Vehicle launch control method and device

Abstract

A vehicle launch control method and device. The method comprises: when a target vehicle is present in front of a vehicle to be launched, acquiring a first longitudinal distance, a first lateral distance and a standstill duration between the target vehicle and the vehicle to be launched, a traffic light, a current longitudinal speed of the target vehicle, a second lateral distance between a non-motor vehicle or a pedestrian and the vehicle to be launched, and a current lateral speed of the non-motor vehicle or the pedestrian; on the basis of the first longitudinal distance, the current longitudinal speed, and the first lateral distance, determining whether the target vehicle meets a launch condition; on the basis of a second longitudinal distance, the second lateral distance, and the current lateral speed, determining whether the vehicle to be launched meets a launch inhibition condition; and when the target vehicle meets the launch condition, the vehicle to be launched does not meet the launch inhibition condition, the standstill duration is greater than a preset standstill duration threshold, and the traffic signal is green, controlling the vehicle to be launched to execute a launch operation. The method can improve the accuracy of reminding for the vehicle to be launched, thereby improving perceived driving experience of users.

Description

A method and apparatus for controlling vehicle starting Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a control method and apparatus for starting a vehicle. Background Technology

[0002] Currently, when a vehicle transitions from a dynamic driving state to a stationary state, such as during adaptive cruise control or when the driver manually drives the vehicle to a stop, and the vehicle remains stationary for an extended period, the automatic start-up mode will automatically disengage. The driver will then need to confirm the vehicle's intention to start again. However, drivers may be distracted by their mobile phones and fail to maintain a high level of attention to vehicles ahead, other road users, or traffic lights.

[0003] Existing technical solutions either lack specific methods for determining when the vehicle in front will start, or their judgment logic is too simplistic. Given the extreme complexity of real-world traffic conditions, particularly the intermingling of vehicles, pedestrians, and electric scooters, and the limited accuracy of camera sensors used in driver assistance systems in judging distance or speed, simply inferring the start of the vehicle based on changes in distance exceeding a threshold and issuing a start warning or controlling the vehicle's start can lead to numerous false triggering scenarios. Therefore, a vehicle start control method is urgently needed. Summary of the Invention

[0004] A method and apparatus for controlling vehicle starting are provided, which solves at least one of the above problems.

[0005] Firstly, a vehicle starting control method is provided, the method being applied to a vehicle control system, the control system including a detection and sensing unit, a driving assistance controller, a steering control and execution module, and a power control and execution module, the control method including:

[0006] When there is a target vehicle in front of the vehicle waiting to start in the driving road, the detection and perception unit acquires the first longitudinal distance, the first lateral distance and the duration of stillness between the target vehicle and the vehicle waiting to start, traffic lights, the current longitudinal speed of the target vehicle, and the second longitudinal distance, the second lateral distance and the current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start.

[0007] Based on the first longitudinal distance, the current longitudinal speed, and the first lateral distance, the driving assistance controller determines whether the target vehicle meets the starting conditions;

[0008] Based on the second longitudinal distance, the second lateral distance, and the current lateral speed, the driving assistance controller determines whether the vehicle to be started meets the conditions for suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0009] When the target vehicle meets the starting conditions, the starting suppression conditions do not exist, the stationary duration is greater than the preset stationary duration threshold, and the traffic light is green or there is no traffic light, the driving assistance controller controls the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle to be started.

[0010] As an optional implementation, the starting conditions include straight-line starting conditions and turning starting conditions. The step of the driving assistance controller determining whether the target vehicle meets the starting conditions based on the first longitudinal distance, the current longitudinal speed, and the first lateral distance includes:

[0011] If the first longitudinal distance is greater than or equal to the first preset longitudinal distance threshold, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0012] If the first longitudinal distance is less than the first preset longitudinal distance threshold and greater than the second preset longitudinal distance threshold, then the target longitudinal speed of the target vehicle is determined based on the first longitudinal distance and the inverse proportional relationship between longitudinal distance and longitudinal speed determined in advance according to the first preset longitudinal speed threshold and the first preset longitudinal distance threshold, and the second preset longitudinal speed threshold and the second preset longitudinal distance threshold; the first preset longitudinal distance threshold is greater than the second preset longitudinal distance threshold, and the first preset longitudinal speed threshold is less than the second preset longitudinal speed threshold.

[0013] If the current longitudinal vehicle speed is greater than or equal to the target longitudinal vehicle speed, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0014] If the first longitudinal distance is equal to the second preset longitudinal distance threshold, and the current longitudinal speed is greater than the second preset longitudinal speed threshold, the driving assistance controller determines that the target vehicle meets the straight-start conditions;

[0015] If the first longitudinal distance is less than the first preset longitudinal distance threshold, the current longitudinal speed is less than the target longitudinal vehicle speed, and the first lateral distance is greater than the first preset lateral distance threshold, then the driving assistance controller determines that the target vehicle meets the turning start conditions.

[0016] As an optional implementation, the step of determining whether the vehicle to be started meets the conditions for suppressing start when a non-motorized vehicle or pedestrian crosses the road, based on the second longitudinal distance, the second lateral distance, and the current lateral speed, includes:

[0017] If the second longitudinal distance is greater than the third preset longitudinal distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0018] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is greater than or equal to the second preset lateral distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0019] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is less than the second preset lateral distance threshold but greater than the third preset lateral distance threshold, then the target lateral speed of the target vehicle is determined based on the second lateral distance and the inverse proportional relationship between lateral distance and lateral speed determined in advance according to the first preset lateral speed threshold and the second preset lateral distance threshold, and the second preset lateral speed threshold and the third preset lateral distance threshold; the first preset lateral speed threshold is less than the second preset lateral speed threshold, and the second preset lateral distance threshold is greater than the third preset lateral distance threshold;

[0020] If the current lateral speed is greater than or equal to the target lateral speed, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0021] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is equal to the third preset lateral distance threshold, and the current lateral speed is greater than the second preset lateral speed threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0022] As an optional implementation, the control system further includes a braking control and execution module, and the control method further includes:

[0023] If the target vehicle does not meet the starting conditions, the starting suppression conditions exist, the stationary time is less than or equal to a preset stationary time threshold, or the traffic light is not green, then the driving assistance controller controls the braking control and execution module to suppress the starting operation of the vehicle to be started.

[0024] As an optional implementation, the control method further includes:

[0025] When there is no target vehicle in front of the vehicle waiting to start in the driving road, and the starting suppression condition does not exist and the traffic light is green or there is no traffic light, the driving assistance controller controls the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle waiting to start.

