CN118107574A - Collision prediction-based vehicle control method and device, electronic equipment and medium - Google Patents
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Abstract
The application relates to the technical field of automobiles, and provides a vehicle control method, a device, electronic equipment and a medium based on collision prediction. The method comprises the following steps: when the front vehicle is identified to be decelerating, acquiring the relative distance and the relative speed between the target vehicle and the front and rear vehicles, and acquiring the real-time speed of the target vehicle; calculating collision time of the target vehicle and the front and rear vehicles by using the real-time vehicle speed, the relative distance and the relative speed, and determining absolute speeds of the front and rear vehicles; calculating deceleration based on the amount of change in the absolute speeds of the front and rear vehicles; determining a target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time; the speed is controlled by the target deceleration to avoid collision of the target vehicle with the front and rear vehicles. The application can furthest reduce the risk of collision of the target vehicle with the front and rear vehicles in the deceleration process in the automatic driving process of the vehicle and obviously improve the driving safety level.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a method and apparatus for controlling a vehicle, an electronic device, and a medium based on collision prediction.
Background
With the rapid development of automobile technology, modern automobiles gradually surpass the role of the modern automobiles as single mobile tools, and the modern automobiles are evolved into intelligent mobile platforms integrating a plurality of sophisticated technologies. In this context, autopilot technology is becoming the central motive force pushing the continued development of the automotive industry.
In the practical application of autopilot technology, the importance of the deceleration following function is self-evident. Particularly in complex and changeable traffic environments such as highways, autonomous vehicles must be able to accurately sense and rapidly respond to dynamic changes of the vehicles ahead to ensure driving safety. Currently, automatic driving vehicle systems rely mainly on radar and high definition cameras and other sensor devices to continuously monitor the position and speed information of the vehicle in front to maintain a proper safe distance. However, this strategy does not adequately take into account the effects that the host vehicle may have on the following vehicle during deceleration. For example, in the case where the preceding vehicle is decelerated to a large extent in a short time, if the own vehicle is decelerated to a large extent in a short time, the risk of rear-end collision by the following vehicle is extremely increased.
Disclosure of Invention
In view of the above, the embodiments of the present application provide a vehicle control method, apparatus, electronic device, and medium based on collision prediction. The method solves the problem that the prior automatic driving technology can not reasonably configure the deceleration control strategy according to the speed change of the front and rear vehicles.
In a first aspect of an embodiment of the present application, there is provided a vehicle control method based on collision prediction, including:
When the front vehicle is identified to be decelerating, acquiring the relative distance and the relative speed between the target vehicle and the front and rear vehicles, and acquiring the real-time speed of the target vehicle; calculating collision time of the target vehicle and the front and rear vehicles by using the relative distance and the relative speed, and determining absolute speeds of the front and rear vehicles by using the real-time vehicle speed and the relative speed; calculating deceleration of the front and rear vehicles based on the amount of change in the absolute speeds of the front and rear vehicles; determining a target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time; the speed of the target vehicle is controlled by the target deceleration to avoid collision of the target vehicle with the front and rear vehicles.
In a second aspect of the embodiment of the present application, there is provided a vehicle control apparatus based on collision prediction, including:
An acquisition module configured to acquire a relative distance and a relative speed of the target vehicle and the front and rear vehicles, and acquire a real-time vehicle speed of the target vehicle when it is recognized that the front vehicle is decelerating; a first determination module configured to calculate collision times of the target vehicle with the front and rear vehicles using the relative distance and the relative speed, and determine absolute speeds of the front and rear vehicles using the real-time vehicle speed and the relative speed; a calculation module configured to calculate deceleration of the front and rear vehicles based on a variation amount of absolute speeds of the front and rear vehicles; a second determination module configured to determine a target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time; and a control module configured to control a speed of the target vehicle using the target deceleration to avoid collision of the target vehicle with the front and rear vehicles.
