Vehicle starting control method, computer program product and electronic equipment

Abstract

The invention provides a vehicle starting control method, a computer program product and electronic equipment, according to the vehicle starting control method provided by the invention, after an auxiliary driving function used for vehicle motion control of a vehicle is activated, object related information of a target object in front of the vehicle is acquired; when the vehicle is in the parking state, when the vehicle starting condition of the vehicle is recognized to be met according to the object related information of the target object, the vehicle is controlled to start driving; wherein the vehicle starting condition can include that the collision risks between the vehicle and the multiple target objects closest to the vehicle all belong to low risks.

Description

Technical Field

[0001] This application relates to the field of vehicle auxiliary control technology, and in particular to a vehicle start-up control method, computer program product, and electronic device. Background Technology

[0002] With the continuous development of technology, automobiles are gradually being equipped with driver assistance functions that help control vehicle movement. By combining information about obstacles around the vehicle with information about the vehicle's own operation, intelligent assisted control of the vehicle's operation can be achieved, thereby improving driving convenience and safety. However, limited by the current level of object detection technology, the obstacle information upon which driver assistance functions rely still has shortcomings in terms of accuracy and reliability. This shortcoming may affect the rationality of vehicle initiation and control decisions, and even bring the risk of vehicle collisions. Summary of the Invention

[0003] Based on this, this application provides a vehicle start control method, a computer program product, and an electronic device. By using this vehicle start control method, the safety and reliability of the vehicle start-up and driving control function can be improved, and traffic accidents caused by accidental vehicle start-up can be effectively reduced.

[0004] On one hand, this application provides a vehicle start-up control method, the method comprising: After the vehicle's driver assistance function for vehicle motion control is activated, obtain object-related information about the target object in front of the vehicle. While the vehicle is stationary, when the vehicle's starting conditions are determined to be met based on the object-related information of the target objects, the vehicle is controlled to start moving; wherein, the vehicle starting conditions include: the collision risk between the vehicle and the multiple target objects closest to the vehicle is low.

[0005] On the other hand, this application also provides a computer program product comprising a computer program that, when executed, implements the steps of the above-described vehicle start-up control method.

[0006] On the other hand, this application also provides an electronic device, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and execute the steps of the above-described vehicle start control method.

[0007] According to the vehicle start control method provided in this application, after the assisted driving function for vehicle motion control is activated, object-related information of a target object in front of the vehicle can be obtained; while the vehicle is in a parked state, when the vehicle start condition is identified based on the object-related information of the target object, the vehicle is controlled to start driving; wherein, the vehicle start condition may include: the collision risk between the vehicle and multiple target objects closest to the vehicle is low, which is conducive to improving the safety and reliability of the assisted driving function when controlling the vehicle to start driving, and reducing traffic accidents caused by accidental vehicle start.

[0008] It should be understood that the description in the Summary Section is not intended to limit the key or essential features of the embodiments of this application, nor is it intended to restrict the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0009] Figure 1 A schematic flowchart illustrating a vehicle start-up control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of a vehicle traffic scenario provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. The order of some steps in the methods provided in one or more embodiments of this application can be interchanged according to actual needs, or some steps can be omitted or deleted, without specific limitations.

[0011] In the description of one or more embodiments of this application, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects and are not used to limit their quantity. Other explicit and implicit definitions may also be included below.

[0012] The term "at least one" should be understood to include one or more situations. For example, "at least one of A and B" can include "A alone," "B alone," and "A and B." Similarly, "at least one of A, B, and C" can include "A alone," "B alone," "C alone," "A and B," "A and C," "C and B," and "A, B, and C." Other explicit and implicit definitions may also be included below, but are not specifically limited thereto.

[0013] In the description of one or more embodiments of this application, the term "and / or" should be understood to include one or more situations. For example, "A and / or B" may include "A alone", "B alone", and "A and B". As another example, "A and / or B and / or C" may include "A alone", "B alone", "C alone", "A and B", "A and C", "C and B", and "A, B and C".

[0014] Currently, driver assistance systems (ADAS) in parked cars can automatically decide whether to start the vehicle by combining information about obstacles around it, thereby improving driving convenience and safety. However, due to the limited accuracy of target detection technology, the obstacle information acquired by ADAS may deviate from the actual situation around the vehicle. For example, it may misidentify a pedestrian or non-motorized vehicle crossing the vehicle's lane as a motor vehicle moving in the direction the vehicle is facing; or, due to a large error in the detected distance between the vehicle and the obstacle, it may incorrectly assume that the obstacle is far in front of the vehicle. When ADAS makes vehicle start control decisions based on this inaccurate and unreliable obstacle information, it is prone to erroneously triggering the vehicle to start, thus increasing the probability of traffic accidents.

