Vehicle control method, vehicle, electronic device, and storage medium

Abstract

A vehicle control method, a vehicle, an electronic device, and a storage medium. The method comprises: in response to detecting that there is a curve ahead of a vehicle in an assisted driving or autonomous driving state, or in response to an autonomous parking request, acquiring an exposure rate of vulnerable road users, wherein the exposure rate of vulnerable road users is used for characterizing the frequency of occurrence of vulnerable road users when the vehicle passes through the curve in a historical time period or autonomously cruises to a parking location that is determined on the basis of the autonomous parking request; on the basis of the exposure rate of vulnerable road users, determining the maximum travelling speed of the vehicle; and adjusting the current travelling speed of the vehicle to be not higher than the maximum travelling speed.

Description

Vehicle control methods, vehicles, electronic devices and storage media Cross-references to related applications This application, filed with the Chinese Patent Office on June 17, 2024, application number 2024107785478, entitled "Vehicle", is titled "Vehicle". The entire contents of the Chinese Patent Application No. 2024107785459, filed on June 17, 2024, entitled “Automatic Parking Method, Vehicle, Electronic Device and Storage Medium”, are incorporated herein by reference. Technical Field

[0001] This application relates to, but is not limited to, the field of vehicle technology, and in particular to a vehicle control method, a vehicle, electronic equipment, and a storage medium. Background Technology

[0002] With the rapid development of automotive, communication, and computer technologies, intelligent driving vehicles are no longer out of reach; they have entered people's lives. However, the safety of intelligent driving vehicles has long been a concern, making active safety technologies for intelligent vehicles a hot research topic. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0004] This application provides a vehicle control method, a vehicle, an electronic device, and a storage medium.

[0005] This application provides a vehicle control method, including: in response to detecting a curve ahead of a vehicle in assisted driving or autonomous driving mode, or in response to an automatic parking request, acquiring a vulnerable road user exposure rate; wherein the vulnerable road user exposure rate is used to characterize the frequency of vulnerable road users appearing when the vehicle passes the curve or automatically cruises to a parking position determined based on the automatic parking request within a historical time period; determining the maximum driving speed of the vehicle based on the vulnerable road user exposure rate; and adjusting the current driving speed of the vehicle to be no higher than the maximum driving speed.

[0006] The embodiments of the present application have at least the following advantages: after determining that the front of the vehicle has a curve, the exposure rate of vulnerable road users matching the curve is obtained, and then the maximum driving speed of the vehicle is determined according to the exposure rate of vulnerable road users. Since the exposure rate of vulnerable road users represents the frequency of the appearance of vulnerable road users when the vehicle passes through the curve in the historical period, the maximum driving speed determined according to the exposure rate of vulnerable road users meets the driving safety requirement, improves the accuracy of evaluating the maximum driving speed of the vehicle when passing through the curve, and ensures that the vehicle can brake in time when the vulnerable road users appear in front of the driving path when the vehicle passes through the curve at the maximum driving speed, thereby ensuring driving safety and improving the driving experience of the user.

[0007] The embodiments of the present application have at least the following advantages: after determining the parking position of the vehicle, the exposure rate of vulnerable road users matching the parking position is obtained, and then the maximum driving speed of the vehicle is determined according to the exposure rate of vulnerable road users. Since the exposure rate of vulnerable road users represents the frequency of the appearance of vulnerable road users when the vehicle automatically cruises to the parking position in the historical period, the maximum driving speed determined according to the exposure rate of vulnerable road users meets the driving safety requirement, improves the accuracy of evaluating the maximum driving speed of the vehicle when automatically parking, and ensures that the vehicle can brake in time when the vulnerable road users appear in front of the driving path when the vehicle automatically cruises to the parking position at the maximum driving speed, thereby ensuring driving safety and improving the driving experience of the user.

[0008] In some possible implementation ways, before the exposure rate of vulnerable road users is obtained, the method further includes: determining the total number of times of the appearance of vulnerable road users when the vehicle passes through the curve in the historical period, or the total number of times of the appearance of vulnerable road users when the vehicle automatically cruises to the parking position in the historical period.

[0009] In some possible implementation ways, the exposure rate of vulnerable road users is obtained by: determining the exposure rate of vulnerable road users according to the total number of times of the appearance of vulnerable road users when the vehicle passes through the curve in the historical period, or the total number of times of the appearance of vulnerable road users when the vehicle automatically cruises to the parking position in the historical period.

[0010] In some possible implementation manners, the determining the maximum driving speed of the vehicle according to the vulnerable road user exposure rate comprises: detecting whether the total number of times of appearing the vulnerable road user is greater than or equal to 1 and less than or equal to a first preset number of times; when it is detected that the total number of times of appearing the vulnerable road user is 0, determining the maximum driving speed as a first preset speed; when it is detected that the total number of times of appearing the vulnerable road user is greater than or equal to 1 and less than or equal to the first preset number of times, determining the maximum driving speed as a second preset speed; wherein the second preset speed is less than the first preset speed; when it is detected that the total number of times of appearing the vulnerable road user is greater than the first preset number of times, determining the maximum driving speed as a third preset speed; wherein the third preset speed is less than the second preset speed.

[0011] In some possible implementation manners, the vulnerable road user exposure rate is used to represent a frequency of appearing the vulnerable road user when the vehicle passes the curve in a historical time period, and the first preset speed is determined according to the following manner: obtaining an acceleration when the vehicle brakes, a brake reaction time when the vehicle is in an auxiliary driving or automatic driving state, and a curve radius of the curve; and calculating the first preset speed according to the acceleration, the brake reaction time, and the curve radius.

[0012] In some possible implementation manners, the vulnerable road user exposure rate is used to represent a frequency of appearing the vulnerable road user when the vehicle drives to a parking position determined based on the automatic parking request in a historical time period, and the first preset speed is determined according to the following manner: obtaining an acceleration when the vehicle brakes, a brake reaction time when the vehicle is in an automatic cruise state; and calculating the first preset speed according to the acceleration, the brake reaction time, and a preset distance in front of a driving path of the vehicle.

[0013] In some possible implementation manners, the total number of times of appearing the vulnerable road user when the vehicle automatically cruises to the parking position in the historical time period is detected by: in the historical time period, detecting whether a vulnerable road user appears within a preset distance in front of a driving path of the vehicle each time the vehicle automatically cruises to the parking position; and when it is detected that a vulnerable road user appears within the preset distance in front of the driving path of the vehicle, adding 1 to the total number of times of appearing the vulnerable road user.

[0014] In some possible implementation manners, the total number of times of occurrence of the vulnerable road user when the vehicle passes through the curve in the historical time period is detected by: detecting whether a vulnerable road user appears within a preset distance on a side of the vehicle each time the vehicle passes through the curve in the historical time period; and adding 1 to the total number of times of occurrence of the vulnerable road user when it is detected that a vulnerable road user appears within the preset distance on the side of the vehicle.

[0015] In some possible implementation manners, before the vulnerable road user exposure rate is acquired, the method further includes: in response to detecting that the curve is in front of the vehicle, detecting whether a total number of times of passing through the curve by the vehicle in the historical time period is greater than or equal to a second preset number; and the acquiring the vulnerable road user exposure rate matched with the curve includes: acquiring the vulnerable road user exposure rate matched with the curve when it is detected that the total number of times of passing through the curve by the vehicle in the historical time period is greater than or equal to the second preset number.

[0016] In some possible implementation manners, the method further includes: adjusting a current driving speed of the vehicle to an initial memory over-curve speed when it is detected that the total number of times of passing through the curve by the vehicle in the historical time period is less than the second preset number; and the initial memory over-curve speed is determined according to a maximum lateral acceleration of the vehicle in an assisted driving or automatic driving state and a curve radius of the curve.

[0017] In some possible implementation manners, before the vulnerable road user exposure rate is acquired, the method further includes: in response to receiving the automatic parking request, detecting a total number of times of automatically cruising to the parking position by the vehicle in the historical time period; and the acquiring the vulnerable road user exposure rate includes: acquiring a vulnerable road user exposure rate matched with the parking position when it is detected that the total number of times of automatically cruising to the parking position by the vehicle in the historical time period is greater than or equal to a second preset number.