In a third aspect of the embodiments of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
In a fourth aspect of the embodiments of the present application, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above method.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
When the front vehicle is identified to be decelerating, acquiring the relative distance and the relative speed between the target vehicle and the front and rear vehicles, and acquiring the real-time speed of the target vehicle; calculating collision time of the target vehicle and the front and rear vehicles by using the relative distance and the relative speed, and determining absolute speeds of the front and rear vehicles by using the real-time vehicle speed and the relative speed; calculating deceleration of the front and rear vehicles based on the amount of change in the absolute speeds of the front and rear vehicles; determining a target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time; the speed of the target vehicle is controlled by the target deceleration to avoid collision of the target vehicle with the front and rear vehicles. Aiming at the situation of front vehicle deceleration, particularly large-scale deceleration, the deceleration of the front vehicle and the rear vehicle and the predicted collision time are utilized to accurately select the deceleration of the target vehicle so as to realize effective regulation and control of the speed of the target vehicle. By the method, the risk of collision between the target vehicle and the front and rear vehicles in the deceleration process can be reduced to the greatest extent, and the driving safety level is obviously improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a vehicle control method based on collision prediction according to an embodiment of the present application;
Fig. 2 is a schematic structural diagram of a vehicle control device based on collision prediction according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish between different devices, modules or units, and are not intended to limit the order or interdependence of functions performed by these devices, modules or units.
It should be noted that references to "a" and "an" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
It should be noted that, the automobile in the embodiment of the present application refers to an automobile that uses a novel energy source (non-conventional petroleum and diesel energy sources) and has an advanced technology. The automobiles adopt a novel power system, so that the automobile emission can be effectively reduced, the influence on the environment is reduced, and the energy utilization efficiency is improved. The new energy automobiles of the embodiment of the application include, but are not limited to, the following types of automobiles: electric Vehicles (EVs), pure electric vehicles (BEVs), fuel Cell Electric Vehicles (FCEVs), plug-in hybrid electric vehicles (PHEVs), hybrid Electric Vehicles (HEVs), and the like.
A method, apparatus, electronic device, and medium for controlling a vehicle based on collision prediction according to an embodiment of the present application will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a vehicle control method based on collision prediction according to an embodiment of the present application. The collision prediction-based vehicle control method of fig. 1 may be performed by a complete vehicle controller of a target vehicle. As shown in fig. 1, the method includes:
s101, when the front vehicle is identified to be decelerated, acquiring the relative distance and the relative speed between the target vehicle and the front and rear vehicles, and acquiring the real-time speed of the target vehicle;
S102, calculating collision time of a target vehicle and front and rear vehicles by using the relative distance and the relative speed, and determining absolute speeds of the front and rear vehicles by using the real-time vehicle speed and the relative speed;
s103, calculating the deceleration of the front and rear vehicles based on the change amount of the absolute speeds of the front and rear vehicles;
S104, determining target deceleration of the target vehicle based on deceleration of the front and rear vehicles and collision time;
S105, controlling the speed of the target vehicle by utilizing the target deceleration so as to avoid collision between the target vehicle and the front and rear vehicles.
First, some terms involved in the present embodiment will be explained:
Relative speed: referring to a difference in speed between two or more vehicles, the speed of one vehicle relative to the other may be represented. The relative speed may be positive, indicating that one vehicle is faster than the other; or negative, indicating that one vehicle is slower than the other.
Absolute speed: the absolute speed is the speed of one vehicle itself, independent of the speed of the other vehicle.
Time of collision: the collision time refers to a time required to predict a possible collision between vehicles based on a relative distance and a relative speed between vehicles. That is, to calculate the collision time of the target vehicle with the front and rear vehicles, it is first necessary to determine the relative distance and relative speed between the target vehicle and the front and rear vehicles.
Deceleration of the front and rear vehicles: i.e., deceleration of the vehicle, indicates how fast the speed is reduced. By calculating the deceleration of the vehicle in front and behind, the running state of the vehicle and the possible safety risk can be better predicted.
Target deceleration: the speed of the target vehicle which is calculated according to the dynamic conditions of the front and rear vehicles and needs to be decelerated is referred to. By performing deceleration control on the target vehicle, occurrence of a collision accident can be effectively avoided.
In an exemplary embodiment of the present application, the relative distance of the target vehicle and the preceding vehicle is S 10, and the relative speed is V 10; the relative distance between the target vehicle and the rear vehicle is S 21, and the relative speed is V 21; the collision time between the target vehicle and the front and rear vehicles at this time can be calculated by the following formula:
Time of collision between the target vehicle and the preceding vehicle: TTL 10＝S10/V10;
Time of collision between the target vehicle and the rear vehicle: TTL 21＝S21/V21;
The real-time speed of the target vehicle is V 1, and the absolute speeds of the front vehicle and the rear vehicle can be calculated by the following calculation method:
front vehicle absolute speed V 0＝V1-V10;
Rear vehicle absolute speed V 2＝V1+V21;
For example, with the target vehicle as a reference base point, the current real-time vehicle speed of the target vehicle is V 1 =60 km/h. And the relative speed of the preceding vehicle is V 10 =20 km/h, and the relative speed of the following vehicle is V 21 =10 km/h.