[0015] Based on this, this application proposes a vehicle start-up control method. This method, after the vehicle's assisted driving function for vehicle motion control is activated, acquires object-related information about a target object in front of the vehicle. While the vehicle is stationary, when the vehicle's start-up conditions are determined to be met based on the object-related information of the target object, the method controls the vehicle to start moving. The vehicle start-up conditions may include: the collision risk between the vehicle and multiple target objects closest to the vehicle is low, which helps improve the safety and reliability of the assisted driving function when controlling the vehicle to start moving, and reduces traffic accidents caused by accidental vehicle start-up.

[0016] Please see Figure 1This is a schematic flowchart illustrating a vehicle start-up control method provided in an embodiment of this application. The executing entity of this process can be a program mounted on a radar device, an image acquisition device, a vehicle controller, or a vehicle. Alternatively, the executing entity of this process can also be a radar device, an image acquisition device, a vehicle controller, or a vehicle, or other devices capable of communicating with the radar device, image acquisition device, vehicle controller, or vehicle; no specific limitation is made in this regard.

[0017] The following is about Figure 1 The process shown will be described in detail. The vehicle start-up control method may specifically include the following steps: Step S102: After the assisted driving function for vehicle motion control of this vehicle is activated, obtain object-related information of the target object in front of this vehicle.

[0018] In this embodiment, the vehicle may be equipped with an assisted driving function for vehicle motion control. Specifically, this assisted driving function can be used to control the vehicle to start moving when it is stationary, thereby safely transitioning from a stationary state to a moving state. In addition, the assisted driving function can also be used to adjust the vehicle's speed while it is in motion, and / or to control the vehicle to stop, thereby transitioning from a moving state to a stationary state. No specific limitations are imposed in this regard.

[0019] In some feasible implementations, the driver assistance function may include at least one of Adaptive Cruise Control (ACC) and Traffic Jam Assist (TJA). For example, the driver assistance function may be a Stop-To-Go function integrated into the adaptive cruise control, which can monitor the movement of the vehicle in front of the vehicle in real time. When the vehicle in front of the vehicle detects that the vehicle in front of the vehicle has stopped moving, the Stop-To-Go function can control the vehicle to decelerate smoothly until it stops, and automatically control the vehicle to start moving when the road ahead is clear. Of course, other types of driver assistance functions that can control the vehicle to start and move may also be included, without specific limitations.

[0020] In this embodiment of the application, during the operation of the assisted driving function, it can acquire object-related information of a target object in front of the vehicle, and combine this object-related information to determine whether the vehicle should be started or kept stationary. The object-related information can be of various types, such as the target object's location information, motion parameters, probability of existence, and object type, etc., without specific limitations.

[0021] In some feasible implementations, obtaining object-related information of a target object in front of the vehicle may include: obtaining object-related information of a target object located in the lane in front of the vehicle.

[0022] In this embodiment, the assisted driving function can control the vehicle to maintain its lane during the start-up and driving process. In this situation, a target object located in the lane in front of the vehicle will directly affect the safety of the vehicle's start-up and driving process. Therefore, it is possible to obtain and combine the object-related information of the target object in the lane in front of the vehicle to determine whether the vehicle can be started and driven at this time.

[0023] It is understandable that a target object in an adjacent lane might change lanes and enter the vehicle's lane. Alternatively, if the driver assistance function can control the vehicle's lane change during the start-up process, a target object in another lane might also affect the safety of the start-up process. Therefore, the target objects associated with the object information obtained in step S102 can also include target objects in lanes other than the vehicle's lane, offering good flexibility, and no specific limitations are imposed.

[0024] Step S104: While the vehicle is in a parked state, when the vehicle's starting conditions are identified based on the object-related information of the target objects, the vehicle is controlled to start moving; wherein, the vehicle starting conditions may include: the collision risk between the vehicle and the multiple target objects closest to the vehicle is low.