[0018] In some possible implementation manners, the method further includes: controlling the vehicle to automatically cruise to the parking position according to a preset cruise speed when it is detected that the total number of times of automatically cruising to the parking position by the vehicle in the historical time period is less than the second preset number; and the preset cruise speed is determined according to a brake reaction time and a brake performance of the vehicle in automatic cruise.

[0019] The second aspect of the present application discloses a vehicle, comprising: a vulnerable road user exposure rate obtaining module, a driving speed obtaining module, and a speed adjusting module; the vulnerable road user exposure rate obtaining module is configured to obtain a vulnerable road user exposure rate in response to detecting that a curve is present in front of the vehicle in an assisted driving or autonomous driving state, or in response to an automatic parking request; wherein the vulnerable road user exposure rate is used to represent a frequency of occurrence of a vulnerable road user when the vehicle passes through the curve in a historical time period, or automatically cruises to a parking position determined based on the automatic parking request; the driving speed obtaining module is configured to determine a maximum driving speed of the vehicle according to the vulnerable road user exposure rate; and the speed adjusting module is configured to adjust a current driving speed of the vehicle to be not higher than the maximum driving speed.

[0020] The third aspect of the present application discloses an electronic device, comprising a processor and a memory, wherein the memory is configured to store instructions, and the processor is configured to invoke the instructions in the memory, so that the electronic device performs the vehicle control method described above.

[0021] The fourth aspect of the present application discloses a storage medium, comprising computer instructions, when the computer instructions run on an electronic device, so that the electronic device performs the vehicle control method described above.

[0022] It can be understood that the vehicle of the second aspect, the electronic device of the third aspect, and the storage medium of the fourth aspect provided above all correspond to the method of the first aspect, and thus the beneficial effects achieved thereby can refer to the beneficial effects of the corresponding method provided above, which will not be described herein again. Other aspects can be understood after reading and understanding the drawings and detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0023] FIG. 1 is a flowchart of a vehicle curve passing control method according to an embodiment of the present application.

[0024] FIG. 2 is a schematic diagram of a scenario in which a vulnerable road user appears on the side of a vehicle according to an embodiment of the present application.

[0025] FIG. 3 is another flowchart of a vehicle curve passing control method according to an embodiment of the present application.

[0026] FIG. 4 is still another flowchart of a vehicle curve passing control method according to an embodiment of the present application.

[0027] FIG. 5 is a structural diagram of a vehicle according to an embodiment of the present application.

[0028] FIG. 6 is a flowchart of an automatic parking method according to an embodiment of the present application.

[0029] FIG. 7 is another flow diagram of an automatic parking method according to an embodiment of the present application.

[0030] FIG. 8 is yet another flow diagram of an automatic parking method according to an embodiment of the present application.

[0031] FIG. 9 is a schematic diagram of a scenario in which a vehicle encounters a vulnerable road user in front of the vehicle according to an embodiment of the present application.

[0032] FIG. 10 is a schematic diagram of a vehicle according to an embodiment of the present application.

[0033] FIG. 11 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above objectives, features and advantages of the present application, the following describes the present application in detail with reference to the attached drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other as long as they do not conflict with each other.

[0035] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The described embodiments are merely some embodiments of the present application and are not all embodiments of the present application.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0037] Further, it should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "includes a", "including", does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises, includes, or is implemented with such element.

[0038] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0039] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0040] As the software and mechatronics technologies of mass-produced passenger vehicles become increasingly complex, the risks from systemic failures and random hardware failures are gradually increasing. Functional safety refers to "the absence of unreasonable risks caused by abnormal functional performance of electronic and electrical systems." In other words, functional safety focuses on whether a system can enter a safe state after failure to avoid greater harm, or on reducing the probability of harm through safety measures that are not related to the original functions or performance of the system, thereby ensuring the functional safety of electronic and electrical systems and ensuring the safety of drivers and vulnerable road users.

[0041] With the development and use of intelligent driving systems in automobiles, functional safety hazard analysis and risk assessment of intelligent driving systems have become particularly important. For example, the popular Memory Parking (VPA) function faces the challenge of accurately assessing the maximum cruising speed in automatic parking scenarios.

[0042] The presence of vulnerable road users (VLPs) at curves is a key technical challenge affecting the safety design of vehicle-assisted and autonomous driving systems. At curves where VLPs are common, if a VLP appears during assisted or autonomous driving, and the vehicle's electronic systems malfunction or are limited by sensor limitations, a collision with the VLP is highly likely, resulting in lower safety for autonomous driving. Therefore, measures such as slowing down can only be used to address malfunctions while allowing the driver time and opportunity to take over and correct course, improving controllability to balance safety, but this also reduces the user's driving experience.

[0043] The application provides a vehicle control method, comprising: obtaining a vulnerable road user exposure rate in response to detecting that a curve is present in front of a vehicle in an assisted driving or automatic driving state, or in response to an automatic parking request; wherein the vulnerable road user exposure rate is used to represent a frequency of occurrence of a vulnerable road user when the vehicle passes through the curve in a historical time period, or automatically cruises to a parking position determined based on the automatic parking request; determining a maximum driving speed of the vehicle according to the vulnerable road user exposure rate; and adjusting a current driving speed of the vehicle to be not higher than the maximum driving speed.

[0044] The vehicle control method provided by the application can be used to control a vehicle in an assisted driving or automatic driving state, and ensures driving safety of the vehicle. For example, the vehicle control method of the application can be a vehicle curve passing control method or an automatic parking method. The vehicle curve passing control method is applied to a scenario in which a curve is present in front of the vehicle, and the automatic parking method is applied to a scenario in which the vehicle automatically parks.

[0045] The following embodiment provides a vehicle curve passing control method. FIG. 1 is a flowchart of a vehicle curve passing control method provided by an embodiment of the application. The embodiment is applied to a vehicle and comprises the following steps 101 to 104.

[0046] Step 101: detecting whether a curve is present in front of a vehicle in an assisted driving or automatic driving state; when it is detected that a curve is present, performing step 102; otherwise, continuing to perform step 101.

[0047] In some embodiments, the vehicle comprises a physical button matched with automatic driving or assisted driving. A driving person makes the vehicle enter an assisted driving mode or an automatic driving mode by clicking the physical button.

[0048] In some embodiments, the vehicle comprises a voice control device. A driving person makes the vehicle enter an assisted driving mode or an automatic driving mode by voice. For example, the driving person says “enter an assisted driving mode”, and the voice control device controls the vehicle to enter the assisted driving mode after receiving the voice signal.

[0049] In some embodiments, the vehicle comprises a central control display screen. A driving person can also operate the central control display screen to make the vehicle enter an assisted driving mode or an automatic driving mode.

[0050] In some embodiments, the vehicle comprises an ADAS (Advanced Driving Assistance System), which is a system that utilizes various sensors installed on the vehicle, such as millimeter wave radar, laser radar, single / dual camera, and satellite navigation, to sense the surrounding environment at any time during driving, collect data, and identify, detect, and track static and dynamic objects. ADAS can also combine navigation map data to perform systematic calculations and analyses, thereby allowing the driver to be aware of potential dangers in advance and effectively increasing the comfort and safety of driving. Therefore, the vehicle can detect whether a vulnerable road user appears in front of the vehicle through the ADAS.

[0051] In step 102, a vulnerable road user exposure rate matching the curve is obtained; wherein the vulnerable road user exposure rate is used to represent the frequency of the appearance of a vulnerable road user when the vehicle passes through the curve in a historical time period.

[0052] Specifically, a vulnerable road user refers to a group that is relatively vulnerable to injury in road traffic, mainly including road users such as pedestrians, cyclists, and bus passengers, as well as children, the elderly, and the disabled, and can also include pets. These groups are in a relatively vulnerable state in road use, and are therefore referred to as vulnerable groups in road safety.

[0053] In some embodiments, the length of the historical time period is not specifically limited. The historical time period can be one month, two months, etc., and can be set according to actual needs.

[0054] It is worth noting that the length of the historical time period can be greater than or equal to one month, which can further improve the accuracy of the obtained vulnerable road user exposure rate.

