WO2024222554A1 - Vehicle control method and apparatus, electronic device, vehicle, and storage medium - Google Patents

Abstract

Disclosed are a vehicle control method and apparatus, an electronic device, a vehicle, a storage medium, a computer program product, and a computer program. The method comprises: detecting position information, relative to a vehicle, of each object in a preset range in a vehicle driving process; when it is detected that the position information of a target object relative to the vehicle meets a collision condition, determining a target duration, the target duration being a duration in which the target object is continuously detected by the vehicle before it is detected that the position information of the target object relative to the vehicle meets the collision condition; when the target duration is longer than or equal to an untrusted duration, triggering the vehicle to perform automatic emergency braking; and when the target duration is shorter than the untrusted duration, controlling the vehicle to keep a driving state.

Description

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

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese patent application No. 202310445905.9 filed in China on April 23, 2023, the entire contents of which are incorporated herein by reference.

Technical Field

The embodiments of the present disclosure relate to the field of automobile technology, and in particular to a vehicle control method, device, electronic device, vehicle, storage medium, computer program product, and computer program.

Background Art

Autonomous Emergency Braking (AEB) means that when an emergency condition occurs and the distance between the target object and the vehicle is less than the safe distance during normal driving, the vehicle will actively brake (brake for short), thereby avoiding or reducing the occurrence of rear-end collisions and other collisions, and improving driving safety. However, due to the complex actual driving environment of the vehicle, the vehicle may perform automatic emergency braking without an emergency condition for various reasons, that is, the phenomenon of false triggering of AEB occurs. False triggering leads to poor user experience and may even easily cause traffic accidents. Therefore, how to reduce false triggering of AEB has become an urgent problem to be solved.

Summary of the invention

The embodiments of the present disclosure provide a vehicle control method, apparatus, electronic device, vehicle, storage medium, computer program product and computer program, which can reduce the misjudgment of vehicle operating conditions and thereby reduce the false triggering of an automatic emergency braking system.

In a first aspect, an embodiment of the present disclosure provides a vehicle control method, including: detecting position information of each object within a preset range relative to the vehicle during vehicle driving; determining a target time when it is detected that the position information of the target object relative to the vehicle satisfies a collision condition, the target time being the time during which the target object is continuously detected by the vehicle before it is detected that the position information of the target object relative to the vehicle satisfies the collision condition; triggering the vehicle to perform automatic emergency braking when the target time is greater than or equal to the untrusted time; and controlling the vehicle to keep driving when the target time is less than the untrusted time.

In some embodiments, when it is detected that the position information of the target object relative to the vehicle satisfies the collision condition, before determining the target time, the method further includes: determining at least one reference object from the objects within the preset range detected by the vehicle at the target moment, the at least one reference object being part of or all of the objects within the preset range detected by the vehicle at the target moment; obtaining motion information of each reference object in the at least one reference object within a preset time, the preset time being the time after the target moment or the time before the target moment; based on each reference object Based on the motion information within a preset time period, at least one stable reference object is determined from at least one reference object, and the change amount of each stable reference object in the motion information within the preset time period is less than or equal to the change amount threshold; according to the target range where the ratio of the number of stable reference objects to the total number is located, the untrusted time period corresponding to the target range is determined, and the total number is the number of objects detected within a predetermined time period before the target moment, or the total number is the number of objects detected within the preset time period.

In some embodiments, determining at least one reference object includes: counting the duration for which each object within a preset range detected by the vehicle at the target moment has been continuously detected before the target moment; and determining, as a reference object, an object among the objects within a preset range detected by the vehicle at the target moment that has been continuously detected for a duration greater than or equal to a duration threshold.

In some embodiments, the motion information includes: a lateral speed of the reference object relative to the vehicle, and a longitudinal speed of the reference object relative to the vehicle; based on the motion information of each reference object within a preset time length, determining at least one stable reference object from at least one reference object, including: determining the variance of the lateral speed and the variance of the longitudinal speed corresponding to each reference object based on the lateral speed of each reference object relative to the vehicle and the longitudinal speed of each reference object within the preset time length; determining a reference object that meets a target condition among the at least one reference object as at least one stable reference object, and the target condition includes: the variance of the lateral speed is less than or equal to a lateral speed variance threshold, and the variance of the longitudinal speed is less than or equal to a longitudinal speed variance threshold.