[0025] In this embodiment, the vehicle start-up condition refers to the conditions that the assisted driving function must meet before the vehicle switches from a parked state to a driving state. Its core objective is to reduce the safety risks faced during vehicle start-up and driving. In this case, the vehicle start-up condition may include: the collision risk between the vehicle and multiple target objects closest to the vehicle in front of it is low. Specifically, a low collision risk between the vehicle and a single target object indicates that the probability of a collision between the vehicle and that target object is low during the vehicle's start-up and driving process; that is, the target object poses little interference to the safe and stable driving of the vehicle after start-up, making it more likely that the vehicle can safely and stably start. Since subsequent embodiments will explain the meaning of a low collision risk between the vehicle and a single target object in detail, it will not be repeated here.

[0026] The number of target objects involved in the above vehicle starting conditions can be set according to actual needs; for example, the number can be several, and there is no specific limitation. It is understood that when the number of target objects involved in the above vehicle starting conditions is two, the vehicle starting condition is generally considered to be met only when the collision risk between the vehicle and the closest target object in its lane ahead, as well as the second closest target object, is low. Similarly, when the number of target objects involved in the above vehicle starting conditions is three, the vehicle starting condition is generally considered to be met only when the collision risk between the vehicle and the closest target object in its lane ahead, as well as the second closest target object, and the third closest target object, is low. This will not be elaborated further. In this case, it can effectively avoid traffic accidents caused by incorrectly controlling the vehicle to start when pedestrians, non-motorized vehicles, or other traffic participants are crossing between the vehicle and the vehicle in front of it in its lane ahead, and when the object information detected for these traffic participants is inaccurate, leading to traffic accidents.

[0027] Figure 1 The method described herein allows for the acquisition of object-related information about target objects in front of the vehicle after the vehicle's driver assistance function for vehicle motion control is activated. While the vehicle is stationary, when the vehicle's starting conditions are determined to be met based on the object-related information of the target objects, the vehicle is controlled to start moving. These starting conditions may include: the collision risk between the vehicle and multiple target objects closest to it being low-risk. This reduces the possibility of accidental vehicle start-up due to deviations in the acquired object-related information of individual target objects, thereby improving the safety and reliability of driver assistance function control during vehicle start-up and reducing traffic accidents caused by accidental vehicle start-up.

[0028] In some feasible implementations, the object-related information of the target object may include at least one of the following: the target object's speed data and the distance data between the target object and the vehicle.

[0029] Correspondingly, the low-risk collision risk between this vehicle and a single target object among the plurality of target objects closest to this vehicle includes at least one of the following: the distance data between the single target object and this vehicle is greater than a specific distance threshold, and the single target object is moving away from this vehicle and its speed data is greater than a specific speed threshold.

[0030] In this embodiment, if the target object in front of the vehicle is moving closer to the vehicle, the risk of collision between the two objects will usually increase once the vehicle starts moving, thus failing to meet the vehicle's starting conditions. Conversely, if the target object in front of the vehicle is moving away from the vehicle, and the target object's speed is low, the distance between the two objects may gradually decrease due to the vehicle's higher starting speed, potentially leading to a collision.

[0031] In this scenario, for a single target object among multiple target objects located in the same lane and closest to the vehicle, the collision risk between that target object and the vehicle can be considered low if the target object is moving away from the vehicle relative to it and its speed exceeds a specific speed threshold. The speed data of the target object can include: longitudinal speed relative to the vehicle, or vector speed data consisting of longitudinal and lateral speeds; there is no specific limitation on this. The specific speed threshold can be set according to actual needs, for example, several meters per second; the specific speed threshold required for different target objects can be the same or different, and there is no specific limitation on this either.

[0032] In this embodiment, when the distance between the vehicle and the target object ahead is large, the vehicle has sufficient safe driving space for a short period after starting to drive, which is beneficial for dealing with emergencies and reducing the risk of starting the vehicle. Conversely, when the distance between the vehicle and the target object ahead is small, the vehicle has a shorter reaction time to various emergencies, which can easily affect the safety of starting the vehicle.

[0033] In this scenario, for a single target object among multiple target objects located in the same lane and closest to the vehicle, the collision risk between that target object and the vehicle can be considered low if the distance between the single target object and the vehicle is greater than a specific distance threshold. The distance data between the target object and the vehicle can include: longitudinal or straight-line distance data between the two at specific locations, such as the longitudinal or straight-line distance between the vehicle's rear axle centerline, center of gravity, or front bumper center point and the center point of the nearest boundary line in the target object's area. There are no specific limitations on this. The aforementioned specific speed threshold can be set according to actual needs, for example, from several meters to tens of meters; there are also no specific limitations on this.