According to the calculation formula in the text:
Absolute vehicle speed V 0＝V1-V10 = 60km/h-20km/h = 40km/h for the preceding vehicle;
The absolute vehicle speed V 2＝V1+V21 = 60km/h +10km/h = 70km/h for the rear vehicle.
If the vehicles start decelerating at this time, the deceleration of each vehicle can be calculated by the variation of the speed of each vehicle, and the specific calculation formula is as follows:
deceleration a 1＝dV1/dt of the target vehicle;
Front vehicle deceleration a 0＝dV0/dt;
Rear vehicle deceleration a 2＝dV2/dt;
In another example, the target vehicle may use on-board sensors (e.g., radar, cameras, etc.) to monitor the motion state of the vehicle in front, including its speed, acceleration, etc. The relative distance and relative speed are calculated by measuring the distance and speed difference between the preceding vehicle and the host vehicle. Meanwhile, the real-time speed of the target vehicle is acquired through a sensor of the vehicle or a vehicle communication system. Then, the collision time between the target vehicle and the front and rear vehicles can be estimated by using the information of the relative distance and the relative speed. The absolute speeds of the front and rear vehicles can be calculated further using the real-time speed of the target vehicle and the relative speeds of the front and rear vehicles. Deceleration of the front and rear vehicles can then be calculated by monitoring the absolute speed change of the front and rear vehicles.
The target deceleration required by the target vehicle can be determined based on the decelerations of the front and rear vehicles and the collision time. According to the target deceleration, the speed of the target vehicle is regulated and controlled by a control system of the vehicle, such as a brake system, a cruise control system and the like, so as to avoid collision with the front and rear vehicles.
The embodiment obtains the relative distance and the relative speed of the target vehicle and the front and rear vehicles when the front vehicle is identified to be decelerating, and obtains the real-time speed of the target vehicle; calculating collision time of the target vehicle and the front and rear vehicles by using the relative distance and the relative speed, and determining absolute speeds of the front and rear vehicles by using the real-time vehicle speed and the relative speed; calculating deceleration of the front and rear vehicles based on the amount of change in the absolute speeds of the front and rear vehicles; determining a target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time; the speed of the target vehicle is controlled by the target deceleration to avoid collision of the target vehicle with the front and rear vehicles. The deceleration of the target vehicle can be accurately selected by utilizing the deceleration of the front vehicle and the rear vehicle and the predicted collision time aiming at the situation of the front vehicle deceleration, particularly the large-amplitude deceleration, so as to realize the effective regulation and control of the speed of the target vehicle. By the method, the risk of collision between the target vehicle and the front and rear vehicles in the deceleration process can be reduced to the greatest extent, and the driving safety level is obviously improved.
In some embodiments, after determining the target deceleration of the target vehicle, further comprising: acquiring a braking influence factor; correcting the target deceleration based on the braking influence factors to obtain a target vehicle corrected deceleration; the speed of the target vehicle is controlled using the corrected deceleration.
Specifically, after determining the target deceleration of the target vehicle, further may include acquiring braking influence factors, correcting the target deceleration based on the factors, thereby obtaining a corrected deceleration of the target vehicle, and finally controlling the speed of the target vehicle using the corrected deceleration.
Braking influencing factors: refers to various factors that affect the ability of the vehicle to slow down including, but not limited to, road conditions, vehicle load, brake system status, etc. These factors directly affect the braking performance of the vehicle, thereby determining the deceleration of the vehicle under actual road conditions.
In one example, the deceleration of the target vehicle may be adjusted according to a braking influencing factor. For example, if the road is slippery or there is water on the road surface, the braking distance may increase, and thus the target deceleration needs to be reduced to ensure safety. In contrast, if traveling on a dry good road surface, the braking ability of the vehicle can be utilized to a greater extent, and thus the target deceleration can be increased. And adjusting the target deceleration according to the braking influence factors to obtain the corrected target vehicle deceleration. The corrected deceleration better accords with the current road condition and the vehicle state, and can better ensure the driving safety.
The present embodiment determines the target deceleration of the target vehicle by acquiring the braking influencing factor; correcting the target deceleration based on the braking influence factors to obtain a target vehicle corrected deceleration; the speed of the target vehicle is controlled using the corrected deceleration. The method for correcting the target deceleration based on the braking influence factors can be better suitable for actual road conditions and vehicle states, and further stability and safety of the vehicle in the deceleration process are improved.