[0026] Secondly, a vehicle starting control device is provided, the device being applied to a vehicle control system, the control system including a detection and sensing unit, a driving assistance controller, a steering control and execution module, and a power control and execution module, the control device comprising:

[0027] The acquisition module is used to acquire, when there is a target vehicle in front of the vehicle waiting to start in the driving road, the detection and perception unit acquires the first longitudinal distance, the first lateral distance and the stationary time between the target vehicle and the vehicle waiting to start, traffic lights, the current longitudinal speed of the target vehicle, and the second lateral distance and current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start.

[0028] The first determination module is used to determine, based on the first longitudinal distance, the current longitudinal speed and the first lateral distance, whether the target vehicle meets the starting conditions;

[0029] The second determination module is used to determine, based on the second longitudinal distance, the second lateral distance and the current lateral speed, whether the vehicle to be started meets the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0030] The first control module is used to control the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle to be started when the target vehicle meets the starting conditions, the starting suppression conditions do not exist, the stationary time is greater than the preset stationary time threshold, and the traffic light is green or there is no traffic light.

[0031] As an optional implementation, the starting conditions include straight-line starting conditions and turning starting conditions, and the first determination module is specifically used for:

[0032] If the first longitudinal distance is greater than or equal to the first preset longitudinal distance threshold, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0033] If the first longitudinal distance is less than the first preset longitudinal distance threshold and greater than the second preset longitudinal distance threshold, then the target longitudinal speed of the target vehicle is determined based on the first longitudinal distance and the inverse proportional relationship between longitudinal distance and longitudinal speed determined in advance according to the first preset longitudinal speed threshold and the first preset longitudinal distance threshold, and the second preset longitudinal speed threshold and the second preset longitudinal distance threshold; the first preset longitudinal distance threshold is greater than the second preset longitudinal distance threshold, and the first preset longitudinal speed threshold is less than the second preset longitudinal speed threshold.

[0034] If the current longitudinal vehicle speed is greater than or equal to the target longitudinal vehicle speed, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0035] If the first longitudinal distance is equal to the second preset longitudinal distance threshold, and the current longitudinal speed is greater than the second preset longitudinal speed threshold, the driving assistance controller determines that the target vehicle meets the straight-start conditions;

[0036] If the first longitudinal distance is less than the first preset longitudinal distance threshold, the current longitudinal speed is less than the target longitudinal vehicle speed, and the first lateral distance is greater than the first preset lateral distance threshold, then the driving assistance controller determines that the target vehicle meets the turning start conditions.

[0037] As an optional implementation, the second determination module is specifically used for:

[0038] If the second longitudinal distance is greater than the third preset longitudinal distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0039] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is greater than or equal to the second preset lateral distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0040] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is less than the second preset lateral distance threshold but greater than the third preset lateral distance threshold, then the target lateral speed of the target vehicle is determined based on the second lateral distance and the inverse proportional relationship between lateral distance and lateral speed determined in advance according to the first preset lateral speed threshold and the second preset lateral distance threshold, and the second preset lateral speed threshold and the third preset lateral distance threshold; the first preset lateral speed threshold is less than the second preset lateral speed threshold, and the second preset lateral distance threshold is greater than the third preset lateral distance threshold;

[0041] If the current lateral speed is greater than or equal to the target lateral speed, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0042] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is equal to the third preset lateral distance threshold, and the current lateral speed is greater than the second preset lateral speed threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0043] As an optional implementation, the control system further includes a braking control and execution module, and the control device further includes:

[0044] The second control module is used to control the driving assistance controller to suppress the starting operation of the vehicle to be started if the target vehicle does not meet the starting conditions, the starting suppression conditions exist, the stationary time is less than or equal to a preset stationary time threshold, or the traffic light is not green.

[0045] As an optional implementation, the control device further includes:

[0046] The third control module is used to control the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle when there is no target vehicle in front of the vehicle to be started in the driving road, when there is no inhibiting start condition and the traffic light is green or there is no traffic light.

[0047] Thirdly, a vehicle starting control system is provided, the vehicle starting control system comprising: a vehicle starting control method as described in the first aspect and a vehicle starting control device as described in the second aspect.

[0048] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 is a schematic diagram of the structure of a vehicle starting control system provided in an embodiment of this application;

[0051] Figure 2 is a flowchart of a vehicle starting control method provided in an embodiment of this application;

[0052] Figure 3 is a schematic diagram of the control logic for a vehicle to start straight-line according to an embodiment of this application;

[0053] Figure 4 is a schematic diagram of a vehicle steering start control logic provided in an embodiment of this application;

[0054] Figure 5 is a schematic diagram of a vehicle starting control device provided in an embodiment of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0056] The vehicle starting control method provided in this application embodiment can be applied to a vehicle starting control system. As shown in FIG1, the vehicle starting control system includes a detection and sensing unit 101, a driving assistance controller 102, a steering control and execution module 103, and a power control and execution module 104. The driving assistance controller 102 is connected to the detection and sensing unit 101, the steering control and execution module 103, and the power control and execution module 104 respectively.

[0057] The detection and perception unit 101 is used to acquire, when there is a target vehicle in front of the vehicle waiting to start in the driving road, the first longitudinal distance, the first lateral distance and the duration of stillness between the target vehicle and the vehicle waiting to start, the traffic lights, the current longitudinal speed of the target vehicle, the second longitudinal distance, the second lateral distance and the current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start, and send them to the driving assistance controller 102.

[0058] The driver assistance controller 102 is used to determine whether the target vehicle meets the starting conditions based on a first longitudinal distance, current longitudinal speed, and first lateral distance. Based on a second longitudinal distance, second lateral distance, and current lateral speed, the driver assistance controller 102 determines whether the vehicle waiting to start meets the conditions for suppressing start when a non-motorized vehicle or pedestrian is crossing. When the target vehicle meets the starting conditions, does not meet the conditions for suppressing start, has a stationary duration greater than a preset stationary duration threshold, and the traffic light is green or there is no traffic light, the driver assistance controller 102 controls the steering control and execution module 103 and the power control and execution module 104 to perform the starting operation of the vehicle waiting to start.

[0059] The steering control and execution module 103 is used to receive steering commands from the driver assistance controller 102 and perform steering operations.

[0060] The power control and execution module 104 is used to receive the start operation command from the driving assistance controller 102 and perform the start operation.

[0061] As an optional implementation, the control system may further include an information preprocessing unit and an information display interface. The information preprocessing unit further processes the information acquired by the detection and sensing unit 101 to obtain traffic participant categories and target motion attribute calculations. The traffic participant categories can be vehicles, pedestrians, two-wheeled vehicles, red / green lights, etc. The target motion attribute calculations can include lateral and longitudinal distances, lateral and longitudinal speeds, output of motion or stationary state, and direction of motion, etc. The information display interface displays the operating commands issued by the driver assistance controller 102.