[0034] It is understandable that when multiple target objects in front of the vehicle, located in the same lane and closest to the vehicle, only need to meet one of the above two conditions to determine that the vehicle starting condition is met, the condition met by different target objects may be the same or different. Figure 2 This is a schematic diagram of a vehicle traffic scenario provided in an embodiment of this application. For ease of understanding, it is illustrated herein in conjunction with... Figure 2 The content provides examples illustrating the conditions under which the vehicle's starting conditions are met. For example... Figure 2 As shown, assuming vehicle 201 is located in lane 205 and is in a parked state. When the distance between vehicle 201 and the nearest target object 202 in lane 205 is greater than a specific distance threshold, and when the second closest target object 203 in lane 205 is moving away from vehicle and its speed is greater than a specific speed threshold, it can be determined that the vehicle's starting condition is met. Alternatively, when the distances between vehicle 201 and both the nearest and second closest target objects 202 and 203 in lane 205 are greater than their respective specific distance thresholds, it can also be determined that the vehicle's starting condition is met; this method offers greater flexibility and will not be elaborated further.

[0035] In some feasible implementations, the specific distance threshold corresponding to the individual target object may be positively correlated with the order of the individual target object in the target object sequence.

[0036] The target object sequence can be a sequence obtained by sorting the multiple target objects closest to the vehicle in ascending order of their distance data from the vehicle.

[0037] In this embodiment, the distances between different target objects in front of the vehicle and the vehicle may vary. For example, the distance between the closest target object in front of the vehicle and the vehicle may be less than the distance between the second closest target object in front of the vehicle and the vehicle. In this case, when the vehicle starting conditions are met, the specific distance thresholds required between different target objects and the vehicle may differ. For example, the target object sequence obtained by sorting multiple target objects in front of the vehicle that are located in the lane of the vehicle and closest to the vehicle in ascending order of distance data can be represented as: the target object closest to the vehicle, the second closest target object to the vehicle, ... the Nth closest target object to the vehicle, and the specific distance thresholds corresponding to each target object in this target object sequence can be 3 meters, 7 meters, ... tens of meters, respectively, without specific limitation.

[0038] By allowing for different distance thresholds for different target objects involved in vehicle start-up conditions, the system ensures that multiple high-risk target objects close to the vehicle maintain a sufficient safe distance before initiating movement. This avoids over-constraining the required distance between the vehicle and target objects in front, which could affect the timeliness of start-up control. Ultimately, this improves the safety and timeliness of the vehicle start-up control scheme, enhancing the user experience.

[0039] In some feasible implementations, the specific distance threshold may be determined based on at least one of user driving preference information, the existence probability information of the individual target object, the object type information of the individual target object, and the vehicle's body length information; and / or, The specific speed threshold may be determined based on at least one of the following: user driving preference information, the existence probability information of the single target object, the object type information of the single target object, and the vehicle body length information.

[0040] In this embodiment, user driving preference information can characterize the user's tolerance for collision risks during vehicle start-up and driving. In this case, if the user driving preference information reflects a preference for a safe and controllable vehicle start-up control scheme, the aforementioned specific distance threshold and / or the aforementioned specific speed threshold can be appropriately increased; conversely, if the user seeks a timely and efficient vehicle start-up control scheme, the aforementioned specific distance threshold and / or the aforementioned specific speed threshold can be appropriately decreased, which is beneficial to improving the user experience.

[0041] The existence probability information of a single target object reflects the probability that the target object is a real, existing object detected. Generally, the higher the existence probability information of a single target object, the lower the probability that the target object is a falsely detected target object. In this case, the specific distance threshold and / or the specific speed threshold can be appropriately reduced. Conversely, the lower the existence probability information of a single target object, the higher the probability that the target object is a falsely detected target object. In this case, the specific distance threshold and / or the specific speed threshold can be appropriately increased. This is beneficial for improving the safety and flexibility of the vehicle start-up control scheme.

[0042] The object type information of a single target object can reflect the type of real-world object it corresponds to, such as a pedestrian, bicycle, motor vehicle, truck, or building. When the object is small, the number of image pixels and radar point clouds that can be detected for that object will be relatively small, which can easily affect the accuracy and reliability of the object-related information detected for this type of object. In this case, based on actual needs and in conjunction with the object type information of the target object, specific distance thresholds and / or specific speed thresholds in the vehicle starting conditions can be set, which is beneficial to improving the safety and flexibility of the vehicle starting control scheme.