[0055] In some embodiments, the vulnerable road user exposure rates of different curves can be the same or different. Specifically, the vulnerable road user exposure rate of each curve is determined according to the frequency of the appearance of a vulnerable road user when the vehicle is in the process of assisted driving or autonomous driving in the historical time period.

[0056] In some embodiments, in the historical time period, the vehicle detects whether a vulnerable road user appears within a preset distance on the side of the vehicle each time the vehicle passes through the curve, and increments the total number of times a vulnerable road user appears by 1 when a vulnerable road user is detected within the preset distance on the side of the vehicle.

[0057] In some embodiments, the size of the preset distance is not specifically limited and can be set according to actual needs, as long as the vehicle can be braked within the preset distance when passing through the curve in the process of assisted driving or autonomous driving.

[0058] For ease of understanding, how the embodiment determines the size of the preset distance is specifically explained below in combination with FIG. 2.

[0059] As shown in FIG. 2, it is a schematic diagram of a scenario in which a vehicle side appears a vulnerable road user provided by the embodiment. It is assumed that the lane width is 3.5 m, the vehicle width is 2 m, and the vehicle is in an assisted driving or automatic driving state and travels in the middle position of the lane. Then, the side edge of the vehicle is 75 cm away from the edge of the lane. Therefore, the preset distance can be set to 80 cm. Such a preset distance size can avoid side collision between the vehicle and the vulnerable road user during the process of the vehicle passing the bend while ensuring the safety of the vehicle passing the bend.

[0060] In some embodiments, the vulnerable road user exposure rate is determined according to the total number of times that the vehicle appears the vulnerable road user when passing the bend in the historical time period.

[0061] For ease of understanding, how the embodiment determines the vulnerable road user exposure rate is specifically explained below by taking one month as the historical time period.

[0062] It is assumed that the total number of times that the vehicle passes the bend A in one month during the assisted driving is 30 times. When the vehicle detects the vulnerable road user in the preset distance of the side edge each time, the total number of times that the vehicle appears the vulnerable road user is added by 1. For example, the vulnerable road user exposure rate can be determined based on the total number of times that the vehicle appears the vulnerable road user when passing the bend in the historical time period and the total number of times that the vehicle passes the bend in the historical time period, for example, by inputting the two data into a pre-trained mathematical model to obtain the vulnerable road user exposure rate. It is assumed that the total number of times that the vehicle passes the bend A in one month is 40 times, and the total number of times that the vehicle appears the vulnerable road user is 10 times. Then, the vulnerable road user exposure rate is determined based on the 10 times. It can be understood that for the same time of passing the bend, as long as the vehicle appears the vulnerable road user during the process of passing the bend, the total number of times that the vulnerable road user appears is added by 1 regardless of the number of times that the vulnerable road user appears. For example, the time length from when the vehicle enters the bend to when the vehicle leaves the bend is 5 seconds. It is assumed that the vulnerable road user appears in the first second, and the vulnerable road user also appears in the second and third seconds. In the time length of 5 seconds, the total number of times that the vulnerable road user appears is added by 1 regardless of the number of times that the vulnerable road user appears.

[0063] In step 103, the maximum bend passing speed of the vehicle is determined according to the vulnerable road user exposure rate. The maximum bend passing speed refers to the maximum driving speed of the vehicle when passing the bend.

[0064] How to determine the maximum bend passing speed of the vehicle according to the vulnerable road user exposure rate is described in detail in subsequent embodiments. To avoid repetition, details are not described herein.

[0065] Step 104: adjusting the current driving speed of the vehicle to be not higher than the maximum speed through the curve.

[0066] In some embodiments, the vehicle can be controlled to pass through the curve at the maximum speed through the curve, or at a speed less than the maximum speed through the curve. That is, the speed of the vehicle passing through the curve can be not higher than the maximum speed through the curve.

[0067] The embodiments of the present application have at least the following advantages: after it is determined that the vehicle has a curve in front, the exposure rate of vulnerable road users matched with the curve is obtained, and then the maximum speed through the curve of the vehicle is determined according to the exposure rate of vulnerable road users. Since the exposure rate of vulnerable road users represents the frequency of the appearance of vulnerable road users when the vehicle passes through the curve in the historical period, the maximum speed through the curve determined according to the exposure rate of vulnerable road users meets the driving safety requirement, improves the accuracy of evaluating the maximum speed through the curve when the vehicle passes through the curve, and ensures that the vehicle can brake in time when a vulnerable road user appears in front of the driving path when the vehicle passes through the curve at the maximum speed through the curve, thereby ensuring driving safety and improving the driving experience of the user.

[0068] Please refer to FIG. 3, which is a flowchart of a method for controlling the vehicle to pass through the curve according to an embodiment of the present application. Before the step of obtaining the exposure times of vulnerable road users matched with the curve in the foregoing embodiment, the embodiment further includes: detecting whether the total number of times that the vehicle passes through the curve in the historical period is greater than a second preset number of times. In this way, the accuracy of the maximum speed through the curve can be further improved, thereby further ensuring the safety of the vehicle in the assisted driving or autonomous driving state.

[0069] The embodiment is applied to a vehicle, and the specific process is shown in FIG. 3, including the following steps 201 to 206.

[0070] Step 201: detecting whether a curve exists in front of the vehicle in the assisted driving or autonomous driving state; when it is detected that the curve exists, performing step 202; otherwise, continuing to perform step 201.

[0071] Step 202: detecting whether the total number of times that the vehicle passes through the curve in the historical period is greater than or equal to a second preset number of times; when it is detected that the total number of times that the vehicle passes through the curve in the historical period is greater than or equal to the second preset number of times, performing step 203; otherwise, performing step 206.

[0072] In some embodiments, the size of the second preset number of times is not specifically limited and can be set according to actual needs. For example, the second preset number of times can be 30, 35, 40, etc.

[0073] It is worth noting that if the total number of times the vehicle passes the curve in the historical time period is small, the accuracy of the vulnerable road user exposure rate obtained by the vehicle matching the curve is not high. By detecting that the total number of times the vehicle passes the curve in the historical time period is greater than or equal to the second preset number, and then obtaining the vulnerable road user exposure rate matching the curve, the accuracy of the vulnerable road user exposure rate can be improved, and the accuracy of subsequently determining the maximum curve speed of the vehicle according to the vulnerable road user exposure rate is also improved.

[0074] In some embodiments, if the length of the historical time period is less than the preset length, the subsequent step 206 of adjusting the current driving speed of the vehicle to the initial memory curve speed is also performed.

[0075] The embodiment does not specifically limit the size of the preset length, which can be one month, two months, etc. In this way, the accuracy of the vulnerable road user exposure rate can be further improved.

[0076] Step 203: determining the vulnerable road user exposure rate according to the total number of times the vulnerable road user appears when the vehicle passes the curve in the historical time period.

[0077] Step 204: determining the maximum curve speed of the vehicle according to the vulnerable road user exposure rate.

[0078] Step 205: adjusting the current driving speed of the vehicle to be not higher than the maximum curve speed.

[0079] The steps 201, 203-205 of the embodiment are similar to the steps 101-104 of the foregoing embodiment, and are not repeated here to avoid repetition.

[0080] Step 206: adjusting the current driving speed of the vehicle to the initial memory curve speed; wherein the initial memory curve speed is determined according to the maximum lateral acceleration of the vehicle in the assisted driving or automatic driving state and the curve radius of the curve.

[0081] Specifically, the initial memory curve speed can be calculated according to the following formula: wherein V is the initial memory curve speed, is the maximum lateral acceleration of the vehicle in the assisted driving or automatic driving state, and R is the curve radius of the curve.

[0082] In some embodiments, the size of the initial memory curve speed is not specifically limited, as long as the vehicle can be braked within the preset distance when passing the curve according to the initial memory curve speed.

[0083] In some embodiments, when the vehicle is in the assisted driving or automatic driving state, the maximum lateral acceleration is less than 3 m / s2 .

[0084] Optionally, the initial memory over-bend speed of the embodiment is between 30 km / h (kilometers per hour) and 39 km / h. By setting such an initial memory over-bend speed, the vehicle can pass the curve more quickly while ensuring that the vehicle does not collide with vulnerable road users, thereby further improving the user's driving experience.