[0062] The following will describe in detail a vehicle starting control method provided in this application embodiment with reference to specific implementation methods. Figure 2 is a flowchart of a vehicle starting control method provided in this application embodiment. As shown in Figure 2, the specific steps are as follows:

[0063] Step 201: When there is a target vehicle in front of the vehicle waiting to start in the driving road, the detection and perception unit obtains the first longitudinal distance, the first lateral distance and the stationary time between the target vehicle and the vehicle waiting to start, the traffic lights, the current longitudinal speed of the target vehicle, and the second longitudinal distance, the second lateral distance and the current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start.

[0064] In practice, when a vehicle transitions from a dynamic driving state to a braked and stationary state, if the vehicle remains stationary for an extended period, it will automatically disengage from automatic start-up mode. The driver must then confirm the vehicle's restart. However, drivers may be distracted by their phones and fail to maintain constant vigilance towards vehicles ahead, other road users, or traffic lights. Existing technologies either lack specific methods for determining when the vehicle ahead is starting or employ overly simplistic logic. Given the extreme complexity of real-world traffic conditions, particularly the intermingling of vehicles, pedestrians, and electric scooters, and the limited accuracy of camera sensors in judging distance and speed, simply assuming the vehicle ahead is starting based on distance changes exceeding a threshold and issuing a start-up warning or controlling the vehicle's restart could lead to numerous false triggering scenarios. After a vehicle waiting to start comes to a stop from dynamic driving, if the vehicle is not in an automatic start-up state, the system distinguishes the start-up reminder scenario based on whether there is a target vehicle in front of the vehicle waiting to start. This is achieved by comprehensively considering the stationary duration between the vehicle waiting to start and the target vehicle ahead, whether the target vehicle meets the conditions for a straight-ahead start, and whether there are start-up inhibition conditions such as pedestrians or non-motorized vehicles crossing the road, or traffic lights and stop lines, etc., to provide a start-up reminder for the vehicle waiting to start. Specifically, to avoid misidentifying pedestrians or non-motorized vehicles crossing the intersection ahead as the target vehicle, and to prevent misinterpreting changes in the longitudinal distance between pedestrians or non-motorized vehicles and the vehicle waiting to start as movement of the target vehicle, the system adds the stationary duration between the vehicle waiting to start and the target vehicle ahead as a judgment factor. Based on the first longitudinal distance, the first lateral distance, and the target vehicle's current longitudinal speed between the target vehicle and the vehicle waiting to start, it can be determined whether the target vehicle ahead meets the conditions for a straight-ahead start, or whether it meets the conditions for a left or right turn start. At complex intersections, pedestrians / bicycles may cross the road. To avoid safety hazards, and because the crossing process affects the perception sensors' assessment of the longitudinal distance or speed of the target vehicle ahead, pedestrian or bicycle crossings must be considered. Therefore, the presence of a non-motorized vehicle or pedestrian crossing the road can be determined based on the second longitudinal distance, second lateral distance, and current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start. To avoid undesirable driving behavior from the target vehicle ahead, when traffic lights are present at the intersection, the fusion judgment of traffic lights and stop lines is considered as a factor in the start-up warning control. Therefore, it is also necessary to obtain information about the traffic lights ahead. Thus, when a target vehicle is ahead of the vehicle waiting to start in the driving lane, the detection and perception unit obtains the first longitudinal distance, first lateral distance, and stationary time between the target vehicle and the vehicle waiting to start, the traffic lights, the target vehicle's current longitudinal speed, and the second longitudinal distance, second lateral distance, and current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start, and sends this information to the driver assistance controller. The detection and sensing unit can be a camera sensor, a lidar sensor, or other sensing units that can detect targets and the environment.

[0065] Step 202: Based on the first longitudinal distance, the current longitudinal speed, and the first lateral distance, the driving assistance controller determines whether the target vehicle meets the starting conditions.

[0066] In practice, after the driver assistance controller obtains the first longitudinal distance, the first lateral distance, and the first longitudinal distance of the target vehicle ahead and the vehicle waiting to start, it can determine whether the target vehicle ahead meets the conditions for starting straight, or whether it meets the conditions for starting a turn to the left or right, based on the first longitudinal distance, the current longitudinal speed, and the first lateral distance. Only when the target vehicle ahead meets the starting conditions can the vehicle waiting to start perform the starting operation.

[0067] As an optional implementation, the starting conditions include straight-line starting conditions and turning starting conditions. The specific steps for executing step 202 are as follows:

[0068] Step 1: If the first longitudinal distance is greater than or equal to the first preset longitudinal distance threshold, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0069] In implementation, the driver assistance controller compares the first longitudinal distance to the target vehicle with a first preset longitudinal distance threshold. If the first longitudinal distance is greater than or equal to the first preset longitudinal distance threshold, it indicates that the relative distance between the target vehicle ahead and the vehicle waiting to start is relatively large. At this time, as long as the current longitudinal speed of the target vehicle ahead is greater than zero, it signifies that the target vehicle meets the conditions for a straight-line start. Therefore, if the first longitudinal distance is greater than or equal to the first preset longitudinal distance threshold, the driver assistance controller determines that the target vehicle meets the conditions for a straight-line start. In this case, the driver assistance controller does not suppress the start reminder from the vehicle waiting to start. If all other start conditions for the vehicle waiting to start are also met, the vehicle start operation can be executed.

[0070] Step 2: If the first longitudinal distance is less than the first preset longitudinal distance threshold and greater than the second preset longitudinal distance threshold, then the target longitudinal speed of the target vehicle is determined based on the first longitudinal distance and the inverse proportional relationship between longitudinal distance and longitudinal speed determined in advance according to the first preset longitudinal speed threshold and the first preset longitudinal distance threshold, as well as the second preset longitudinal speed threshold and the second preset longitudinal distance threshold; the first preset longitudinal distance threshold is greater than the second preset longitudinal distance threshold, and the first preset longitudinal speed threshold is less than the second preset longitudinal speed threshold.