[0043] In practical applications, if the distance data between a single target object and the vehicle is used to characterize the distance between the center point of the target object's closest boundary line and the center point of the vehicle's rear axle, then using the same specific distance threshold when the vehicle's body length information is large or small will lead to a difference in the actual drivable space between the vehicle and the target object when the vehicle's starting conditions are met. In this case, a slightly larger specific distance threshold can be used when the vehicle's body length information is large, and a slightly smaller specific distance threshold can be used when the vehicle's body length information is small, which helps to balance the safety and timeliness of the vehicle starting control scheme. Based on a similar principle, the specific speed threshold involved in the vehicle starting conditions can also be determined by combining the vehicle's body length information to balance the safety and timeliness of the vehicle starting control scheme, which will not be elaborated further.

[0044] It is understandable that the aforementioned specific distance threshold and specific speed threshold can also be set in combination with other types of information and strategies, and no specific limitations are imposed on this.

[0045] In some feasible implementations, the vehicle start-up conditions may further include at least one of the following: the effective cumulative duration for which the distance data between the single target object and the vehicle is greater than the specific distance threshold reaches a first time threshold, and the effective cumulative duration for which the movement speed data of the single target object is greater than the specific speed threshold reaches a second time threshold.

[0046] In this embodiment, due to special factors (e.g., the existence of falsely detected target objects, limited detection accuracy), the vehicle starting conditions may be falsely met within a short period of time. In this case, anti-shake measures can be set to improve the safety and reliability of the vehicle starting control scheme. For example, if the distance data between a single target object and the vehicle is detected to be greater than a specific distance threshold at a certain moment, then for a period of time in the future, the effective cumulative duration of the distance data between the target object and the vehicle being greater than the specific distance threshold can be continuously monitored to see if it reaches a first time threshold. If so, it is allowed to determine that the vehicle starting conditions have been met; otherwise, it should not be determined that the vehicle starting conditions have been met. The first time threshold can be set according to actual needs, for example, from tens of milliseconds to several seconds, and is not specifically limited thereto.

[0047] Based on a similar principle, if the speed data of a single target object is detected to be greater than a specific speed threshold at a certain moment, then over a future period of time, the effective cumulative duration of the target object's speed data exceeding the specific speed threshold can be continuously monitored to see if it reaches a second time threshold. If so, it is permissible to determine that the vehicle's starting conditions have been met; otherwise, it should not be determined that the vehicle's starting conditions have been met, which also helps improve the safety of the vehicle starting control scheme. The second time threshold can be set according to actual needs, for example, from tens of milliseconds to several seconds, without specific limitation.

[0048] In practical applications, the effective accumulated time can be determined according to a preset time statistics strategy. For example, the preset time statistics strategy may include: increasing the effective accumulated time when the distance between a single target object and the vehicle is greater than a specific distance threshold; keeping the effective accumulated time unchanged when the distance between the target object and the vehicle is less than the specific distance threshold and the difference between the two is small; and setting the effective accumulated time to a small initial value when the distance between the target object and the vehicle is less than the specific distance threshold and the difference between the two is large. This initial value can be less than a first time threshold, offering good flexibility, and is not specifically limited in this regard.

[0049] Alternatively, the preset time statistics strategy may include: increasing the effective accumulated time when the motion speed data of a single target object is greater than a specific speed threshold; keeping the effective accumulated time unchanged when the motion speed data of the target object is less than a specific speed threshold and the difference between the two is small; and setting the effective accumulated time to a small initial value when the motion speed data of the target object is less than a specific speed threshold and the difference between the two is large. This initial value may be less than a second time threshold, and there is no specific limitation on this.

[0050] In some feasible implementations, obtaining object-related information of a target object in front of the vehicle may include: obtaining object-related information of a target object located in the lane in front of the vehicle.

[0051] The step of obtaining object-related information of a target object located in the lane in front of the vehicle may include: Based on the target tracking results, obtain object-related information of a first target object successfully tracked and located within the lane where the vehicle is currently positioned, located ahead of the vehicle; wherein, the target tracking results are used to indicate that the currently detected first target object and historical target objects belong to the same entity; the historical target objects include: target objects located ahead of the vehicle detected during the most recent change from a driving state to a stationary state. And / or, Based on the target tracking results, object-related information of a second target object located in the lane in front of the vehicle is obtained; wherein, the target tracking results are used to characterize that the currently detected second target object and the historical target object belong to different entities; the historical target object includes: the target object located in front of the vehicle detected during the most recent change of the vehicle from driving state to parking state.