[0085] For ease of understanding, the application scenario of the vehicle over-bend control method of the embodiment is specifically described below by taking a month as a historical time period and 30 times as the second preset number of times.

[0086] Suppose the curve passed by the vehicle is curve 1, and the total number of times that the vehicle passes curve 1 in the auxiliary driving process within a month is 23, which is less than the second preset number of times 30. In this case, the maximum over-bend speed is set to the initial memory over-bend speed, and the vehicle is controlled to pass curve 1 according to the initial memory over-bend speed. Suppose the curve passed by the vehicle is curve 2, and the total number of times that the vehicle passes curve 2 in the auxiliary driving process within a month is 35, which is greater than the second preset number of times 30. In this case, the total number of times that vulnerable road users appear in the 35 times of auxiliary driving is detected, the vulnerable road user exposure rate is determined according to the total number of times that vulnerable road users appear, the maximum over-bend speed of the vehicle is determined according to the vulnerable road user exposure rate, and finally the current driving speed of the vehicle is adjusted to be not higher than the maximum over-bend speed so that the vehicle passes curve 2.

[0087] The embodiment has at least the following advantages: after determining that there is a curve in front of the vehicle, the vulnerable road user exposure rate matched with the curve is obtained, and the maximum over-bend speed of the vehicle is determined according to the vulnerable road user exposure rate. Since the vulnerable road user exposure rate represents the frequency of the appearance of vulnerable road users when the vehicle passes the curve in the historical time period, the maximum over-bend speed determined according to the vulnerable road user exposure rate meets the driving safety requirement, improves the accuracy of evaluating the maximum over-bend speed when the vehicle passes the curve, and ensures that the vehicle can brake in time when vulnerable road users appear in front of the driving path when the vehicle passes the curve at the maximum over-bend speed, thereby ensuring driving safety while improving the user's driving experience.

[0088] Please refer to FIG. 4, which is a flowchart of a vehicle over-bend control method according to an embodiment of the present application. The embodiment is a specific description of the foregoing embodiment, which further illustrates how to determine the maximum over-bend speed of the vehicle according to the vulnerable road user exposure rate.

[0089] The embodiment is applied to a vehicle, and the specific process is shown in FIG. 4, which includes the following steps 301 to 309.

[0090] Step 301, detecting whether a curve exists in a driving front of a vehicle in an assisted driving or automatic driving state; when detecting that the curve exists, performing step 302; otherwise, continuing to perform step 301.

[0091] Step 302, detecting whether a total number of times that the vehicle passes the curve in a historical time period is greater than or equal to a second preset number, when detecting that the total number of times that the vehicle passes the curve in the historical time period is greater than or equal to the second preset number, performing step 303; otherwise, performing step 309.

[0092] Step 303, determining a vulnerable road user exposure rate according to a total number of times that a vulnerable road user appears when the vehicle passes the curve in the historical time period.

[0093] Step 304, detecting whether the total number of times that the vulnerable road user appears is greater than or equal to 1 time and less than or equal to a first preset number; when detecting that the total number of times that the vulnerable road user appears is 0, performing step 305; when detecting that the total number of times that the vulnerable road user appears is greater than or equal to 1 time and less than or equal to the first preset number, performing step 306; when detecting that the total number of times that the vulnerable road user appears is greater than the first preset number, performing step 307.

[0094] Step 305, determining that a maximum curve passing speed is a first preset speed.

[0095] In some embodiments, the first preset speed is determined according to an acceleration when the vehicle brakes, a brake reaction time when the vehicle is in the assisted driving or automatic driving state, and a curve radius of the curve; the first preset speed is calculated according to the acceleration, the brake reaction time, and the curve radius.

[0096] The specific value of the first preset speed is described in detail in subsequent examples, and is not repeated here to avoid repetition.

[0097] Step 306, determining that the maximum curve passing speed is a second preset speed; wherein the second preset speed is less than the first preset speed.

[0098] In some embodiments, the size of the second preset speed is not specifically limited, and it is only required to ensure that the vehicle can brake to avoid side collision with the vulnerable road user when the vulnerable road user appears within a preset distance on a side of the vehicle when the vehicle passes the curve according to the second preset speed.

[0099] Step 307, determining that the maximum curve passing speed is a third preset speed; wherein the third preset speed is less than the second preset speed.

[0100] In some embodiments, the third preset speed is not specifically limited in size, and only needs to ensure that when the vehicle passes the curve according to the third preset speed, the vehicle can brake to avoid side collision with the vulnerable road user within the preset distance on the side of the vehicle when the vulnerable road user appears.

[0101] Step 308, adjusting the current driving speed of the vehicle to be not higher than the maximum curve passing speed.

[0102] Step 309, adjusting the current driving speed of the vehicle to be the initial memory curve passing speed; wherein the initial memory curve passing speed is determined according to the maximum lateral acceleration of the vehicle in the assisted driving or automatic driving state and the curve radius of the curve.

[0103] Steps 301 to 303, 308 and 309 of the embodiment are similar to steps 201 to 205 of the foregoing embodiment, and are not repeated here to avoid repetition.

[0104] In order to facilitate understanding, the setting principle of the maximum curve passing speed of the embodiment and the application scenario of the vehicle curve passing control method are specifically described below in combination with Table 1 and Table 2.

[0105] From the definition of ASIL (Automotive Safety Integrity Level, automotive safety integrity level), the determination of ASIL level is based on three key factors: severity, exposure rate and controllability, which together determine the potential safety impact of the vehicle in the event of a failure. Then, the severity S, exposure rate E and controllability C are divided into four levels respectively, as shown in Table 1. Table 1

[0106] According to the above division and combination, five ASIL levels are obtained, which are ASIL A, ASIL B, ASIL C, ASIL D and QM. Among them, the combination of severity S, exposure rate E and controllability C is equal to 7 points for ASIL A, equal to 8 points for ASIL B, equal to 9 points for ASIL C, equal to 10 points for the highest level ASIL D, and the rest of the score is QM, which represents a function unrelated to safety.

[0107] According to the safety industry design evaluation, there is no risk of serious injury for the vehicle to side collision with vulnerable road users at a speed of not more than 60 km / h, and considering that the vehicle is decelerated by the driver after the automatic brake of the vehicle fails, the speed of the vehicle can be set to not more than 50 km / h, at which time the severity S is S3. Therefore, by determining the controllability C at different speeds, and then obtaining the size of the exposure rate E, the maximum speed of the vehicle passing the curve can be determined under the premise of ensuring the safety of the vehicle passing the curve in the process of assisted driving.

[0108] Specifically, after the ADAS system of the vehicle detects the presence of a vulnerable road user in front of the driving path, the reaction time of the ADAS system and the stopping distance of the vehicle are calculated and analyzed, as shown in Table 2 below. Table 2

[0109] As can be seen from Table 2, when the vehicle is driving at a speed of 34 km / h, if the ADAS system detects that a vulnerable road user appears on the side of the vehicle when passing the curve, it can be ensured that no collision with the vulnerable road user on the side of the curve will occur.

[0110] When the vehicle is driving at a speed of 39 km / h, the corresponding fault tolerant time interval (FTTI) without acceleration is 1.41 s, at which time the controllability C of the vehicle is C3, and if the exposure rate E of the vulnerable road user is E3, the vehicle can pass the curve at a speed of 39 km / h to ensure the safety of the vehicle passing the curve.

[0111] When the vehicle is driving at a speed of 49 km / h, the corresponding FTTI without acceleration is 1 s, at which time the controllability C of the vehicle is C3, and if the exposure rate E of the vulnerable road user is E2, the vehicle can pass the curve at a speed of 49 km / h to ensure the safety of the vehicle passing the curve.