[0071] In implementation, when the longitudinal speed of the target vehicle ahead is relatively high, the relative distance between the target vehicle and the vehicle waiting to start, i.e., the first longitudinal distance, does not need to be large and will not affect the starting operation of the vehicle waiting to start. The first longitudinal distance is compared with a first preset longitudinal distance threshold and a second preset longitudinal distance threshold. If the first longitudinal distance is less than the first preset longitudinal distance threshold but greater than the second preset longitudinal distance threshold, then in order for the target vehicle not to affect the starting operation of the vehicle waiting to start, the longitudinal speed of the target vehicle needs to be higher. Only then can the target vehicle be considered to meet the starting conditions. In other words, when the first longitudinal distance is less than the first preset longitudinal distance threshold but greater than the second preset longitudinal distance threshold, the longitudinal distance and longitudinal speed of the target vehicle are inversely proportional. Therefore, the inverse proportional relationship between longitudinal distance and longitudinal speed can be determined in advance based on the first preset longitudinal speed threshold and the corresponding first preset longitudinal distance threshold, and the second preset longitudinal speed threshold and the corresponding second preset longitudinal distance threshold. Then, based on the first longitudinal distance and the inverse proportional relationship between longitudinal distance and longitudinal speed, the target longitudinal speed of the target vehicle is determined. The target longitudinal speed can be used as the benchmark longitudinal speed for determining whether the target vehicle meets the starting conditions. Subsequent steps can determine whether the target vehicle meets the starting conditions based on the current longitudinal speed and the target longitudinal speed. Specifically, the first preset longitudinal distance threshold is greater than the second preset longitudinal distance threshold, and the first preset longitudinal speed threshold is less than the second preset longitudinal speed threshold. The first preset longitudinal distance threshold corresponds to the first preset longitudinal speed threshold, and the second preset longitudinal distance threshold corresponds to the second preset longitudinal speed threshold.

[0072] Step 3: If the current longitudinal speed is greater than or equal to the target longitudinal speed, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0073] In implementation, because the longitudinal distance and longitudinal speed of the target vehicle are inversely proportional when the first longitudinal distance is less than a first preset longitudinal distance threshold but greater than a second preset longitudinal distance threshold, the longitudinal distance of the target vehicle needs to be relatively large for the target vehicle to be considered to meet the starting conditions. Therefore, after determining the target longitudinal speed, it is necessary to compare the current longitudinal speed of the target vehicle with the target longitudinal speed, i.e., the reference longitudinal speed. If the current longitudinal speed is greater than or equal to the target longitudinal speed, the driver assistance controller can determine that the target vehicle meets the straight-line starting conditions.

[0074] As an optional implementation, if the current longitudinal vehicle speed is less than the target longitudinal vehicle speed, the driving assistance controller determines that the target vehicle does not meet the conditions for starting straight.

[0075] Step 4: If the first longitudinal distance is equal to the second preset longitudinal distance threshold, and the current longitudinal speed is greater than the second preset longitudinal speed threshold, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0076] In practice, when the target vehicle's current longitudinal speed is relatively high, the requirement for the first longitudinal distance between the target vehicle and the vehicle waiting to start is not as stringent when the target vehicle's starting conditions are met. In other words, if the first longitudinal distance meets the shortest starting distance threshold, the target vehicle can be considered to meet the straight-line starting conditions. Therefore, if the first longitudinal distance equals the second preset longitudinal distance threshold, and the current longitudinal speed is greater than the second preset longitudinal speed threshold, the driver assistance controller determines that the target vehicle meets the straight-line starting conditions.

[0077] As an optional implementation, the logic for determining whether a target vehicle ahead is starting straight or turning is as follows: When there is a target vehicle ahead, the longitudinal distance, longitudinal speed, and lateral distance of the target vehicle ahead are combined to determine whether the target vehicle ahead meets the conditions for starting straight or turning. If the first longitudinal distance of the target vehicle ahead is greater than or equal to a threshold, or the current longitudinal speed is greater than the lookup table difference, the target vehicle ahead is considered to meet the logic for starting straight. If the first longitudinal distance of the target vehicle ahead is less than the threshold and the current longitudinal speed is less than the lookup table difference, the change in the lateral distance of the target vehicle ahead is also considered to determine whether the vehicle ahead meets the conditions for starting turning. As shown in Figure 3, the longitudinal distance of the target vehicle ahead is represented by the vertical axis, and the longitudinal speed of the target vehicle ahead is represented by the horizontal axis. When the first longitudinal distance is greater than or equal to Sa, the target vehicle ahead is considered to meet the conditions for starting straight. When the first longitudinal distance is less than Sa but greater than Sb, the longitudinal distance and longitudinal speed are inversely proportional. When the longitudinal speed is greater than or equal to Va, the requirement for longitudinal distance can be gradually lowered, with a minimum longitudinal distance of Sb. At this point, the determination that the target vehicle meets the straight-line start condition is: V ≥ (Vb - Va) / (Sb - Sa)(S - Sa) + Va. Where V represents the current longitudinal speed, Va represents the first preset longitudinal speed threshold, Vb represents the second preset longitudinal speed threshold, S represents the first longitudinal distance, Sa represents the first preset longitudinal distance threshold, and Sb represents the second preset longitudinal distance threshold. When the current distance is Sb, the longitudinal speed is already very large, greater than or equal to Vb.

[0078] Step 5: If the first longitudinal distance is less than the first preset longitudinal distance threshold, the current longitudinal speed is less than the target longitudinal speed, and the first lateral distance is greater than the first preset lateral distance threshold, then the driving assistance controller determines that the target vehicle meets the turning start conditions.

[0079] In practice, if the first longitudinal distance is less than a first preset longitudinal distance threshold and the current longitudinal speed is less than the target longitudinal speed, it indicates that the target vehicle does not meet the conditions for starting straight. If, at this time, the first lateral distance is greater than a first preset lateral distance threshold, it indicates that the target vehicle is turning. Therefore, if the first longitudinal distance is less than the first preset longitudinal distance threshold, the current longitudinal speed is less than the target longitudinal speed, and the first lateral distance is greater than the first preset lateral distance threshold, the driver assistance controller determines that the target vehicle meets the conditions for starting a turn.

[0080] As an optional implementation, when it is determined that the target vehicle ahead meets the conditions for turning left or right to start, and after the target vehicle ahead turns, within a first preset time period, the vehicle waiting to start does not reselect a new target vehicle ahead within its own driving trajectory, and there are no starting suppression conditions for non-motorized vehicles or starting suppression conditions for traffic lights and stop lines, a starting reminder is issued to the driver through the vehicle interface.

[0081] As shown in Figure 3, when the target vehicle's first longitudinal distance S is less than Sa, and the current longitudinal speed V is less than the lookup table difference between Sa and Sb, and the lateral distance is greater than the first preset lateral distance threshold of 1.1 meters (calibrated value), the target vehicle is determined to meet the turning start condition. In this case, the determination that the target vehicle meets the turning start condition is: V < (Vb - Va) / (Sb - Sa)(S - Sa) + Va. Where V represents the current longitudinal speed, Va represents the first preset longitudinal speed threshold, Vb represents the second preset longitudinal speed threshold, S represents the first longitudinal distance, Sa represents the first preset longitudinal distance threshold, and Sb represents the second preset longitudinal distance threshold.