[0052] In this embodiment, after the assisted driving function for vehicle motion control is activated, it can continuously detect target objects around the vehicle. By comparing the feature consistency between previously detected historical target objects and currently detected target objects, it can generate target tracking results to characterize whether the currently detected target object and historical target objects belong to the same entity. By combining the target tracking results and target detection results for vehicle motion control, the accuracy and reliability of vehicle motion control can be improved.

[0053] In this embodiment, if the vehicle is currently in a stopped state due to the assisted driving function controlling the vehicle to stop based on the movement of a target object in front of the vehicle, then the target object detected in front of the vehicle during the most recent change from a driving state to a stopped state can be obtained as a historical target object. Furthermore, while the vehicle is stopped, target detection and tracking processing can be continuously performed on the area surrounding the vehicle to obtain target detection results characterizing the target objects currently present in the area surrounding the vehicle, and target tracking results reflecting whether the target objects currently present in the area surrounding the vehicle and historical target objects belong to the same entity. Based on the above target tracking and target detection results, object-related information of the first successfully tracked target object located in the lane in front of the vehicle and the newly added second target object can be obtained. This allows the assisted driving function to accurately and safely control the vehicle's start-up by combining the object-related information of the first and second target objects.

[0054] For ease of understanding, this is combined with Figure 2 The content within provides examples to illustrate the first and second target objects. For example... Figure 2 As shown, assuming that during the process of the assisted driving function controlling vehicle 201 to follow target object 203, vehicle 201 stops moving and thus completes its parking. Then, target object 203 can be considered a historical target object detected in front of the vehicle during the most recent change from a driving state to a parked state. If target object 203 is successfully detected and tracked while vehicle 201 is parked, it can be considered a first target object. If target object 202 is a target object (e.g., a pedestrian or non-motorized vehicle) that crosses lane 205 while vehicle 201 is parked, it can be considered a second target object. Target object 204 located in the adjacent lane 206 of vehicle 201's lane may not be considered a first or second target object.

[0055] The vehicle start control method provided in this application, while the vehicle is in a parked state, identifies that among the first target object successfully tracked and the newly added second target object located in the lane in front of the vehicle, the collision risk between the vehicle and the multiple target objects closest to the vehicle (e.g., target object 202, target object 203) is low. Only then does the vehicle start driving. This can reduce the problem of accidental vehicle start caused by the deviation between the object-related information of a single target object and the actual situation. For example, when a target object 202 crossing its lane in front of the vehicle is mistakenly identified as a target object moving in the direction the vehicle is facing, or when the distance between the target object 202 and the vehicle is greater than the actual distance, or when the speed of the target object 202 is greater than the actual speed, the vehicle will not be started. This is beneficial to improving the reliability and safety of the vehicle start control method.

[0056] In some feasible implementations, the target object may include at least one of radar targets, visual targets, and fused targets.

[0057] The radar target can be a target obtained by processing the environmental perception data of the vehicle's surroundings collected by the radar equipment.

[0058] The visual target can be obtained by processing image data of the vehicle's surrounding environment acquired by an image acquisition device.

[0059] The fusion target may include: a target obtained by processing the vehicle's surrounding environment perception data collected by radar equipment and the vehicle's surrounding environment image data collected by image acquisition equipment.

[0060] In this embodiment, image target detection technology, radar target detection technology, and / or target fusion technology can be used to process the image data of the vehicle's surrounding environment collected by the image acquisition device and / or the perceived data of the vehicle's surrounding environment collected by the radar device, so as to obtain the target objects existing in front of the vehicle and located in the lane where the vehicle is located. These target objects can then be used to determine whether the vehicle can start moving, which is flexible and convenient. No specific limitations are made in this regard.

[0061] In some feasible implementations, controlling the vehicle to start and drive when the vehicle starting conditions are met based on object-related information of the target object may include: When the vehicle's starting conditions are met based on the object-related information of the target object, the target object located in front of the vehicle, within the vehicle's lane, and closest to the vehicle, is selected as the following target for the assisted driving function.

[0062] Based on the target-related information of the vehicle being followed, the driver assistance function is activated to control the vehicle to start and drive.

