The vehicle computer system makes warning decisions based on the warning reference information. If a warning decision is triggered, the relevant data will also be recorded. Also, if the automatic emergency braking system triggers braking, the relevant data will be recorded.

[0122] As an optional application, in a fleet driving management scenario, the vehicle distance detection method may further include: controlling the driving of the first vehicle according to the distance and a preset distance.

[0123] Regarding fleet driving management scenarios, such as fleet performance scenarios and fleet transportation scenarios, in these scenarios, the distance between vehicles is usually fixed.

[0124] The preset distance may be a standard distance between vehicles constrained in a fleet driving management scenario.

[0125] In some embodiments, the Bluetooth distance measurement system can send driving reference information to the autonomous driving system, which can use the driving reference information as auxiliary information to decide whether to perform driving control. The driving reference information can include information related to distance and distance measurement.

[0126] Regarding the driving control of the automatic driving system, for example, if the current distance between vehicles is greater than the preset distance, the first vehicle is controlled to reduce the driving speed; if the current distance between vehicles is less than the preset distance, the first vehicle is controlled to increase the driving speed, etc.

[0127] Figure 4 is a flow chart of a second interactive application according to an exemplary embodiment. Figure 4 As shown, the vehicle involves an automatic driving system and a Bluetooth ranging system.

[0128] For the Bluetooth ranging system, the distance between vehicles is detected based on low-power Bluetooth technology. When it is detected that the distance between vehicles is less than the preset distance, the driving reference information is sent to the autonomous driving system.

[0129] For the autonomous driving system, driving control decisions are made based on driving reference information. If driving control is triggered, relevant data will also be recorded.

[0130] As an optional application, in a parking assistance scenario, the vehicle distance detection method may further include: generating parking assistance information according to the distance; and performing parking control according to the parking assistance information.

[0131] Regarding parking assistance scenarios, it may be a parking scenario involving multiple vehicles, and the distance to other vehicles needs to be considered.

[0132] In some embodiments, the Bluetooth ranging system can send parking assistance information to the route planning system, which can use the parking assistance information as auxiliary information to plan a specific parking route. The parking assistance information can include information related to distance and ranging.

[0133] Regarding parking route planning of a path planning system, distance information is usually required. The specific planning method can refer to the mature technology in this field and will not be introduced in detail here.

[0134] Figure 5 is a flowchart of a third interactive application according to an exemplary embodiment. Figure 5 As shown, the vehicle involves an autonomous driving system and a path planning system.

[0135] For the Bluetooth ranging system, the distance between vehicles is detected based on low-power Bluetooth technology, and the detected distance between vehicles is sent to the path planning system as parking assistance information.

[0136] For the path planning system, the parking path is planned based on the distance between vehicles, and relevant data is recorded.

[0137] It can be seen from the above application examples that the technical solutions of the embodiments of the present disclosure have the following effects: Low cost and high efficiency: Compared with radar and camera ranging technologies, the BLE-based vehicle distance detection system has lower cost and can work stably under various environmental conditions.

[0138] Real-time and reliability: It can obtain Bluetooth broadcast information in real time and calculate the distance between the front and rear vehicles. BLE technology has strong anti-interference ability and can maintain reliable performance in complex driving environments.

[0139] Versatility: In addition to assisting the automatic emergency braking system, it can also be used in a variety of application scenarios such as fleet driving management and parking assistance.

[0140] Figure 6 FIG. 1 is a block diagram of a vehicle distance detection device according to an exemplary embodiment. Figure 6 , the device comprises: The acquisition module 601 is configured to acquire a first Bluetooth broadcast signal received by a first Bluetooth chip of a first vehicle, where the first Bluetooth broadcast signal is a Bluetooth broadcast signal transmitted by a second vehicle.

[0141] The detection module 602 is configured to: determine the received signal strength and target information that affects the received signal strength based on the first Bluetooth broadcast signal; and determine the distance between the first vehicle and the second vehicle based on the received signal strength and the target information.

[0142] Optionally, the detection module 602 is further configured to: determine a first signal strength loss value based on the received signal strength and the target information; determine the distance between the first vehicle and the second vehicle based on the first signal strength loss value and a preset relationship, and the preset relationship is used to characterize the relationship between the first signal strength loss value and the distance.

[0143] Optionally, the detection module 602 is further configured to: determine a difference between the transmit power and the received signal strength as the first signal strength loss value.

[0144] Optionally, the detection module 602 is further configured to: determine a second signal strength loss value based on the vehicle information of the second vehicle; determine the sum of the received signal strength and the second signal strength loss value as the target signal strength; and determine the difference between the transmission power and the target signal strength as the first signal strength loss value.