[0082] Step 203: Based on the second longitudinal distance, the second lateral distance, and the current lateral speed, the driving assistance controller determines whether the vehicle waiting to start meets the conditions for suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0083] In implementation, at complex intersections, pedestrians or non-motorized vehicles crossing can pose safety hazards to vehicle start-up warnings. Furthermore, the crossing process can affect the perception sensors' assessment of the longitudinal distance or speed changes of the target vehicle. Therefore, the crossing of pedestrians or non-motorized vehicles must be considered. When a non-motorized vehicle or pedestrian crosses, there are a second longitudinal distance, a second lateral distance, and the current lateral speed of the vehicle waiting to start. Therefore, based on the second longitudinal distance, the second lateral distance, and the current lateral speed, the driver assistance controller can determine whether the vehicle waiting to start meets the conditions for suppressing start-up when a non-motorized vehicle or pedestrian crosses. The second lateral distance can be an absolute lateral distance.

[0084] As an optional implementation method, the specific process of performing step 203 is as follows:

[0085] Step A: If the second longitudinal distance is greater than the third preset longitudinal distance threshold, the driving assistance controller determines that the vehicle waiting to start does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0086] In implementation, the second longitudinal distance is compared with a third preset longitudinal distance threshold. If the second longitudinal distance is greater than the third preset longitudinal distance threshold, it indicates that the longitudinal distance between the non-motorized vehicle or pedestrian and the vehicle waiting to start is too far. Even if the non-motorized vehicle or pedestrian crosses the road, the vehicle waiting to start will not be affected. Therefore, the non-motorized vehicle or pedestrian will not inhibit the vehicle from starting. However, if the second longitudinal distance is greater than the third preset longitudinal distance threshold, the driver assistance controller determines that the vehicle waiting to start does not meet the conditions for inhibiting start when a non-motorized vehicle or pedestrian crosses the road.

[0087] Step B: If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold and the second lateral distance is greater than or equal to the second preset lateral distance threshold, the driver assistance controller determines that the vehicle waiting to start does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian crosses the road.

[0088] In practice, if the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, it indicates that the longitudinal distance between the non-motorized vehicle or pedestrian and the vehicle waiting to start is too close. Starting at this time may cause an accident, so a second lateral distance is needed for further evaluation. The driver assistance controller compares the second lateral distance of the target vehicle with the second preset lateral distance threshold. If the second lateral distance is greater than or equal to the second preset lateral distance threshold, it indicates that the relative distance between the current non-motorized vehicle or pedestrian and the vehicle waiting to start is too far. At this time, if the current lateral speed of the non-motorized vehicle or pedestrian is greater than zero and less than the first preset lateral speed threshold, it indicates that the vehicle waiting to start does not meet the condition of suppressing start when the non-motorized vehicle or pedestrian crosses the road. That is, the parameter of the current non-motorized vehicle and pedestrian does not affect the starting operation of the vehicle waiting to start. Therefore, if the second lateral distance is greater than or equal to the second preset lateral distance threshold, the driver assistance controller determines that the vehicle waiting to start does not meet the condition of suppressing start when the non-motorized vehicle or pedestrian crosses the road.

[0089] Step C: If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is less than the second preset lateral distance threshold but greater than the third preset lateral distance threshold, then the target lateral speed of the target vehicle is determined based on the second lateral distance and the inverse proportional relationship between lateral distance and lateral speed determined in advance according to the first preset lateral speed threshold and the second preset lateral distance threshold, as well as the second preset lateral speed threshold and the third preset lateral distance threshold; the first preset lateral speed threshold is less than the second preset lateral speed threshold, and the second preset lateral distance threshold is greater than the third preset lateral distance threshold.

[0090] In implementation, if the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, it indicates that the longitudinal distance between the non-motorized vehicle or pedestrian and the vehicle waiting to start is too close. Starting at this time may cause an accident, so it is also necessary to detect the second lateral distance and the current longitudinal speed. When the lateral speed of the non-motorized vehicle or pedestrian is relatively high, the relative distance between the non-motorized vehicle or pedestrian and the vehicle waiting to start, i.e., the second lateral distance, will not affect the starting operation of the vehicle waiting to start when it is relatively close. The second lateral distance is compared with the second preset lateral distance threshold and the third preset lateral distance threshold respectively. If the second lateral distance is less than the second preset lateral distance threshold but greater than the third preset lateral distance threshold, in order to avoid the non-motorized vehicle or pedestrian affecting the starting operation of the vehicle waiting to start, the lateral speed of the non-motorized vehicle or pedestrian needs to be faster so that it can cross quickly. It is considered that the vehicle waiting to start does not meet the condition of suppressing starting when the non-motorized vehicle or pedestrian crosses. That is to say, when the second lateral distance is less than the second preset lateral distance threshold but greater than the third preset lateral distance threshold, the lateral distance and lateral speed of the non-motorized vehicle or pedestrian are inversely proportional. Therefore, the inverse relationship between lateral distance and lateral speed can be determined in advance based on the first preset lateral speed threshold, the second preset lateral distance threshold, and the second preset lateral speed threshold and the third preset lateral distance threshold. Then, based on the second lateral distance and the inverse relationship between lateral distance and lateral speed, the target lateral speed of the non-motorized vehicle or pedestrian is determined. The target lateral speed can be used as the benchmark lateral speed for determining whether the non-motorized vehicle or pedestrian affects the starting of the vehicle waiting to start. Subsequent steps can then determine whether the vehicle waiting to start meets the condition of inhibiting starting when the non-motorized vehicle or pedestrian crosses the road, based on the second lateral speed and the target lateral speed. Specifically, the first preset lateral speed threshold is less than the second preset lateral speed threshold, the second preset lateral distance threshold is greater than the third preset lateral distance threshold, the first preset lateral speed threshold corresponds to the second preset lateral distance threshold, and the second preset speed threshold corresponds to the third preset distance threshold.

[0091] Step D: If the current lateral speed is greater than or equal to the target lateral speed, the driver assistance controller determines that the vehicle waiting to start does not meet the condition for suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0092] In implementation, when the second lateral distance is less than a second preset lateral distance threshold but greater than a third preset lateral distance threshold, to prevent non-motorized vehicles or pedestrians from interfering with the starting operation of the vehicle waiting to start, the lateral speed of the non-motorized vehicles or pedestrians needs to be relatively high so that they can cross quickly. This is considered a failure to meet the start-suppression condition when a non-motorized vehicle or pedestrian crosses the road. Therefore, when determining the target lateral speed, the second lateral speed needs to be compared with the target lateral speed. If the current lateral speed is greater than or equal to the target lateral speed, the driver assistance controller determines that the vehicle waiting to start does not meet the start-suppression condition when a non-motorized vehicle or pedestrian crosses the road. This is to prevent non-motorized vehicles or pedestrians from interfering with the starting operation of the vehicle waiting to start.