[0063] In this embodiment, the assisted driving function may include: the ability to select a following target from among target objects existing in front of the vehicle, and to control the vehicle's driving based on the following target's movement, thereby ensuring that the vehicle maintains a safe distance from the following target. In this case, if it is identified that the collision risk between the vehicle and multiple target objects in front of the vehicle that are located in the vehicle's lane and closest to the vehicle is low, and it is determined that the vehicle's starting conditions are met, the target object in front of the vehicle that is located in the vehicle's lane and closest to the vehicle can be selected as the following target. This not only effectively controls the collision risk during the vehicle's driving process, but also improves the convenience of driving operation and the stability of the driving process by controlling the vehicle to automatically follow other vehicles.

[0064] In some feasible implementations, when the vehicle's starting conditions are determined to be met based on the object-related information of the target object, selecting the target object located in the lane where the vehicle is located and closest to the vehicle as the following target for the assisted driving function may include: If the assisted driving function controls the vehicle to stop based on historical following targets, resulting in the vehicle being currently stationary, then when the vehicle's starting conditions are determined to be met based on the object-related information of the target object, the following target of the assisted driving function can be updated using the target object located in front of the vehicle, within the vehicle's lane, and closest to the vehicle. Alternatively, If the vehicle is currently parked and the assisted driving function does not have a following target, then when the vehicle's starting conditions are met based on the object-related information of the target object, the target object located in the lane in front of the vehicle and closest to the vehicle can be selected as the following target of the assisted driving function.

[0065] In the embodiments of this application, Figure 1 The vehicle start control scheme in its embodiments can be applied in various scenarios. For example, when the vehicle is successfully started and the assisted driving function is activated, or when the driver manually controls the vehicle to stop and activates the assisted driving function, the vehicle may currently be in a parked state, and the assisted driving function may not currently have a following target. In this case, by running the assisted driving function, when it is determined that the vehicle start conditions are met, the target object located in the lane in front of the vehicle and closest to the vehicle can be selected as the following target of the assisted driving function, so as to control the vehicle to start and follow the following target.

[0066] If the driver assistance function has the ability to control the vehicle to stop and start following its target vehicle, then Figure 1 The vehicle start control scheme in its embodiments is also applicable to scenarios where the assisted driving function follows its historical following target to control the vehicle to a stop. In this case, to improve the operational reliability and safety of the assisted driving function, when the assisted driving function recognizes that the vehicle start conditions are met, it can also use the target object in front of the vehicle that is located in the lane where the vehicle is located and is closest to the vehicle as the current following target of the assisted driving function, thereby updating the following target of the assisted driving function. This helps to ensure the safe, accurate, and reliable operation of the assisted driving function.

[0067] It is understandable that after the vehicle stops following its historical target, other target objects may be inserted between them, such as pedestrians, non-motorized vehicles, and motorized vehicles. The current driver assistance function needs to control the vehicle to follow the nearest target object in the same lane. Therefore, after the vehicle start conditions are met, the selected target object and the aforementioned historical target object can be the same target object or different target objects, without specific limitations.

[0068] This application also provides a computer program product, which may include a computer program. When the computer program is executed, it can implement the steps of the vehicle start control method provided in at least some of the above embodiments. For the specific execution process, please refer to the specific description in the above embodiments, which will not be repeated here.

[0069] This application also provides Figure 3 The diagram shows the structure of the electronic device. Figure 3 As shown, at the hardware level, the electronic device may include a processor 31 and a memory 35, and may also include an internal bus 32, a network interface 33, a memory 34, and other hardware required for the service. The processor 31 can read the corresponding computer program from the memory 35 into the memory and then run it to implement the vehicle start control method described above. The specific execution process can be found in the detailed description in the above embodiments, and will not be repeated here.

[0070] In some feasible implementations, the electronic device may include at least one of radar equipment, image acquisition equipment, and domain controller, without specific limitation.

[0071] In some feasible implementations, the above-mentioned electronic device may also include other mechanical structures, electronic devices or electronic systems, and there are no specific limitations on this.

[0072] Finally, the various embodiments in this application are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for embodiments such as computer program products and electronic devices, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0073] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle starting control method, comprising: After the vehicle's driver assistance function for vehicle motion control is activated, obtain object-related information about the target object in front of the vehicle. While the vehicle is stationary, when the vehicle's starting conditions are determined to be met based on the object-related information of the target objects, the vehicle is controlled to start moving; wherein, the vehicle starting conditions include: the collision risk between the vehicle and the multiple target objects closest to the vehicle is low.