[0145] Optionally, the device also includes an update module, which is configured to: determine first information that affects the preset path loss index based on the first Bluetooth broadcast signal; update the preset path loss index based on the first information to obtain a new preset relationship; the detection module 602 is also configured to: determine the distance between the first vehicle and the second vehicle based on the first signal strength loss value and the new preset relationship.

[0146] Optionally, the device also includes a control module configured to: obtain the driving speed of the first vehicle; determine the safe distance between the first vehicle and the second vehicle based on the driving speed of the first vehicle; if the distance is less than the safe distance, control the first vehicle to brake and / or output warning information, and the warning information is used to indicate that there is a risk of collision with the first vehicle.

[0147] Optionally, the detection module 602 is further configured to: perform content analysis on the first Bluetooth broadcast signal to obtain the target information.

[0148] Optionally, the control module is also configured to: control the second Bluetooth chip of the first vehicle to transmit a second Bluetooth broadcast signal, so that the third vehicle determines the distance between the third vehicle and the first vehicle based on the second Bluetooth broadcast signal, and the third vehicle is the vehicle that receives the second Bluetooth broadcast signal.

[0149] Optionally, the control module is further configured to: determine second information that affects the received signal strength of the second Bluetooth broadcast signal; and control the second Bluetooth chip to generate the second Bluetooth broadcast signal according to the second information.

[0150] 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.

[0151] The present disclosure further provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the vehicle distance detection method provided by the present disclosure are implemented.

[0152] Figure 7 FIG2 is a block diagram illustrating a vehicle 700 according to an exemplary embodiment. For example, vehicle 700 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. Vehicle 700 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0153] Reference Figure 7 Vehicle 700 may include various subsystems, such as an infotainment system 710, a perception system 720, a decision-making control system 730, a drive system 740, and a computing platform 750. Vehicle 700 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 700 may be interconnected via wired or wireless means.

[0154] In some embodiments, the infotainment system 710 may include a communication system, an entertainment system, a navigation system, and the like.

[0155] Perception system 720 may include several sensors for sensing information about the environment surrounding vehicle 700. For example, perception system 720 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0156] The decision control system 730 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0157] The drive system 740 may include components that provide power to the vehicle 700. In one embodiment, the drive system 740 may include an engine, a power source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination thereof. The engine is capable of converting energy provided by the power source into mechanical energy.

[0158] Some or all functions of the vehicle 700 are controlled by a computing platform 750. The computing platform 750 may include at least one processor 751 and a memory 752. The processor 751 may execute instructions 753 stored in the memory 752.

[0159] The processor 751 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0160] The memory 752 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0161] In addition to instructions 753 , memory 752 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in memory 752 may be used by computing platform 750 .

[0162] In the embodiment of the present disclosure, the processor 751 may execute the instruction 753 to complete all or part of the steps of the above-mentioned vehicle distance detection method.

[0163] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the above-mentioned vehicle distance detection method when executed by the programmable device.

[0164] Furthermore, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or." That is, unless otherwise specified or clear from the context, "X applies to A or B" is intended to mean any of the natural inclusive permutations. That is, if X applies to A; X applies to B; or X applies to both A and B, then "X applies to A or B" satisfies any of the aforementioned instances. Furthermore, the articles "a" and "an," as used in this application and the appended claims, are generally understood to mean "one or more," unless otherwise specified or clear from the context to refer to the singular form.

[0165] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. With particular regard to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. In addition, although particular features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and advantageous for any given or particular application. Furthermore, to the extent that the terms "include," "have," "have," "have," or variations thereof are used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "comprising."

[0166] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

[0167] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0168] It should be understood that, unless otherwise specifically noted, the features of the various embodiments of the present disclosure described herein may be combined with each other. As used herein, the term "and / or" includes any one of the relevant listed items and any combination of any two or more thereof; similarly, "at least one of" includes any one of the relevant listed items and any combination of any two or more thereof.

[0169] Although terms such as "first", "second" and "third" may be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, part, region, layer or section from another component, part, region, layer or section. Therefore, without departing from the teachings of each example, the first component, part, region, layer or section mentioned in the examples described herein may also be referred to as the second component, part, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" can explicitly or implicitly include at least one such feature. In the description herein, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0170] It should be understood that spatially relative terms, such as "above," "upper," "below," and "lower," are used herein to describe the relationship of one element to another element shown in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, an element described as being "above" or "upper" relative to another element would then be "below" or "lower" relative to the other element. Thus, the term "above" encompasses both above and below orientations, depending on the spatial orientation of the device. The device may be oriented in other ways (e.g., rotated 90 degrees or in other orientations), and the spatially relative terms used herein should be interpreted accordingly.