[0093] Step E: If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is equal to the third preset lateral distance threshold, and the current lateral speed is greater than the second preset lateral speed threshold, the driving assistance controller determines that the vehicle waiting to start does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian crosses the road.

[0094] In practice, if the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, it indicates that the longitudinal distance between the non-motorized vehicle or pedestrian and the vehicle waiting to start is too close. Starting at this time may cause an accident, so the second lateral distance and current lateral speed need to be further evaluated. When the current lateral speed of the non-motorized vehicle or pedestrian is relatively high, in order to avoid affecting the starting operation of the vehicle waiting to start when crossing, the requirement for the second lateral distance between the non-motorized vehicle or pedestrian and the vehicle waiting to start is not so high. As long as the starting distance threshold at the opposite end is met, it can be considered that crossing will not affect the starting operation of the vehicle waiting to start. Therefore, if the second lateral distance is equal to the third preset lateral distance threshold and the current lateral speed is greater than the second preset lateral speed threshold, the driver assistance controller determines that the vehicle waiting to start does not meet the condition of suppressing starting when the non-motorized vehicle or pedestrian crosses.

[0095] As an optional implementation, the logic for determining whether to suppress the start-up reminder during the crossing of non-motorized vehicles or pedestrians is as follows: At complex intersections, to avoid safety hazards, and because the crossing process affects the perception sensors' assessment of the longitudinal distance or speed of vehicles ahead, the crossing of non-motorized vehicles or pedestrians must be considered, and start-up reminders must be suppressed during this process. In an exemplary embodiment, the system differentiates based on the longitudinal distance of the crossing non-motorized vehicle or pedestrian. When the longitudinal distance is greater than 7.5 meters (calibrated value), the system does not suppress the start-up reminder. When the longitudinal distance is less than or equal to 7.5 meters (calibrated value), the system uses the second lateral distance between the vehicle and the crossing non-motorized vehicle or pedestrian, along with the current lateral speed of the crossing non-motorized vehicle or pedestrian, to perform a difference query to determine whether to suppress the start-up reminder, thereby achieving a user experience that ensures both traffic safety and traffic efficiency. When the longitudinal distance across a non-motorized vehicle or pedestrian is ≤7.5 meters, as shown in Figure 4, the horizontal axis represents the lateral velocity V of the non-motorized vehicle or pedestrian, and the vertical axis represents the lateral distance S between the non-motorized vehicle / pedestrian and the vehicle to be started. If the second lateral distance S across a non-motorized vehicle or pedestrian is greater than Sc (calibrated value), for example, Sc = 1.1 meters, the condition for suppressing starting is not met, and the starting warning is not suppressed. If the current lateral velocity V across a non-motorized vehicle or pedestrian is greater than Vd (calibrated value), Vd = 0.9 m / s, and the second lateral distance S across a non-motorized vehicle or pedestrian is greater than Sd (calibrated value), Sd = 0.85 meters, the condition for suppressing starting is not met, and the starting warning is not suppressed. If the current lateral velocity V across a non-motorized vehicle or pedestrian is greater than Vc (calibrated value), Vc = 0.45 m / s, and less than Vd, and the current lateral distance S across a non-motorized vehicle or pedestrian is greater than the table lookup difference between Sc and Sc, the starting warning is not suppressed. At this point, the determination that the vehicle waiting to start does not meet the start-suppression condition is: S > (Sd - Sc) / (Vd - Vc)(V - Vc) + Sc. Where S represents the second lateral distance, Sc represents the second preset lateral distance threshold, Sd represents the third preset lateral distance threshold, V represents the current lateral speed, Vc represents the first preset lateral speed threshold, and Vd represents the second preset lateral speed threshold.

[0096] Step 204: When the target vehicle meets the starting conditions, does not meet the inhibited starting conditions, has a stationary duration longer than the preset stationary duration threshold, and the traffic light is green or there is no traffic light, the driver assistance controller controls the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle to be started.

[0097] In practice, when the target vehicle meets the starting conditions, does not meet the conditions for inhibiting starting, has a stationary duration longer than the preset stationary duration threshold, and the traffic light is green or there is no traffic light, none of the conditions of the vehicle to be started will affect the starting operation. In this case, the driver assistance controller can control the steering control and execution module and the power control and execution module to execute the starting operation of the vehicle to be started.

[0098] As an optional implementation, when there is no target vehicle in front of the vehicle waiting to start in the driving road, the conditions for suppressing the start are not met, and the traffic light is green or there is no traffic light, the driving assistance controller controls the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle waiting to start.

[0099] As an optional implementation, if the target vehicle does not meet the starting conditions, meets the conditions for suppressing starting, has a stationary duration less than or equal to a preset stationary duration threshold, or the traffic light is not green, the driver assistance controller will control the braking control and execution module to suppress the starting operation of the vehicle to be started.

[0100] This application provides a vehicle starting control method that integrates multiple factors, including the stationary time of the vehicle to be started and the target vehicle, the lateral and longitudinal distances of the preceding target vehicle, changes in longitudinal speed, the lateral distances and speeds of other road users (non-motorized vehicles or pedestrians), traffic lights, and stop lines. During the target vehicle's starting process, starting reminders are provided to other road users crossing the road, improving traffic safety. The method also uses the difference in lateral distance and speed for crossing pedestrians or two-wheeled vehicles to provide timely starting reminders, ensuring traffic efficiency. This scenario-specific starting reminder control better suits the application scenarios, improves reminder accuracy, reduces false triggers, and enhances the user's driving experience.

[0101] It should be understood that although the steps in the flowchart of Figure 2 are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in Figure 2 may include multiple steps or multiple stages, which are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0102] It is understood that the same / similar parts between the various embodiments of the methods described above in this specification can be referred to each other. Each embodiment focuses on the differences from other embodiments, and relevant parts can be referred to the description of other method embodiments.

[0103] This application embodiment also provides a vehicle starting control device, as shown in FIG5, the device including:

[0104] The acquisition module 501 is used to acquire, when there is a target vehicle in front of the vehicle waiting to start in the driving road, the detection and perception unit acquires the first longitudinal distance, the first lateral distance and the stationary time between the target vehicle and the vehicle waiting to start, traffic lights, the current longitudinal speed of the target vehicle, the second lateral distance and the current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start.