Further, in some embodiments, the braking influencing factors include at least front and rear vehicle types, lane curve radius, road type, and road adhesion coefficient;
correcting the target deceleration based on the braking influencing factors to obtain a target vehicle corrected deceleration, including: based on the mapping relation between the braking influence factors and the correction coefficients, respectively determining correction coefficients corresponding to the front and rear vehicle types, the lane curve radius, the road type and the road adhesion coefficient to obtain a plurality of correction coefficients; the target deceleration is corrected based on at least one of the plurality of correction coefficients, and a corrected deceleration is obtained.
Specifically, the braking influencing factors of the present embodiment include at least the front and rear vehicle types, the lane curve radius, the road type, and the road surface adhesion coefficient. In correcting the target deceleration based on the braking influence factor, the influence of the following factors on the vehicle deceleration capacity needs to be considered.
(1) Front and rear vehicle type: different types of vehicles may have different braking properties. For example, trucks typically have longer braking distances than cars, and therefore require greater safety distances when following the truck. The correction may include adjusting the magnitude of the target deceleration according to the type of the front-rear vehicle.
(2) Lane curve radius: the radius of a lane bend can affect the inertia and steering capabilities of the vehicle, thereby affecting the braking effect. In the case of excessive bending, the braking ability of the vehicle may be lowered, and thus it is necessary to reduce the target deceleration to prevent runaway. The correction may include adjusting the magnitude of the target deceleration according to the magnitude of the lane curve radius.
(3) Road type: different types of road surfaces (such as dry asphalt, wet slippery cement or snowfield) can have an impact on the braking performance of the vehicle. In wet or snowy travel, the braking distance may increase, and thus the target deceleration needs to be reduced to ensure safety. The correction may include adjusting the magnitude of the target deceleration according to the road type.
(4) Road adhesion coefficient: the adhesion coefficient of a road surface refers to the frictional force that the road surface provides to the vehicle tires, directly affecting the braking performance of the vehicle. On a road surface with a low adhesion coefficient (such as water accumulation or gravel), the braking distance increases, and thus the target deceleration needs to be reduced to ensure safety. The correction may include adjusting the magnitude of the target deceleration according to the magnitude of the road surface adhesion coefficient.
Based on the mapping relationship between the braking influencing factors and the correction coefficients, a correction coefficient table or function may be designed in advance for correcting the target deceleration according to the actual situation. For example, combinations of different road types and road attachment coefficients may be mapped to corresponding correction coefficients, which are then further adjusted according to the lane curve radius and the front-rear vehicle type. Finally, the target deceleration is corrected according to the correction coefficient to adapt to the current road condition and vehicle state.
As an example, the mapping relationship between the brake influencing factor and the correction coefficient is shown in the following table:
The calculation formula of the corrected acceleration is as follows:
corrected acceleration= (α×β×γ×δ×epsilon) ×target acceleration;
According to the embodiment, based on the mapping relation between the braking influence factors and the correction coefficients, the correction coefficients corresponding to the front and rear vehicle types, the lane curve radius, the road type and the road adhesion coefficient are respectively determined; and correcting the target deceleration based on at least one of the front and rear vehicle types, the lane curve radius, the road type and the correction coefficient corresponding to the road adhesion coefficient to obtain the corrected deceleration. The braking stability and the safety of the vehicle under different road conditions can be improved, so that the occurrence rate of traffic accidents is effectively reduced, and the driving safety is improved.
Further, in some embodiments, determining the target deceleration of the target vehicle based on the deceleration of the front and rear vehicles and the collision time includes: and adjusting the target deceleration of the target vehicle according to the deceleration of the front vehicle and the rear vehicle and the collision time to update the collision time, so that the updated collision time accords with the preset collision time.
Specifically, when the target deceleration of the target vehicle is determined based on the decelerations of the front and rear vehicles and the collision time, the absolute speed changes of the front and rear vehicles can be monitored in real time, and the change in the decelerations thereof can be calculated.
Further, an initial target deceleration is determined based on the magnitude of the decelerations of the front and rear vehicles. The initial collision time is calculated from the decelerations of the front and rear vehicles using the initial target deceleration. And judging whether the initial collision time accords with the preset collision time. If so, the target deceleration has satisfied the demand, ending the adjustment process. If not, the next step is continued.
Further, the magnitude of the target deceleration is adjusted according to the difference between the initial collision time and the preset collision time. The specific adjustment strategy may be determined according to specific application requirements, for example by increasing or decreasing the absolute value of the target deceleration. And recalculating the collision time of the target vehicle and the front and rear vehicles by using the adjusted target deceleration. Until the updated collision time is consistent with the preset collision time, collision with the front and rear vehicles in the deceleration process is avoided to the greatest extent.