[0112] In addition, when the vehicle passes the curve in the automatic driving process for not less than a second preset number of times within a historical time period, if the total number of times that a vulnerable road user appears within a preset distance on the side of the vehicle is 0, the exposure rate E of the vulnerable road user corresponding to the curve is E2; if the number of times that a vulnerable road user appears within a preset distance on the side of the vehicle is greater than 0 and less than or equal to 10 times, the exposure rate E of the vulnerable road user corresponding to the curve is E3; and if the number of times that a vulnerable road user appears within a preset distance on the side of the vehicle is greater than 10 times, the exposure rate E of the vulnerable road user corresponding to the curve is E4. Therefore, by setting the first preset speed to 49 km / h, the second preset speed to 39 km / h, and the third preset speed to 34 km / h, the safety of the vehicle passing the curve can be ensured.

[0113] In some embodiments, the initial memory over-bend speed can be set to 39 km / h, which can improve the driving experience of the user while ensuring the safety of the assisted driving over the bend.

[0114] For ease of understanding, the vehicle over-bend control method of the present embodiment is described in detail below.

[0115] In some embodiments, a pre-trained mathematical model can be used to determine the maximum over-bend speed with the vulnerable road user exposure rate as input. The mathematical model can also include parameters such as severity, controllability, etc.

[0116] For example, when the first preset number is 10 and the historical time period is one month, if the total number of times of vulnerable road users appearing during the vehicle's assisted driving over the bend within one month is 0, the value of the vulnerable road user exposure rate E is E2, and the first preset speed is set to 49 km / h, the severity is S3, the controllability is C3, and the scores of the severity S, the exposure rate E, and the controllability C are 8 points, so that the vehicle can pass the bend more quickly while ensuring driving safety; when the total number of times of vulnerable road users appearing during the vehicle's assisted driving over the bend within one month is greater than or equal to 1 and less than or equal to 10, the value of the vulnerable road user exposure rate E is E3, and the second preset speed is set to 39 km / h, the severity is S3, the controllability is C2, and the scores of the severity S, the exposure rate E, and the controllability C are 8 points, which can ensure the driving safety over the bend; when the total number of times of vulnerable road users appearing during the vehicle's assisted driving over the bend within one month is greater than 10, the value of the vulnerable road user exposure rate E is E4, and the third preset speed is set to 34 km / h, the severity is S3, the controllability is C1, and the scores of the severity S, the exposure rate E, and the controllability C are 8 points, which can ensure the driving safety over the bend.

[0117] It is worth noting that the vehicle of the present embodiment will continuously update the vulnerable road user exposure rate corresponding to the bend. For example, when the vehicle passes bend A on September 10, the vehicle detects the number of times of passing bend A during the assisted driving within the previous month of September 10; when the vehicle passes the bend control on September 20, the vehicle detects the number of times of passing bend A during the assisted driving within the previous month of September 20. In this way, the accuracy and real-time performance of the vulnerable road user exposure rate can be ensured.

[0118] The embodiments of the present application have at least the following advantages: after determining that a bend is in front of the vehicle, a vulnerable road user exposure rate matched with the bend is obtained, and then the maximum bend speed of the vehicle is determined according to the vulnerable road user exposure rate. Since the vulnerable road user exposure rate represents the frequency of the appearance of a vulnerable road user when the vehicle passes through the bend in a historical time period, the maximum bend speed determined according to the vulnerable road user exposure rate meets the driving safety requirement, the accuracy of evaluating the maximum bend speed of the vehicle when passing through the bend is improved, and when the vehicle passes through the bend at the maximum bend speed, the vehicle can also brake in time when a vulnerable road user appears in front of the driving path, thereby ensuring driving safety and improving the driving experience of the user.

[0119] Please refer to FIG. 5, which is a structural schematic diagram of a vehicle 100 provided by an embodiment of the present application. The vehicle 100 comprises a bend detection module 1, a vulnerable road user exposure rate obtaining module 2, a bend speed obtaining module 3, and a speed adjusting module 4. The bend detection module 1 is configured to detect whether a bend is in front of the vehicle in an assisted driving or automatic driving state. The vulnerable road user exposure rate obtaining module 2 is configured to obtain a vulnerable road user exposure rate matched with the bend when the bend detection module 1 detects the bend. The vulnerable road user exposure rate is configured to represent the frequency of the appearance of a vulnerable road user when the vehicle passes through the bend in a historical time period. The bend speed obtaining module 3 is configured to determine the maximum bend speed of the vehicle according to the vulnerable road user exposure rate. The speed adjusting module 4 is configured to adjust the current driving speed of the vehicle to be not higher than the maximum bend speed.

[0120] The following embodiment provides an automatic parking method. Please refer to FIG. 6, which is a flowchart of an automatic parking method provided by an embodiment of the present application. The embodiment is applied to a vehicle and comprises the following steps 601 to 604.

[0121] Step 601: In response to an automatic parking request, a parking position of the vehicle is determined.

[0122] In some embodiments, the vehicle comprises a physical button matched with automatic parking. The driver makes the vehicle enter the automatic parking mode by clicking the physical button.

[0123] In some embodiments, the vehicle comprises a voice control device. The driver makes the vehicle enter the automatic parking mode by voice. For example, the driver says "enter the automatic parking mode", and the voice control device controls the vehicle to enter the automatic parking mode after receiving the voice signal.

[0124] In some embodiments, the vehicle comprises a central control display screen. The driver can also operate on the central control display screen to make the vehicle enter the automatic parking mode.

[0125] It can be understood that the parking position of the vehicle can be determined through voice input or text input of the driver. For example, after the driver clicks "enter automatic parking mode" on the center display screen, the vehicle can determine the current parking position by inputting the destination.

[0126] In some embodiments, the vehicle can pre-store a plurality of parking positions. For example, the driver can determine the current parking position by clicking a pre-stored parking position on the center display screen.

[0127] Step 602, obtaining a vulnerable road user exposure rate matched with the parking position; wherein the vulnerable road user exposure rate is used to represent the frequency of the appearance of the vulnerable road user when the vehicle automatically cruises to the parking position in the historical time period.

[0128] In some embodiments, the length of the historical time period is not specifically limited. The historical time period can be one month, two months, etc., which can be set according to actual needs.

[0129] It is worth noting that the length of the historical time period can be greater than or equal to one month, which can further improve the accuracy of the obtained vulnerable road user exposure rate.

[0130] In some embodiments, the vulnerable road user exposure rates matched with different parking positions can be the same or different. Specifically, the vulnerable road user exposure rate matched with each parking position is determined according to the frequency of the appearance of the vulnerable road user when the vehicle automatically cruises to the parking position in the historical time period.

[0131] In some embodiments, in the historical time period, the vehicle detects whether a vulnerable road user appears within a preset distance in front of the vehicle driving path each time the vehicle automatically cruises to the parking position, and adds 1 to the total number of times the vulnerable road user appears when a vulnerable road user is detected within the preset distance in front of the vehicle driving path.

[0132] The specific value of the preset distance is described in detail in subsequent embodiments, and will not be repeated here.

[0133] Specifically, the vehicle includes an ADAS.

[0134] In some embodiments, the size of the preset distance is not specifically limited and can be set according to actual needs, as long as the vehicle can be braked within the preset distance during automatic cruising.

[0135] In some embodiments, the vulnerable road user exposure rate is determined according to the total number of times the vulnerable road user appears when the vehicle automatically cruises to the parking position in the historical time period.

[0136] For ease of understanding, how to determine the exposure rate of vulnerable road users in the embodiment is specifically explained by taking one month as a historical time period.

[0137] Suppose that the total number of times that the vehicle automatically cruises to the parking position A in one month is 40, and in the process of each automatic cruising, if the vehicle detects a vulnerable road user within a preset distance in front of the driving path, the total number of times that a vulnerable road user appears is added by 1. It can be understood that for the same automatic cruising, as long as a vulnerable road user appears in the process of automatic cruising, the total number of times that a vulnerable road user appears is added by 1 regardless of how many times a vulnerable road user appears. Suppose that the total number of times that a vulnerable road user appears is 10, and the exposure rate of vulnerable road users is determined based on 10.

[0138] In step 603, the maximum cruising speed of the vehicle is determined according to the exposure rate of vulnerable road users. The maximum cruising speed refers to the maximum driving speed of the vehicle when parking.

[0139] How to determine the maximum cruising speed of the vehicle according to the exposure rate of vulnerable road users is described in detail in subsequent embodiments, and to avoid repetition, details are not described here.