[0105] The first determination module 502 is used to determine whether the target vehicle meets the starting conditions based on the first longitudinal distance, the current longitudinal speed and the first lateral distance;

[0106] The second determination module 503 is used to determine, based on the second longitudinal distance, the second lateral distance and the current lateral speed, whether the vehicle to be started meets the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0107] The first control module 504 is used to control the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle to be started when the target vehicle meets the starting conditions, the starting suppression conditions do not exist, the stationary duration is greater than a preset stationary duration threshold, and the traffic light is green or there is no traffic light.

[0108] As an optional implementation, the starting conditions include straight-line starting conditions and turning starting conditions, and the first determination module 502 is specifically used for:

[0109] If the first longitudinal distance is greater than or equal to the first preset longitudinal distance threshold, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0110] If the first longitudinal distance is less than the first preset longitudinal distance threshold and greater than the second preset longitudinal distance threshold, then the target longitudinal speed of the target vehicle is determined based on the first longitudinal distance and the inverse proportional relationship between longitudinal distance and longitudinal speed determined in advance according to the first preset longitudinal speed threshold and the first preset longitudinal distance threshold, and the second preset longitudinal speed threshold and the second preset longitudinal distance threshold; the first preset longitudinal distance threshold is greater than the second preset longitudinal distance threshold, and the first preset longitudinal speed threshold is less than the second preset longitudinal speed threshold.

[0111] If the current longitudinal vehicle speed is greater than or equal to the target longitudinal vehicle speed, the driving assistance controller determines that the target vehicle meets the conditions for starting straight.

[0112] If the first longitudinal distance is equal to the second preset longitudinal distance threshold, and the current longitudinal speed is greater than the second preset longitudinal speed threshold, the driving assistance controller determines that the target vehicle meets the straight-start conditions;

[0113] If the first longitudinal distance is less than the first preset longitudinal distance threshold, the current longitudinal speed is less than the target longitudinal vehicle speed, and the first lateral distance is greater than the first preset lateral distance threshold, then the driving assistance controller determines that the target vehicle meets the turning start conditions.

[0114] As an optional implementation, the second determination module 503 is specifically used for:

[0115] If the second longitudinal distance is greater than the third preset longitudinal distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0116] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is greater than or equal to the second preset lateral distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0117] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is less than the second preset lateral distance threshold but greater than the third preset lateral distance threshold, then the target lateral speed of the target vehicle is determined based on the second lateral distance and the inverse proportional relationship between lateral distance and lateral speed determined in advance according to the first preset lateral speed threshold and the second preset lateral distance threshold, and the second preset lateral speed threshold and the third preset lateral distance threshold; the first preset lateral speed threshold is less than the second preset lateral speed threshold, and the second preset lateral distance threshold is greater than the third preset lateral distance threshold;

[0118] If the current lateral speed is greater than or equal to the target lateral speed, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0119] If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is equal to the third preset lateral distance threshold, and the current lateral speed is greater than the second preset lateral speed threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

[0120] As an optional implementation, the control system further includes a braking control and execution module, and the control device further includes:

[0121] The second control module is used to control the driving assistance controller to suppress the starting operation of the vehicle to be started if the target vehicle does not meet the starting conditions, the starting suppression conditions exist, the stationary time is less than or equal to a preset stationary time threshold, or the traffic light is not green.

[0122] As an optional implementation, the control device further includes:

[0123] The third control module is used to control the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle when there is no target vehicle in front of the vehicle to be started in the driving road, when there is no inhibiting start condition and the traffic light is green or there is no traffic light.

[0124] This application provides a vehicle starting control device that integrates multiple factors, including the stationary time of the vehicle to be started and the target vehicle, the lateral and longitudinal distances of the preceding target vehicle, changes in longitudinal speed, the lateral distances and speeds of other road users (non-motorized vehicles or pedestrians), traffic lights, and stop lines. During the target vehicle's starting process, it provides start-up reminders to other road users crossing the road, improving traffic safety. It also judges the difference in lateral distance and speed for pedestrians or two-wheeled vehicles crossing the road and provides timely start-up reminders, ensuring traffic efficiency. This scenario-specific start-up reminder control better suits the application scenarios, improves reminder accuracy, reduces false triggers, and enhances the user's driving experience.

[0125] Specific limitations regarding the vehicle starting control device can be found in the limitations of the vehicle starting control method described above, and will not be repeated here. Each module in the aforementioned vehicle starting control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0126] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0127] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0128] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling vehicle starting, characterized in that, The control method is applied to a vehicle control system, which includes a detection and sensing unit, a driving assistance controller, a steering control and execution module, and a power control and execution module. The control method includes: When there is a target vehicle in front of the vehicle waiting to start in the driving road, the detection and perception unit acquires the first longitudinal distance, the first lateral distance and the duration of stillness between the target vehicle and the vehicle waiting to start, traffic lights, the current longitudinal speed of the target vehicle, and the second longitudinal distance, the second lateral distance and the current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start. Based on the first longitudinal distance, the current longitudinal speed, and the first lateral distance, the driving assistance controller determines whether the target vehicle meets the starting conditions; Based on the second longitudinal distance, the second lateral distance, and the current lateral speed, the driving assistance controller determines whether the vehicle to be started meets the conditions for suppressing start when a non-motorized vehicle or pedestrian is crossing. When the target vehicle meets the starting conditions, the starting suppression conditions do not exist, the stationary duration is greater than the preset stationary duration threshold, and the traffic light is green or there is no traffic light, the driving assistance controller controls the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle to be started.

2. The control method according to claim 1, characterized in that, The starting conditions include straight-line starting conditions and turning starting conditions. The step of the driver assistance controller determining whether the target vehicle meets the starting conditions based on the first longitudinal distance, the current longitudinal speed, and the first lateral distance includes: If the first longitudinal distance is greater than or equal to the first preset longitudinal distance threshold, the driving assistance controller determines that the target vehicle meets the conditions for starting straight. If the first longitudinal distance is less than the first preset longitudinal distance threshold and greater than the second preset longitudinal distance threshold, then the target longitudinal speed of the target vehicle is determined based on the first longitudinal distance and the inverse proportional relationship between longitudinal distance and longitudinal speed determined in advance according to the first preset longitudinal speed threshold and the first preset longitudinal distance threshold, and the second preset longitudinal speed threshold and the second preset longitudinal distance threshold; the first preset longitudinal distance threshold is greater than the second preset longitudinal distance threshold, and the first preset longitudinal speed threshold is less than the second preset longitudinal speed threshold. If the current longitudinal vehicle speed is greater than or equal to the target longitudinal vehicle speed, the driving assistance controller determines that the target vehicle meets the conditions for starting straight. If the first longitudinal distance is equal to the second preset longitudinal distance threshold, and the current longitudinal speed is greater than the second preset longitudinal speed threshold, the driving assistance controller determines that the target vehicle meets the straight-start conditions; If the first longitudinal distance is less than the first preset longitudinal distance threshold, the current longitudinal speed is less than the target longitudinal vehicle speed, and the first lateral distance is greater than the first preset lateral distance threshold, then the driving assistance controller determines that the target vehicle meets the turning start conditions.