According to the method, the device and the system, the target deceleration of the target vehicle is adjusted according to the deceleration of the front vehicle and the deceleration of the rear vehicle and the collision time, so that the collision time is updated, the updated collision time accords with the preset collision time, the target deceleration of the target vehicle is adjusted step by step through updating the deceleration of the front vehicle and the deceleration of the rear vehicle, the collision time can accord with the preset collision time, the target vehicle can be prevented from colliding with the front vehicle and the rear vehicle, and the driving safety is improved.
In some embodiments, adjusting the target deceleration of the target vehicle according to the deceleration magnitudes of the front and rear vehicles and the collision time to update the collision time such that the updated collision time corresponds to the preset collision time, includes: if the deceleration of the front vehicle is smaller than the first preset deceleration, the target deceleration of the target vehicle is controlled so that the collision time of the target vehicle and the front vehicle is larger than a first preset time value, and the collision time of the target vehicle and the rear vehicle is larger than a second preset time value, wherein the first preset time value and the second preset time value are larger than a third preset time value.
Specifically, as an example, if the deceleration of the front vehicle is smaller than the first preset deceleration (for example, a 0＜-3m/s2), at this time, the target deceleration of the target vehicle may be adjusted, so as to adjust the real-time speed of the target vehicle, so that the collision time TTL 10 between the target vehicle and the front vehicle is greater than the first preset time value, and the collision time TTL 21 between the target vehicle and the rear vehicle is greater than the second preset time value, where it is required to be greater than 0 (the third preset time value). As a preferred embodiment, the first preset time value may take a value of 4 seconds and the second preset time value may take a value of 2.5 seconds, i.e. the target vehicle needs to approach the rear vehicle and be farther from the front vehicle at a greater deceleration.
It can be appreciated that the specific values of the first preset time value and the second preset time value can be calibrated by the target vehicle system or the user, which is not limited in particular.
In addition, when the target vehicle approaches the rear vehicle at a larger deceleration and is far away from the front vehicle, the warning function of the target vehicle, such as an emergency indicator light or a text reminding message displayed on the rear windshield, can be started to remind the rear vehicle of decelerating.
In another example, the target deceleration of the target vehicle may be calculated by:
(1) Calculating according to the relative relation between the target vehicle and the front vehicle:
(a first preset time value);
from the inequality transformation:
Meanwhile, the time derivative can be obtained:
(2) Calculating according to the relative relation between the target vehicle and the rear vehicle:
(a second preset time value);
from the inequality transformation:
Meanwhile, the time derivative can be obtained:
At this time, the method can be carried out by comparing (1) (2) And/>Selecting a suitable target deceleration;
When (when) Time,/>
When (when)Time,/>
In the embodiment, when the deceleration of the front vehicle is smaller than the first preset deceleration, the target deceleration of the target vehicle is controlled so that the collision time of the target vehicle and the front vehicle is larger than the first preset time value and the collision time of the target vehicle and the rear vehicle is larger than the second preset time value. Therefore, the target deceleration of the target vehicle is adjusted, the collision time of the target vehicle and the front and rear vehicles accords with the target of the preset time value, and enough reaction time is reserved for the front and rear sides as much as possible, so that potential collision risks can be effectively avoided, and the safety and stability of driving are improved.
Furthermore, in some embodiments, the method further comprises: if the deceleration of the rear vehicle is greater than the target deceleration and the collision time of the target vehicle and the rear vehicle is a second preset time value, the target deceleration of the target vehicle is controlled so that the collision time of the target vehicle and the front vehicle is adjusted to a fourth preset time value, wherein the fourth preset time value is greater than the third preset time value and less than the first preset time value.
Specifically, in the above example, after controlling the collision time of the target vehicle with the preceding vehicle to be greater than the first preset time value (4 seconds), if the deceleration of the following vehicle is greater than the target deceleration of the target vehicle at this time, and the collision time of the target vehicle with the following vehicle is the second preset time value (2 seconds),
At this time, the target deceleration of the target vehicle needs to be controlled, so that the collision time of the target vehicle and the front vehicle is adjusted to a fourth preset time value, wherein the fourth preset time value is greater than the third preset time value (0 seconds) and smaller than the first preset time value (4 seconds), and as a preferred embodiment, the fourth preset time value can take a value of 2.5 seconds to increase the collision time of the target vehicle and the rear vehicle, strive for the deceleration time to the rear vehicle to the maximum extent, and avoid the collision of the target vehicle and the rear vehicle.