2. The method according to claim 1, wherein the object-related information of the target object includes: At least one of the target object's speed data and the distance data between the target object and the vehicle; The risk of collision between this vehicle and a single target object among the plurality of target objects closest to this vehicle is considered low if: the distance between the single target object and this vehicle is greater than a specific distance threshold; or the single target object is moving away from this vehicle relative to its speed and its speed is greater than a specific speed threshold.

3. The method according to claim 2, wherein the vehicle starting conditions further include: At least one of the following conditions must be met: the effective cumulative duration of the distance data between the single target object and the vehicle being greater than the specific distance threshold reaches a first time threshold, and the effective cumulative duration of the movement speed data of the single target object being greater than the specific speed threshold reaches a second time threshold.

4. The method according to claim 2 or 3, wherein the specific distance threshold corresponding to the single target object is positively correlated with the ranking of the single target object in the target object sequence; in, The target object sequence is a sequence obtained by sorting the multiple target objects closest to the vehicle in ascending order of their distance data from the vehicle.

5. The method according to claim 2 or 3, wherein the specific distance threshold is determined based on at least one of user driving preference information, the existence probability information of the single target object, the object type information of the single target object, and the vehicle body length information; and / or, The specific speed threshold is determined based on at least one of the following: user driving preference information, the existence probability information of the single target object, the object type information of the single target object, and the vehicle body length information.

6. The method according to claim 1, wherein obtaining object-related information of the target object in front of the vehicle includes: Obtain object-related information about a target object located in front of this vehicle within the lane where this vehicle is located.

7. The method according to claim 6, wherein obtaining object-related information of a target object located in the lane in front of the vehicle includes: Based on the target tracking results, obtain object-related information of a first target object successfully tracked and located within the lane of the vehicle ahead of it; wherein, the target tracking results are used to indicate that the currently detected first target object and historical target objects belong to the same entity; the historical target objects include: target objects located ahead of the vehicle detected during the most recent change from a driving state to a stationary state; and / or, Based on the target tracking results, object-related information of a second target object located in the lane in front of the vehicle is obtained; wherein, the target tracking results are used to characterize that the currently detected second target object and the historical target object belong to different entities; the historical target object includes: the target object located in front of the vehicle detected during the most recent change of the vehicle from driving state to parking state.

8. The method according to claim 6 or 7, wherein the target object comprises: At least one of radar targets, visual targets, and fused targets; The radar target is obtained by processing the environmental perception data of the vehicle's surroundings collected by the radar equipment. The visual target is obtained by processing the image data of the vehicle's surrounding environment acquired by the image acquisition device. The fusion target includes: a target obtained by processing the vehicle's surrounding environment perception data collected by radar equipment and the vehicle's surrounding environment image data collected by image acquisition equipment.

9. The method according to claim 1, wherein controlling the vehicle to start and drive when the vehicle starting conditions are met based on the object-related information of the target object, comprises: When the vehicle's starting conditions are met based on the object-related information of the target object, the target object located in front of the vehicle, within the vehicle's lane, and closest to the vehicle, is selected as the following target for the assisted driving function. Based on the target-related information of the vehicle being followed, the driver assistance function is activated to control the vehicle to start and drive.

10. The method according to claim 9, wherein when the vehicle starting conditions of the vehicle are met based on the object-related information of the target object, the target object located in the lane where the vehicle is located and closest to the vehicle is selected as the following target of the assisted driving function, includes: If the assisted driving function controls the vehicle to stop based on the historical following target, so that the vehicle is currently in a stopped state, then when the vehicle's starting conditions are identified based on the object-related information of the target object, the following target of the assisted driving function is updated using the target object in front of the vehicle that is located in the lane where the vehicle is located and is closest to the vehicle. or, If the vehicle is currently parked and the assisted driving function does not have a following target, then when the vehicle's starting conditions are met based on the object-related information of the target object, the target object located in the lane in front of the vehicle and closest to the vehicle is selected as the following target of the assisted driving function.

11. The method according to claim 9 or 10, wherein the driver assistance function includes: At least one of adaptive cruise control and traffic jam assist.

12. A computer program product comprising a computer program that, when executed, performs the steps of the method according to any one of claims 1 to 11.

13. An electronic device, comprising: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method as claimed in any one of claims 1 to 11.

14. The electronic device of claim 13, wherein the electronic device comprises: At least one of radar equipment, image acquisition equipment, and domain controller.

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