3. The control method according to claim 1, characterized in that, The step of determining whether the vehicle to be started meets the conditions for suppressing start when a non-motorized vehicle or pedestrian crosses the road, based on the second longitudinal distance, the second lateral distance, and the current lateral speed, includes: If the second longitudinal distance is greater than the third preset longitudinal distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing. If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is greater than or equal to the second preset lateral distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing. If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is less than the second preset lateral distance threshold but greater than the third preset lateral distance threshold, then the target lateral speed of the target vehicle is determined based on the second lateral distance and the inverse proportional relationship between lateral distance and lateral speed determined in advance according to the first preset lateral speed threshold and the second preset lateral distance threshold, and the second preset lateral speed threshold and the third preset lateral distance threshold; the first preset lateral speed threshold is less than the second preset lateral speed threshold, and the second preset lateral distance threshold is greater than the third preset lateral distance threshold; If the current lateral speed is greater than or equal to the target lateral speed, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing. If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is equal to the third preset lateral distance threshold, and the current lateral speed is greater than the second preset lateral speed threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

4. The control method according to claim 1, characterized in that, The control system further includes a braking control and execution module, and the control method further includes: If the target vehicle does not meet the starting conditions, the starting suppression conditions exist, the stationary time is less than or equal to a preset stationary time threshold, or the traffic light is not green, then the driving assistance controller controls the braking control and execution module to suppress the starting operation of the vehicle to be started.

5. The control method according to claim 1, characterized in that, The control method further includes: When there is no target vehicle in front of the vehicle waiting to start in the driving road, and the starting suppression condition does not exist and the traffic light is green or there is no traffic light, the driving assistance controller controls the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle waiting to start.

6. A vehicle starting control device, characterized in that, The control device is applied to the vehicle's control system, which includes a detection and sensing unit, a driving assistance controller, a steering control and execution module, and a power control and execution module. The control device includes: The acquisition module is used to acquire, when there is a target vehicle in front of the vehicle waiting to start in the driving road, the detection and perception unit acquires the first longitudinal distance, the first lateral distance and the stationary time between the target vehicle and the vehicle waiting to start, traffic lights, the current longitudinal speed of the target vehicle, and the second longitudinal distance, the second lateral distance and the current lateral speed between the non-motorized vehicle or pedestrian and the vehicle waiting to start. The first determination module is used to determine, based on the first longitudinal distance, the current longitudinal speed and the first lateral distance, whether the target vehicle meets the starting conditions; The second determination module is used to determine, based on the second longitudinal distance, the second lateral distance and the current lateral speed, whether the vehicle to be started meets the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing. The first control module is used to control the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle to be started when the target vehicle meets the starting conditions, the starting suppression conditions do not exist, the stationary time is greater than the preset stationary time threshold, and the traffic light is green or there is no traffic light.

7. The control device according to claim 6, characterized in that, The starting conditions include straight-line starting conditions and turning starting conditions. The first determination module is specifically used for: If the first longitudinal distance is greater than or equal to the first preset longitudinal distance threshold, the driving assistance controller determines that the target vehicle meets the conditions for starting straight. If the first longitudinal distance is less than the first preset longitudinal distance threshold and greater than the second preset longitudinal distance threshold, then the target longitudinal speed of the target vehicle is determined based on the first longitudinal distance and the inverse proportional relationship between longitudinal distance and longitudinal speed determined in advance according to the first preset longitudinal speed threshold and the first preset longitudinal distance threshold, and the second preset longitudinal speed threshold and the second preset longitudinal distance threshold; the first preset longitudinal distance threshold is greater than the second preset longitudinal distance threshold, and the first preset longitudinal speed threshold is less than the second preset longitudinal speed threshold. If the current longitudinal vehicle speed is greater than or equal to the target longitudinal vehicle speed, the driving assistance controller determines that the target vehicle meets the conditions for starting straight. If the first longitudinal distance is equal to the second preset longitudinal distance threshold, and the current longitudinal speed is greater than the second preset longitudinal speed threshold, the driving assistance controller determines that the target vehicle meets the straight-start conditions; If the first longitudinal distance is less than the first preset longitudinal distance threshold, the current longitudinal speed is less than the target longitudinal vehicle speed, and the first lateral distance is greater than the first preset lateral distance threshold, then the driving assistance controller determines that the target vehicle meets the turning start conditions.

8. The control device according to claim 6, characterized in that, The second determination module is specifically used for: If the second longitudinal distance is greater than the third preset longitudinal distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing. If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is greater than or equal to the second preset lateral distance threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing. If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is less than the second preset lateral distance threshold but greater than the third preset lateral distance threshold, then the target lateral speed of the target vehicle is determined based on the second lateral distance and the inverse proportional relationship between lateral distance and lateral speed determined in advance according to the first preset lateral speed threshold and the second preset lateral distance threshold, and the second preset lateral speed threshold and the third preset lateral distance threshold; the first preset lateral speed threshold is less than the second preset lateral speed threshold, and the second preset lateral distance threshold is greater than the third preset lateral distance threshold; If the current lateral speed is greater than or equal to the target lateral speed, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing. If the second longitudinal distance is less than or equal to the third preset longitudinal distance threshold, and the second lateral distance is equal to the third preset lateral distance threshold, and the current lateral speed is greater than the second preset lateral speed threshold, the driving assistance controller determines that the vehicle to be started does not meet the condition of suppressing start when a non-motorized vehicle or pedestrian is crossing.

9. The control device according to claim 6, characterized in that, The control system further includes a braking control and execution module, and the control device further includes: The second control module is used to control the driving assistance controller to suppress the starting operation of the vehicle to be started if the target vehicle does not meet the starting conditions, the starting suppression conditions exist, the stationary time is less than or equal to a preset stationary time threshold, or the traffic light is not green.

10. The control device according to claim 6, characterized in that, The control device further includes: The third control module is used to control the steering control and execution module and the power control and execution module to perform the starting operation of the vehicle when there is no target vehicle in front of the vehicle to be started in the driving road, when there is no inhibiting start condition and the traffic light is green or there is no traffic light.

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