[0140] In step 604, the vehicle is controlled to automatically cruise to the parking position according to the maximum cruising speed.

[0141] In some embodiments, the vehicle can be controlled to automatically cruise to the parking position at the maximum cruising speed, or the vehicle can be controlled to automatically cruise to the parking position at a speed less than the maximum cruising speed. That is, the speed at which the vehicle automatically cruises to the parking position can be less than or equal to the maximum cruising speed.

[0142] The embodiment has at least the following advantages: after determining the parking position of the vehicle, the exposure rate of vulnerable road users matched with the parking position is obtained, and the maximum cruising speed of the vehicle is determined according to the exposure rate of vulnerable road users. Since the exposure rate of vulnerable road users represents the frequency of the appearance of a vulnerable road user when the vehicle automatically cruises to the parking position in a historical time period, the maximum cruising speed determined according to the exposure rate of vulnerable road users meets the driving safety requirement, improves the accuracy of evaluating the maximum cruising speed of the vehicle when automatically parking, and ensures that when the vehicle automatically cruises to the parking position at the maximum cruising speed, the vehicle can also brake in time when a vulnerable road user appears in front of the driving path, thereby ensuring driving safety while improving the driving experience of the user.

[0143] Please refer to Fig. 7, which is a flowchart of an automatic parking method according to an embodiment of the present application. Before the aforementioned embodiment of acquiring the exposure frequency of vulnerable road users matching the parking destination, the embodiment further includes: detecting whether the number of times that the vehicle automatically cruises to the parking position in a historical time period is greater than a second preset number of times before acquiring the exposure frequency of vulnerable road users matching the parking position. In this way, the accuracy of the maximum cruising speed can be further improved, thereby further ensuring the safety of automatic cruising.

[0144] The embodiment is applied to a vehicle, and the specific process is shown in Fig. 7, which includes the following steps 701 to 706.

[0145] Step 701: In response to an automatic parking request, the parking position of the vehicle is determined.

[0146] Step 702: Detect whether the number of times that the vehicle automatically cruises to the parking position in a historical time period is greater than or equal to a second preset number of times. If the number of times that the vehicle automatically cruises to the parking position in the historical time period is greater than or equal to the second preset number of times, step 703 is performed; otherwise, step 706 is performed.

[0147] In some embodiments, the size of the second preset number of times is not specifically limited and can be set according to actual needs. For example, the second preset number of times can be 30, 35, 40, etc.

[0148] It should be noted that if the number of times that the vehicle automatically cruises to the parking position in the historical time period is small, the accuracy of the exposure frequency of vulnerable road users matching the parking position acquired by the vehicle is not high. By acquiring the exposure frequency of vulnerable road users matching the parking position when the number of times that the vehicle automatically cruises to the parking position in the historical time period is greater than or equal to the second preset number of times, the accuracy of the exposure frequency of vulnerable road users can be improved, thereby improving the accuracy of determining the maximum cruising speed of the vehicle according to the exposure frequency of vulnerable road users.

[0149] In some embodiments, if the length of the historical time period is less than a preset length, the subsequent step 706 is also performed, that is, the vehicle is automatically cruised to the parking position according to the preset cruising speed.

[0150] The embodiment does not specifically limit the size of the preset length, which can be one month, two months, etc. In this way, the accuracy of the exposure frequency of vulnerable road users can be further improved.

[0151] Step 703: The exposure frequency of vulnerable road users is determined according to the total number of times that vulnerable road users appear when the vehicle automatically cruises to the parking position in the historical time period.

[0152] Step 704, determining the maximum cruise speed of the vehicle according to the vulnerable road user exposure rate.

[0153] Step 705, controlling the vehicle to automatically cruise to the parking position according to the maximum cruise speed.

[0154] Steps 701, 703-705 of the embodiment are similar to steps 601-604 of the foregoing embodiment, and are not described herein again to avoid repetition.

[0155] Step 706, controlling the vehicle to automatically cruise to the parking position according to the preset cruise speed; wherein the preset cruise speed is determined according to the brake reaction time and brake performance of the vehicle when the vehicle is automatically cruising.

[0156] In some embodiments, the size of the preset cruise speed is not specifically limited, and it is only required to ensure that the vehicle can be braked within the preset distance when the vehicle is automatically cruising according to the preset cruise speed.

[0157] Optionally, the preset cruise speed of the embodiment is between 15 kph (kilometers per hour) and 20 kph. By setting such a preset cruise speed, the vehicle can reach the parking position more quickly while ensuring driving safety, thereby further improving the driving experience of the user.

[0158] For ease of understanding, the application scenario of the automatic parking method of the embodiment is specifically described below by taking a month as the historical time period and 30 times as the second preset number of times.

[0159] Suppose the parking position of the vehicle is parking position 1, and the total number of times that the vehicle automatically cruises to the parking position 1 in a month is 23, which is less than the second preset number of times 30. Therefore, the maximum cruise speed is set to the preset cruise speed, and the vehicle is controlled to automatically cruise to the parking position according to the preset cruise speed. Suppose the parking position of the vehicle is parking position 2, and the total number of times that the vehicle automatically cruises to the parking position 2 in a month is 35, which is greater than the second preset number of times 30. Therefore, the total number of times that the vulnerable road user appears in the 35 times of automatic cruising is detected, the vulnerable road user exposure rate is determined according to the total number of times that the vulnerable road user appears, the maximum cruise speed of the vehicle is determined according to the vulnerable road user exposure rate, and finally the vehicle is controlled to automatically cruise to the parking position according to the maximum cruise speed.

[0160] The embodiment of the present application has at least the following advantages: after determining the parking position of the vehicle, the exposure rate of vulnerable road users matching the parking position is obtained, and then the maximum cruise speed of the vehicle is determined according to the exposure rate of vulnerable road users. Since the exposure rate of vulnerable road users represents the frequency of the appearance of vulnerable road users when the vehicle automatically cruises to the parking position in the historical time period, the maximum cruise speed determined according to the exposure rate of vulnerable road users meets the driving safety requirement, improves the accuracy of evaluating the maximum cruise speed of the vehicle when automatically parking, and ensures that the vehicle can brake in time when a vulnerable road user appears in front of the driving path when the vehicle automatically cruises to the parking position at the maximum cruise speed, thereby ensuring driving safety and improving the driving experience of the user.

[0161] Please refer to FIG. 8, which is a flowchart of the automatic parking method provided by an embodiment of the present application, and the embodiment is a specific description of the foregoing embodiment, further illustrating how to determine the maximum cruise speed of the vehicle according to the exposure rate of vulnerable road users.

[0162] The embodiment is applied to a vehicle, and the specific process is shown in FIG. 8, including the following steps 801 to 809.

[0163] Step 801: In response to an automatic parking request, the parking position of the vehicle is determined.

[0164] Step 802: It is detected whether the total number of times that the vehicle automatically cruises to the parking position in the historical time period is greater than or equal to a second preset number of times, and when it is detected that the total number of times that the vehicle automatically cruises to the parking position in the historical time period is greater than or equal to the second preset number of times, step 803 is performed; otherwise, step 809 is performed.

[0165] Step 803: The exposure rate of vulnerable road users is determined according to the total number of times that vulnerable road users appear when the vehicle automatically cruises to the parking position in the historical time period.

[0166] Step 804: It is detected whether the total number of times that vulnerable road users appear is greater than or equal to 1 time and less than or equal to a first preset number of times, and when it is detected that the total number of times that vulnerable road users appear is 0, step 805 is performed; when it is detected that the total number of times that vulnerable road users appear is greater than or equal to 1 time and less than or equal to the first preset number of times, step 806 is performed; and when it is detected that the total number of times that vulnerable road users appear is greater than the first preset number of times, step 807 is performed.

[0167] Step 805: The maximum cruise speed is determined as a first preset speed.

[0168] In some embodiments, the first preset speed is determined according to the following manner: obtaining the acceleration when the vehicle brakes, the brake reaction time when the vehicle is in automatic cruise; and calculating the first preset speed according to the acceleration, the brake reaction time and the preset distance. The specific value of the first preset speed is described in detail in the subsequent examples, and is not repeated here to avoid repetition.