In addition, if the target vehicle is too close to the preceding vehicle in the process, and the automatic driving system reaches the triggering condition of automatic emergency braking (Automatic Emergency Braking, AEB), the target deceleration of the target vehicle responds according to the deceleration request of the AEB function, so that collision between the vehicle and the preceding vehicle is avoided as much as possible.
It should be noted that, the specific calculation manner of the target deceleration may refer to the example of the above embodiment, which is not repeated herein.
In this embodiment, when the deceleration of the rear vehicle is greater than the target deceleration and the collision time between the target vehicle and the rear vehicle is the second preset time value, the target deceleration of the target vehicle is controlled so that the collision time between the target vehicle and the front vehicle is adjusted to the fourth preset time value, so that the collision time between the target vehicle and the rear vehicle can be increased, the deceleration time is strived for the rear vehicle to the maximum extent, and the collision between the target vehicle and the rear vehicle is avoided.
Additionally, in some embodiments, the method further comprises at least one of: if the detection equipment of the target vehicle is in an abnormal state, the target vehicle is controlled to send out first prompt information, wherein the first prompt information is used for prompting a driver of the target vehicle to take over the vehicle; and controlling the warning function of the target vehicle to be started so as to remind the front and rear vehicles.
Specifically, when an abnormal state occurs in the detection device of the target vehicle, the target vehicle may trigger transmission of the first prompt message to notify the driver of the target vehicle to immediately take over the vehicle control right. The prompt message can be presented through an acoustic warning in the vehicle, a text prompt on a display screen or other suitable modes, so that a driver can quickly and accurately receive the related information. At the same time, the warning function of the target vehicle will also be activated to alert the vehicle in front and rear. The warning function may include an audible prompt, a light signal, or other types of warning (e.g., turning on an emergency indicator light of the vehicle, flashing a high beam according to a preset frequency, or a long turn of a horn of the vehicle, etc.), which is intended to alert surrounding vehicles to an abnormal condition of the target vehicle, thereby reducing the risk of a potential hazard or accident.
It can be understood that the detection apparatus of the present embodiment includes, but is not limited to, a radar apparatus and an image pickup apparatus configured for a target vehicle, and may also include other types of sensors such as an ultrasonic sensor, an infrared sensor, a laser sensor, and the like.
In addition, if the driver cannot take over or deal with the abnormal state in time, the target vehicle can trigger the sending of the second prompt information so as to request the help of surrounding vehicles or ask for help in an alarm manner.
As an example, the target vehicle is an autonomous car equipped with an advanced driving assistance system, and radar, cameras, and other sensors may be used to monitor the surrounding environment. The vehicle is traveling on a highway and the driver places the autopilot mode in an active state. Due to some kind of malfunction, the sensor system of the vehicle is abnormal, and surrounding vehicles and road conditions cannot be accurately perceived. In this case, the car will take at least one of the following measures:
(1) The target vehicle immediately sounds an audible alert to the driver and a red warning is displayed on the dashboard. This alert may be an emergency signal informing the driver to check and take over vehicle control. For example, a voice prompt may say: the driver, please take over the vehicle immediately, the system detects the fault and can not continue the automatic driving. "
(2) The target vehicle will activate its warning function, for example, flashing a warning light, sounding a sound signal, or displaying a warning message at the rear of the vehicle. Other surrounding vehicles are made aware that the vehicle is in an abnormal state, and take necessary actions to maintain a safe distance or avoid the vehicle.
In addition, the target vehicles can also send wireless signals to surrounding vehicles through the vehicle-mounted communication system to remind the surrounding vehicles of abnormal states of the target vehicles. Such communication may be standard inter-vehicle communication, broadcast through a traffic management system, or notification to other drivers through a smart phone application.
When the detection equipment of the target vehicle is in an abnormal state, the first prompt message is sent out by controlling the target vehicle, wherein the first prompt message is used for prompting a driver of the target vehicle to take over the vehicle; and controlling the warning function of the target vehicle to be started so as to remind the front and rear vehicles. It is ensured that when an abnormality occurs in the detection device of the target vehicle, the driver can timely recognize the problem and take necessary measures to safely take over the vehicle control. Meanwhile, the starting of the warning function of the target vehicle is also helpful for improving the cognition of surrounding vehicles on the abnormal state of the target vehicle. Other vehicle drivers will receive explicit alerts, know that the target vehicle may have potential problems, and can take appropriate action, such as slowing down, maintaining a safe distance, or avoiding the target vehicle, thereby reducing the likelihood of traffic accidents.
Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein.
It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution sequence, and the execution sequence of each process should be determined by the function and the internal logic of each process, and should not be construed as limiting the process in the embodiment of the present application.
Fig. 2 is a schematic diagram of a vehicle control device based on collision prediction according to an embodiment of the present application.
As shown in fig. 2, the apparatus includes:
An acquisition module 201 configured to acquire a relative distance and a relative speed of the target vehicle from the front and rear vehicles, and acquire a real-time vehicle speed of the target vehicle when it is recognized that the front vehicle is decelerating;
a first determination module 202 configured to calculate collision times of the target vehicle with the front and rear vehicles using the relative distance and the relative speed, and determine absolute speeds of the front and rear vehicles using the real-time vehicle speed and the relative speed;
a calculation module 203 configured to calculate deceleration of the front and rear vehicles based on the amount of change in the absolute speeds of the front and rear vehicles;
A second determination module 204 configured to determine a target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time;
the control module 205 is configured to control the speed of the target vehicle using the target deceleration to avoid collision of the target vehicle with the front and rear vehicles.
In some embodiments, the second determination module 204 is further configured to obtain a braking influencing factor; correcting the target deceleration based on the braking influence factors to obtain a target vehicle corrected deceleration; the speed of the target vehicle is controlled using the corrected deceleration.
In some embodiments, the braking influencing factors at least include a front vehicle type, a rear vehicle type, a lane curve radius, a road type, and a road adhesion coefficient, and the second determining module 204 is further configured to determine correction coefficients corresponding to the front vehicle type, the rear vehicle type, the lane curve radius, the road type, and the road adhesion coefficient, respectively, based on a mapping relationship between the braking influencing factors and the correction coefficients, to obtain a plurality of correction coefficients; the target deceleration is corrected based on at least one of the plurality of correction coefficients, and a corrected deceleration is obtained.
In some embodiments, the second determining module 204 is further configured to adjust the target deceleration of the target vehicle according to the deceleration levels of the front and rear vehicles and the collision time, so as to update the collision time, so that the updated collision time conforms to the preset collision time.
In some embodiments, the second determining module 204 is further configured to control the target deceleration of the target vehicle such that the collision time of the target vehicle with the front vehicle is greater than a first preset time value and the collision time of the target vehicle with the rear vehicle is greater than a second preset time value if the deceleration of the front vehicle is less than a first preset deceleration, wherein the first preset time value and the second preset time value are greater than a third preset time value.
In some embodiments, the second determining module 204 is further configured to control the target deceleration of the target vehicle such that the collision time of the target vehicle with the front vehicle is adjusted to a fourth preset time value if the deceleration of the rear vehicle is greater than the target deceleration and the collision time of the target vehicle with the rear vehicle is a second preset time value, where the fourth preset time value is greater than the third preset time value and less than the first preset time value.
In some embodiments, the control module 205 is further configured to control the target vehicle to send out a first prompt message if the detection device of the target vehicle is in an abnormal state, where the first prompt message is used to prompt the driver of the target vehicle to take over the vehicle; and controlling the warning function of the target vehicle to be started so as to remind the front and rear vehicles.
The device provided by the embodiment of the application can realize all the method steps of the method embodiment and achieve the same technical effects, and is not described herein.
Fig. 3 is a schematic diagram of an electronic device 3 according to an embodiment of the present application. As shown in fig. 3, the electronic apparatus 3 of this embodiment includes: a processor 301, a memory 302 and a computer program 303 stored in the memory 302 and executable on the processor 301. The steps of the various method embodiments described above are implemented when the processor 301 executes the computer program 303. Or the processor 301 when executing the computer program 303 performs the functions of the modules/units in the above-described device embodiments.
The electronic device 3 may be an electronic device such as a desktop computer, a notebook computer, a palm computer, or a cloud server. The electronic device 3 may include, but is not limited to, a processor 301 and a memory 302. It will be appreciated by those skilled in the art that fig. 3 is merely an example of the electronic device 3 and is not limiting of the electronic device 3 and may include more or fewer components than shown, or different components.
The Processor 301 may be a central processing unit (Central Processing Unit, CPU) or other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.
The memory 302 may be an internal storage unit of the electronic device 3, for example, a hard disk or a memory of the electronic device 3. The memory 302 may also be an external storage device of the electronic device 3, for example, a plug-in hard disk provided on the electronic device 3, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. The memory 302 may also include both internal storage units and external storage devices of the electronic device 3. The memory 302 is used to store computer programs and other programs and data required by the electronic device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.