In some embodiments, the motion information also includes: a lateral distance of the reference object relative to the vehicle, and a longitudinal distance of the reference object relative to the vehicle; based on the motion information of each reference object within a preset time length, determining at least one stable reference object from at least one reference object, and also including: based on the lateral distance of each reference object relative to the vehicle and the longitudinal distance relative to the vehicle within a preset time length, determining the variance of the lateral distance and the variance of the longitudinal distance corresponding to each reference object; the target condition also includes: the variance of the lateral distance is less than or equal to the lateral distance variance threshold, and the variance of the longitudinal distance is less than or equal to the longitudinal distance variance threshold.

In some embodiments, based on the target range in which the ratio of the number of stable reference objects to the total number is located, determining the untrusted time length corresponding to the target range includes: determining the target range in which the ratio of the number of stable reference objects to the total number is located; when the target range is the first range, determining the first preset time length corresponding to the first range as the untrusted time length; when the target range is the second range, determining the second preset time length corresponding to the second range as the untrusted time length; when the target range is the third range, determining the third preset time length corresponding to the third range as the untrusted time length; wherein any value within the first range is greater than any value within the second range, any value within the second range is greater than any value within the third range, the first preset time length is greater than the second preset time length, and the second preset time length is greater than the third preset time length.

In some embodiments, according to the target range where the ratio of the number of stable reference objects to the total number is located, determining the untrusted duration corresponding to the target range includes: determining the target range where the ratio of the number of stable reference objects to the total number is located; when the target range is the first range, determining the sum of the target preset duration and the target offset as the untrusted duration; When the target range is the second range, the target preset duration is determined as the untrusted duration; when the target range is the third range, the difference between the target preset duration and the target offset is determined as the untrusted duration; wherein, any value within the first range is greater than any value within the second range, and any value within the second range is greater than any value within the third range, and the target offset is the product of the ratio, the target preset duration and the preset coefficient, and the preset coefficient is greater than 0 and less than or equal to 1.

In some embodiments, after determining the untrusted time length corresponding to the target range based on the target range of the ratio of the number of stable reference objects to the total number, the method also includes: when the ratio is greater than or equal to a first threshold, adjusting the following distance of the vehicle in the automatic driving state to a first distance, the first distance being less than a preset following distance; when the ratio is less than the first threshold and greater than or equal to a second threshold, controlling the following distance to maintain the preset following distance, the second threshold being less than the first threshold; when the ratio is less than the second threshold, adjusting the following distance to a second distance, the second distance being greater than the preset following distance.

In a second aspect, an embodiment of the present disclosure provides a vehicle control device, including: a detection module, for detecting position information of each object within a preset range relative to the vehicle during the vehicle's driving process; a determination module, for determining a target duration when it is detected that the position information of the target object relative to the vehicle satisfies a collision condition, the target duration being the duration during which the target object is continuously detected by the vehicle before it is detected that the position information of the target object relative to the vehicle satisfies the collision condition; a trigger module, for triggering the vehicle to perform automatic emergency braking when the target duration is greater than or equal to the untrusted duration; and a control module, for controlling the vehicle to keep driving when the target duration is less than the untrusted duration.

In some embodiments, the vehicle control device further includes: an acquisition module; the determination module is further used to determine at least one reference object from various objects within a preset range detected by the vehicle at the target time before determining the target time when it is detected that the position information of the target object relative to the vehicle meets the collision condition, and the at least one reference object is a part of or all of the various objects within the preset range detected by the vehicle at the target time; the acquisition module is used to obtain the motion information of each reference object in the at least one reference object within the preset time, and the preset time is the time after the target time or the time before the target time; the determination module is further used to determine at least one stable reference object from the at least one reference object based on the motion information of each reference object within the preset time, and each stable reference object is a stable reference object whose change in motion information within the preset time is less than or equal to a change threshold; the determination module is further used to determine the untrusted time corresponding to the target range according to the target range where the ratio of the number of stable reference objects to the total number is located, and the total number is the number of objects detected within the predetermined time before the target time, or the total number is the number of objects detected within the preset time.

In some embodiments, the vehicle control device also includes: a statistical module; the statistical module is used to count the duration of continuous detection of each object within a preset range detected by the vehicle at the target moment before the target moment; the determination module is specifically equivalent to determining an object among the objects within the preset range detected by the vehicle at the target moment, whose continuous detection duration is greater than or equal to a duration threshold, as a reference object.