[0169] Step 806, determining the maximum cruise speed as a second preset speed; wherein the second preset speed is less than the first preset speed.

[0170] In some embodiments, the size of the second preset speed is not specifically limited, as long as it is ensured that when the vehicle is in automatic cruise according to the second preset speed, the vehicle can brake to avoid collision with the vulnerable road user within the preset distance in front of the vehicle driving path.

[0171] Step 807, determining the maximum cruise speed as a third preset speed; wherein the third preset speed is less than the second preset speed.

[0172] In some embodiments, the size of the third preset speed is not specifically limited, as long as it is ensured that when the vehicle is in automatic cruise according to the third preset speed, the vehicle can brake to avoid collision with the vulnerable road user within the preset distance in front of the vehicle driving path.

[0173] Step 808, controlling the vehicle to automatically cruise to the parking position according to the maximum cruise speed.

[0174] Step 809, controlling the vehicle to automatically cruise to the parking position according to a preset cruise speed; wherein the preset cruise speed is determined according to the brake reaction time and the brake performance of the vehicle in automatic cruise.

[0175] The steps 801 to 803, 808 and 809 of the present embodiment are similar to the steps 701 to 705 of the previous embodiment, and are not repeated here to avoid repetition.

[0176] In order to facilitate understanding, the setting principle of the maximum cruise speed and the application scenario of the automatic parking method of the present embodiment are specifically described below in combination with FIG. 9, Table 1 and Table 3.

[0177] According to the design evaluation of the safety industry, the severity S of the vehicle colliding with the vulnerable road user at a speed of 8kph to 15kph is S2, and the severity S of the vehicle colliding with the vulnerable road user at a speed greater than 15kph is S3. Therefore, by setting the controllability C as C3, and then obtaining the size of the exposure rate E, the maximum cruise speed of the vehicle can be determined under the premise of ensuring the safety of the vehicle in automatic cruise.

[0178] Specifically, the reaction time of the ADAS system and the stopping distance of the vehicle are calculated and analyzed after the ADAS system detects the vulnerable road user in front of the driving path of the vehicle, as shown in Table 3. Table 3

[0179] As can be seen from Table 3, when the vehicle is driving at a speed of 30 kph, if the ADAS system detects a vulnerable road user in front of the driving path of the vehicle, the total distance of the vehicle brake is 12.45 m. As shown in FIG. 9, a schematic diagram of the scene in which a vulnerable road user appears in front of the vehicle is provided in the embodiment, and the preset distance can be set to 13.2 m, so as to ensure that the vehicle can be braked in an emergency within the preset distance when driving at a speed of 30 kph.

[0180] In some embodiments, a pre-trained mathematical model can be used to determine the maximum cruising speed by taking the vulnerable road user exposure rate as input. The input of the mathematical model can also include parameters such as severity and controllability.

[0181] Therefore, taking the first preset number of 10 times and the historical time period of one month as an example, when the total number of times of the vulnerable road user appearing when the vehicle automatically cruises to the parking position in one month is 0, the value of the vulnerable road user exposure rate E is E2, the first preset speed is set to 30 kph, the severity is S3, the controllability is C3, the scores of the severity S, the exposure rate E and the controllability C are 8 points, so as to ensure the driving safety and enable the vehicle to reach the parking position more quickly; when the total number of times of the vulnerable road user appearing when the vehicle automatically cruises to the parking position in one month is greater than or equal to 1 time and less than or equal to 10 times, the value of the vulnerable road user exposure rate E is E3, the second preset speed is set to 20 kph, the severity is S3, the controllability is C3, the scores of the severity S, the exposure rate E and the controllability C are 9 points, so as to ensure the driving safety; when the total number of times of the vulnerable road user appearing when the vehicle automatically cruises to the parking position in one month is greater than 10 times, the value of the vulnerable road user exposure rate E is E4, the third preset speed is set to 15 kph, the severity is S3, the controllability is C3, the scores of the severity S, the exposure rate E and the controllability C are 9 points, so as to ensure the driving safety.

[0182] It is worth noting that the vehicle will continuously update the vulnerable road user exposure rate corresponding to the parking position, for example, when the vehicle automatically parks on October 10, the vehicle detects the number of times of automatically cruising to the parking position in the previous month before October 10; when the vehicle automatically parks on September 20, the vehicle detects the number of times of automatically cruising to the parking position in the previous month before September 20, so as to ensure the accuracy and real-time performance of the vulnerable road user exposure rate.

[0183] The embodiment of the present application has at least the following advantages: after determining the parking position of the vehicle, the exposure rate of vulnerable road users matching the parking position is obtained, and then the maximum cruise speed of the vehicle is determined according to the exposure rate of vulnerable road users. Since the exposure rate of vulnerable road users represents the frequency of the appearance of vulnerable road users when the vehicle automatically cruises to the parking position in a historical period, the maximum cruise speed determined according to the exposure rate of vulnerable road users meets the driving safety requirement, improves the accuracy of evaluating the maximum cruise speed of the vehicle when automatically parking, and ensures that the vehicle can brake in time when a vulnerable road user appears in front of the driving path when the vehicle automatically cruises to the parking position at the maximum cruise speed, thereby ensuring driving safety and improving the driving experience of the user.

[0184] Referring to FIG. 10, a structural schematic diagram of a vehicle 110 provided by the embodiment of the present application is shown. The vehicle 110 includes a parking position determination module 10, an exposure rate of vulnerable road users acquisition module 20, a cruise speed acquisition module 30, and a parking module 40. The parking position determination module 10 is configured to determine the parking position of the vehicle in response to an automatic parking request. The exposure rate of vulnerable road users acquisition module 20 is configured to obtain the exposure rate of vulnerable road users matching the parking position. The exposure rate of vulnerable road users is configured to represent the frequency of the appearance of vulnerable road users when the vehicle automatically cruises to the parking position in a historical period. The cruise speed acquisition module 30 is configured to determine the maximum cruise speed of the vehicle according to the exposure rate of vulnerable road users. The parking module 40 is configured to control the vehicle to automatically cruise to the parking position according to the maximum cruise speed.

[0185] The embodiment of the present application provides a vehicle including an exposure rate of vulnerable road users acquisition module, a driving speed acquisition module, and a speed adjustment module. The exposure rate of vulnerable road users acquisition module is configured to obtain the exposure rate of vulnerable road users in response to detecting that the vehicle in an assisted driving or automatic driving state has a curve in front of the driving path, or in response to an automatic parking request. The exposure rate of vulnerable road users is configured to represent the frequency of the appearance of vulnerable road users when the vehicle passes through the curve in a historical period, or automatically cruises to a parking position determined based on the automatic parking request. The driving speed acquisition module is configured to determine the maximum driving speed of the vehicle according to the exposure rate of vulnerable road users. The speed adjustment module is configured to adjust the current driving speed of the vehicle to be not higher than the maximum driving speed.

[0186] Those skilled in the art can understand that all or part of the steps of the above method can be instructed by a program to the relevant hardware (for example, a processor), and the program can be stored in a computer readable storage medium, such as a read-only memory, a magnetic disk or an optical disk, etc. Alternatively, all or part of the steps of the above embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiments can be implemented in the form of hardware, for example, by an integrated circuit to implement its corresponding function, or in the form of a software function module, for example, by a processor executing a program / instruction stored in a memory to implement its corresponding function. The present application is not limited to any specific form of combination of hardware and software.

[0187] Please refer to FIG. 11, which is a schematic diagram of the hardware structure of the electronic device 1000 provided in the embodiments of the present application. As shown in FIG. 11, the electronic device 1000 can include a processor 1001, a memory 1002. The memory 1002 is configured to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions that can be used to implement the vehicle control method described above, for example, to implement the vehicle cornering control method or to implement the automatic parking method in the electronic device 1000.

[0188] It can be understood that the structure illustrated in the embodiments does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 can include more or fewer components than those shown, or combine certain components, or split certain components, or different arrangement of components.