The integrated modules/units may be stored in a readable storage medium if implemented in the form of software functional units and sold or used as stand-alone products. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a readable storage medium, where the computer program may implement the steps of the method embodiments described above when executed by a processor. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A vehicle control method based on collision prediction, characterized by comprising:
when the front vehicle is identified to be decelerating, acquiring the relative distance and the relative speed between the target vehicle and the front and rear vehicles, and acquiring the real-time speed of the target vehicle;
Calculating collision time of the target vehicle with the front and rear vehicles by using the relative distance and the relative speed, and determining absolute speeds of the front and rear vehicles by using the real-time vehicle speed and the relative speed;
Calculating deceleration of the front and rear vehicles based on the amount of change in the absolute speeds of the front and rear vehicles;
Determining a target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time;
And controlling the speed of the target vehicle by utilizing the target deceleration so as to avoid collision between the target vehicle and the front and rear vehicles.
2. The method according to claim 1, characterized in that after the determination of the target deceleration of the target vehicle, further comprises:
Acquiring a braking influence factor;
Correcting the target deceleration based on the braking influence factors to obtain corrected deceleration of the target vehicle;
And controlling the speed of the target vehicle by using the corrected deceleration.
3. The method of claim 2, wherein the braking influencing factors include at least front and rear vehicle types, lane curve radius, road type, and road adhesion coefficient;
The correcting the target deceleration based on the braking influence factor to obtain the target vehicle corrected deceleration includes:
based on the mapping relation between the braking influence factors and the correction coefficients, respectively determining the correction coefficients corresponding to the front and rear vehicle types, the lane curve radius, the road type and the road adhesion coefficient to obtain a plurality of correction coefficients;
And correcting the target deceleration based on at least one of the plurality of correction coefficients to obtain the corrected deceleration.
4. The method according to claim 1, characterized in that the determining the target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time includes:
And adjusting the target deceleration of the target vehicle according to the deceleration of the front vehicle and the rear vehicle and the collision time so as to update the collision time and enable the updated collision time to accord with the preset collision time.
5. The method of claim 4, wherein adjusting the target deceleration of the target vehicle according to the deceleration levels of the front and rear vehicles and the collision time to update the collision time such that the updated collision time corresponds to a preset collision time comprises:
And if the deceleration of the front vehicle is smaller than the first preset deceleration, controlling the target deceleration of the target vehicle so that the collision time of the target vehicle and the front vehicle is larger than a first preset time value, and the collision time of the target vehicle and the rear vehicle is larger than a second preset time value, wherein the first preset time value and the second preset time value are larger than a third preset time value.
6. The method of claim 5, wherein the method further comprises:
and if the deceleration of the rear vehicle is greater than the target deceleration and the collision time of the target vehicle and the rear vehicle is the second preset time value, controlling the target deceleration of the target vehicle so that the collision time of the target vehicle and the front vehicle is adjusted to a fourth preset time value, wherein the fourth preset time value is greater than the third preset time value and smaller than the first preset time value.
7. The method of claim 1, further comprising at least one of:
If the detection equipment of the target vehicle is in an abnormal state, controlling the target vehicle to send out first prompt information, wherein the first prompt information is used for prompting a driver of the target vehicle to take over the vehicle;
and controlling the warning function of the target vehicle to be started so as to remind the front and rear vehicles.
8. A vehicle control apparatus based on collision prediction, characterized by comprising:
an acquisition module configured to acquire a relative distance and a relative speed of a target vehicle from front and rear vehicles, and acquire a real-time vehicle speed of the target vehicle when it is recognized that the front vehicle is decelerating;
A first determination module configured to calculate collision times of the target vehicle with the front and rear vehicles using the relative distance and the relative speed, and determine absolute speeds of the front and rear vehicles using the real-time vehicle speed and the relative speed;
A calculation module configured to calculate deceleration of the front and rear vehicles based on a variation amount of absolute speeds of the front and rear vehicles;
A second determination module configured to determine a target deceleration of the target vehicle based on the decelerations of the front and rear vehicles and the collision time;
And a control module configured to control a speed of the target vehicle using the target deceleration to avoid collision of the target vehicle with the front and rear vehicles.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.
10. A readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.
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| CN202410283992.7A CN118107574A (en) | 2024-03-13 | 2024-03-13 | Collision prediction-based vehicle control method and device, electronic equipment and medium |
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| CN202410283992.7A CN118107574A (en) | 2024-03-13 | 2024-03-13 | Collision prediction-based vehicle control method and device, electronic equipment and medium |
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