Claims

1. A vehicle distance detection method, characterized in that: include: Acquire a first Bluetooth broadcast signal received by a first Bluetooth chip of a first vehicle, where the first Bluetooth broadcast signal is a Bluetooth broadcast signal transmitted by a second vehicle; determining, according to the first Bluetooth broadcast signal, a received signal strength and target information that affects the received signal strength; The distance between the first vehicle and the second vehicle is determined according to the received signal strength and the target information.

2. The vehicle distance detection method according to claim 1, characterized in that: The determining, based on the received signal strength and the target information, the distance between the first vehicle and the second vehicle includes: determining a first signal strength loss value according to the received signal strength and the target information; The distance between the first vehicle and the second vehicle is determined according to the first signal strength loss value and a preset relationship, where the preset relationship is used to characterize the relationship between the first signal strength loss value and the distance.

3. The vehicle distance detection method according to claim 2, characterized in that: The target information includes the transmission power of the first Bluetooth broadcast signal, and determining the signal strength loss value according to the received signal strength and the target information includes: A difference between the transmit power and the received signal strength is determined as the first signal strength loss value.

4. The vehicle distance detection method according to claim 2, characterized in that: The target information includes the transmission power of the first Bluetooth broadcast signal and the vehicle information of the second vehicle, and determining the first signal strength loss value according to the received signal strength and the target information includes: determining a second signal strength loss value based on the vehicle information of the second vehicle; Determine the sum of the received signal strength and the second signal strength loss value as a target signal strength; A difference between the transmit power and the target signal strength is determined as the first signal strength loss value.

5. The vehicle distance detection method according to claim 2, characterized in that: The preset relationship includes a preset path loss index, which is used to characterize the rate at which the received signal strength decays with distance. The vehicle distance detection method further includes: determining, according to the first Bluetooth broadcast signal, first information that affects the preset path loss index; updating the preset path loss index according to the first information to obtain a new preset relationship; The determining the distance between the first vehicle and the second vehicle according to the first signal strength loss value and a preset relationship includes: The distance between the first vehicle and the second vehicle is determined according to the first signal strength loss value and the new preset relationship.

6. The vehicle distance detection method according to claim 1, characterized in that: The second vehicle is located in front of the first vehicle, and the vehicle distance detection method further includes: obtaining a travel speed of the first vehicle; determining a safe distance between the first vehicle and the second vehicle based on a traveling speed of the first vehicle; If the distance is less than the safety distance, the first vehicle is controlled to brake and / or a warning message is output, where the warning message is used to indicate that there is a risk of collision with the first vehicle.

7. The vehicle distance detection method according to claim 1, characterized in that: Determining, according to the first Bluetooth broadcast signal, target information that has an impact on the received signal strength, including: Content analysis is performed on the first Bluetooth broadcast signal to obtain the target information.

8. The vehicle distance detection method according to any one of claims 1 to 7, characterized in that: The vehicle distance detection method further includes: The second Bluetooth chip of the first vehicle is controlled to transmit a second Bluetooth broadcast signal, so that a third vehicle determines the distance between the third vehicle and the first vehicle according to the second Bluetooth broadcast signal, and the third vehicle is the vehicle that receives the second Bluetooth broadcast signal.

9. The vehicle distance detection method according to claim 8, characterized in that: The controlling the second Bluetooth chip of the first vehicle to transmit a second Bluetooth broadcast signal includes: Determining second information that affects the received signal strength of the second Bluetooth broadcast signal; The second Bluetooth chip is controlled to generate the second Bluetooth broadcast signal according to the second information.

10. The vehicle distance detection method according to claim 8, characterized in that: The first Bluetooth chip is arranged at the front end of the first vehicle, and the second Bluetooth chip is arranged at the rear end of the first vehicle. Both the first Bluetooth chip and the second Bluetooth chip are low-power Bluetooth chips.

11. A vehicle distance detection device, characterized in that: include: An acquisition module is configured to acquire a first Bluetooth broadcast signal received by a first Bluetooth chip of the first vehicle, where the first Bluetooth broadcast signal is a Bluetooth broadcast signal transmitted by the second vehicle; The detection module is configured to: determine the received signal strength and target information that affects the received signal strength based on the first Bluetooth broadcast signal; and determine the distance between the first vehicle and the second vehicle based on the received signal strength and the target information.

12. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the executable instructions to implement the vehicle distance detection method according to any one of claims 1 to 10.

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

14. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the vehicle distance detection method according to any one of claims 1 to 10.

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