[0189] The processor 1001 can include one or more processing units, for example: the processor 1001 can include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0190] The processor 1001 can also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory can hold instructions or data that the processor 1001 has just used or is using repeatedly. If the processor 1001 needs to use the instructions or data again, it can be directly called from the memory. This avoids repeated access and reduces the waiting time of the processor 1001, thus improving the efficiency of the system.

[0191] In some embodiments, the processor 1001 can include one or more interfaces. The interfaces can include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0192] In some embodiments, the processor 1001 is configured to execute single instruction multiple data (SIMD), very long instruction word (VLIW), and / or other acceleration schemes.

[0193] In some embodiments, the memory 1002 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory card, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory device.

[0194] The embodiments also provide a storage medium having computer instructions stored therein, when the instructions are run on an electronic device, the electronic device is caused to perform the above-mentioned related method steps to implement the vehicle control method, such as the vehicle cornering control method or the automatic parking method.

[0195] In the embodiments, the electronic device and the storage medium are used to execute the corresponding methods provided above, and thus the beneficial effects achieved by the electronic device and the storage medium can refer to the beneficial effects of the corresponding methods provided above, which will not be described here again.

[0196] In practical applications, the above-mentioned function distribution can be completed by different function modules according to needs, that is, the internal structure of the device is divided into different function modules to complete all or part of the functions described above.

[0197] In several embodiments provided in the present application, the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are illustrative, for example, the division of the module or unit is a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0198] The units described as separate components can or can not be physically separate, and the components shown as units can be one physical unit or multiple physical units, that is, they can be located in one place or distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0199] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0200] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, all or part of the technical solutions of the embodiments of the present application can be embodied in the form of a software product. The software product is stored in a storage medium, and includes a plurality of instructions for causing an apparatus (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0201] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A vehicle control method characterized by, The method comprises: obtaining a vulnerable road user exposure rate in response to detecting that a curve is present in front of a vehicle in an assisted driving or autonomous driving state, or in response to an automatic parking request, wherein the vulnerable road user exposure rate is used to represent a frequency of occurrence of a vulnerable road user when the vehicle passes through the curve in a historical time period, or when the vehicle automatically cruises to a parking position determined based on the automatic parking request; determining a maximum driving speed of the vehicle according to the vulnerable road user exposure rate; adjusting a current driving speed of the vehicle to be not higher than the maximum driving speed.

2. The vehicle control method according to claim 1, characterized by, Before the obtaining of the vulnerable road user exposure rate, the method further comprises: determining a total number of occurrences of a vulnerable road user when the vehicle passes through the curve in the historical time period, or a total number of occurrences of a vulnerable road user when the vehicle automatically cruises to the parking position in the historical time period.

3. The vehicle control method according to claim 2, characterized by, The obtaining of the vulnerable road user exposure rate comprises: determining the vulnerable road user exposure rate according to the total number of occurrences of a vulnerable road user when the vehicle passes through the curve in the historical time period, or the total number of occurrences of a vulnerable road user when the vehicle automatically cruises to the parking position in the historical time period.

4. The vehicle control method according to claim 2, characterized by The determining of the maximum driving speed of the vehicle according to the vulnerable road user exposure rate comprises: when it is detected that the total number of occurrences of a vulnerable road user is 0, determining the maximum driving speed as a first preset speed; when it is detected that the total number of occurrences of a vulnerable road user is greater than or equal to 1 and less than or equal to a first preset number of times, determining the maximum driving speed as a second preset speed, wherein the second preset speed is less than the first preset speed; when it is detected that the total number of occurrences of a vulnerable road user is greater than the first preset number of times, determining the maximum driving speed as a third preset speed, wherein the third preset speed is less than the second preset speed.

5. The vehicle control method according to claim 4, characterized by The vulnerable road user exposure rate is used to represent a frequency of occurrence of a vulnerable road user when the vehicle passes through the curve in a historical time period, and the first preset speed is determined according to the following manner: obtaining an acceleration of the vehicle when braking, a braking reaction time of the vehicle in an assisted driving or autonomous driving state, and a curve radius of the curve; calculating the first preset speed according to the acceleration, the braking reaction time, and the curve radius.

6. The vehicle control method according to claim 4, characterized by The vulnerable road user exposure rate is used to represent a frequency of occurrence of a vulnerable road user when the vehicle drives to a parking position determined based on the automatic parking request in a historical time period, the first preset speed is determined according to the following manner: obtaining an acceleration of the vehicle when braking, and a braking reaction time of the vehicle when automatically cruising; calculating the first preset speed according to the acceleration, the braking reaction time, and a preset distance in front of a driving path of the vehicle.

7. The vehicle control method according to claim 2, characterized by The total number of occurrences of a vulnerable road user when the vehicle automatically cruises to the parking position in the historical time period is detected by the following operations: detecting whether a vulnerable road user appears within a preset distance in front of a driving path of the vehicle each time the vehicle automatically cruises to the parking position within the historical time period; adding 1 to the total number of times the vulnerable road user appears when it is detected that the vulnerable road user appears within the preset distance in front of the driving path of the vehicle.

8. The vehicle control method according to claim 2, characterized by detecting the total number of times the vulnerable road user appears when the vehicle passes the curve within the historical time period by: detecting whether a vulnerable road user appears within a preset distance on a side of the vehicle each time the vehicle passes the curve within the historical time period; adding 1 to the total number of times the vulnerable road user appears when it is detected that the vulnerable road user appears within the preset distance on the side of the vehicle.

9. The vehicle control method according to claim 1, characterized by, Before the vulnerable road user exposure rate is acquired, the method further comprises: detecting whether the total number of times the vehicle passes the curve within the historical time period is greater than or equal to a second preset number in response to detecting that the curve is in front of the vehicle; the acquiring of the vulnerable road user exposure rate comprises: acquiring the vulnerable road user exposure rate matched with the curve when it is detected that the total number of times the vehicle passes the curve within the historical time period is greater than or equal to the second preset number.

10. The vehicle control method according to claim 9, characterized by The method further comprises: adjusting the current driving speed of the vehicle to an initial memory over-curve speed when it is detected that the total number of times the vehicle passes the curve within the historical time period is less than the second preset number; wherein the initial memory over-curve speed is determined according to the maximum lateral acceleration of the vehicle in the assisted driving or automatic driving state and the curve radius of the curve.

11. The vehicle control method according to claim 1, characterized by Before the vulnerable road user exposure rate is acquired, the method further comprises: detecting the total number of times the vehicle automatically cruises to the parking position within the historical time period in response to receiving the automatic parking request; the acquiring of the vulnerable road user exposure rate comprises: acquiring the vulnerable road user exposure rate matched with the parking position when it is detected that the total number of times the vehicle automatically cruises to the parking position within the historical time period is greater than or equal to a second preset number.

12. The vehicle control method according to claim 11, characterized by, The method further comprises: controlling the vehicle to automatically cruise to the parking position according to a preset cruise speed when it is detected that the total number of times the vehicle automatically cruises to the parking position within the historical time period is less than the second preset number; wherein the preset cruise speed is determined according to the brake reaction time and brake performance of the vehicle when the vehicle is automatically cruising.

13. A vehicle characterized by comprising: comprises: a vulnerable road user exposure rate acquisition module, a driving speed acquisition module, and a speed adjustment module; the vulnerable road user exposure rate acquisition module is configured to acquire a vulnerable road user exposure rate in response to detecting that a curve is in front of a vehicle in an assisted driving or automatic driving state, or in response to an automatic parking request; wherein the vulnerable road user exposure rate is used to represent the frequency of appearance of a vulnerable road user when the vehicle passes the curve within a historical time period, or automatically cruises to a parking position determined based on the automatic parking request; The driving speed obtaining module is configured to determine a maximum driving speed of the vehicle according to the vulnerable road user exposure rate; The speed adjusting module is configured to adjust a current driving speed of the vehicle to be not higher than the maximum driving speed.

14. An electronic device, comprising: The electronic device comprises a processor and a memory, the memory is configured to store instructions, and the processor is configured to invoke the instructions in the memory, so that the electronic device executes the vehicle control method in any one of claims 1 to 12.

15. A storage medium, characterized by The computer instructions, when executed on an electronic device, cause the electronic device to perform the vehicle control method in any one of claims 1 to 12.

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