In some embodiments, the motion information includes: the lateral velocity of the reference object relative to the vehicle, and the relative The method further comprises the steps of: determining a lateral speed variance and a longitudinal speed variance of each reference object based on a lateral speed of each reference object relative to the vehicle and a longitudinal speed of each reference object relative to the vehicle within a preset time period; determining a reference object that meets a target condition among at least one reference object as at least one stable reference object, wherein the target condition includes: a lateral speed variance is less than or equal to a lateral speed variance threshold, and a longitudinal speed variance is less than or equal to a longitudinal speed variance threshold.

In some embodiments, the motion information also includes: a lateral distance of the reference object relative to the vehicle, and a longitudinal distance of the reference object relative to the vehicle; the determination module is specifically used to determine the variance of the lateral distance and the variance of the longitudinal distance corresponding to each reference object based on the lateral distance and the longitudinal distance of each reference object relative to the vehicle within a preset time length; the target condition also includes: the variance of the lateral distance is less than or equal to the lateral distance variance threshold, and the variance of the longitudinal distance is less than or equal to the longitudinal distance variance threshold.

In some embodiments, the determination module is specifically used to determine a target range for the ratio of the number of stable reference objects to the total number; when the target range is a first range, a first preset time length corresponding to the first range is determined as an untrusted time length; when the target range is a second range, a second preset time length corresponding to the second range is determined as an untrusted time length; when the target range is a third range, a third preset time length corresponding to the third range is determined as an untrusted time length; wherein, any value within the first range is greater than any value within the second range, any value within the second range is greater than any value within the third range, the first preset time length is greater than the second preset time length, and the second preset time length is greater than the third preset time length.

In some embodiments, the determination module is specifically used to determine the target range of the ratio of the number of stable reference objects to the total number; when the target range is the first range, the sum of the target preset time and the target offset is determined as the untrusted time; when the target range is the second range, the target preset time is determined as the untrusted time; when the target range is the third range, the difference between the target preset time and the target offset is determined as the untrusted time; wherein, any value within the first range is greater than any value within the second range, and any value within the second range is greater than any value within the third range, and the target offset is the product of the ratio, the target preset time and a preset coefficient, and the preset coefficient is greater than 0 and less than or equal to 1.

In some embodiments, the vehicle control device also includes: an adjustment module; the adjustment module is used to, after determining the untrusted time length corresponding to the target range based on the ratio of the number of stable reference objects to the total number, adjust the following distance of the vehicle in the automatic driving state to a first distance when the ratio is greater than or equal to a first threshold, and the first distance is less than a preset following distance; the control module is also used to control the following distance to maintain the preset following distance when the ratio is less than the first threshold and greater than or equal to a second threshold, and the second threshold is less than the first threshold; the adjustment module is also used to adjust the following distance to a second distance when the ratio is less than the second threshold, and the second distance is greater than the preset following distance.

In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor, the processor being configured to execute a computer program stored in a memory, the computer program being executed by the processor to implement any of the embodiments of the first aspect of the present disclosure The steps of the vehicle control method provided in the embodiment.

In a fourth aspect, an embodiment of the present disclosure provides a vehicle, comprising: a vehicle control device provided by any embodiment of the second aspect of the present disclosure, or an electronic device provided by any embodiment of the third aspect of the present disclosure.

In a fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle control method provided in any embodiment of the first aspect of the present disclosure are implemented.

In a sixth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the vehicle control method provided in any embodiment of the first aspect of the present disclosure.

In the seventh aspect, an embodiment of the present disclosure provides a computer program, including a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method provided in any embodiment of the first aspect of the present disclosure.

In the technical solution provided by the embodiment of the present disclosure, in the embodiment of the present disclosure, the position information of each object within a preset range relative to the vehicle is detected during the driving process of the vehicle; when it is detected that the position information of the target object relative to the vehicle meets the collision condition, the target duration is determined, and the target duration is the duration for which the target object is continuously detected by the vehicle before the position information of the target object relative to the vehicle meets the collision condition; when the target duration is greater than or equal to the untrusted duration, the vehicle is triggered to perform automatic emergency braking; when the target duration is less than the untrusted duration, the vehicle is controlled to maintain the driving state. If the target duration for which the target object is continuously detected is less than the untrusted duration, the vehicle emergency braking will not be triggered. When the vehicle detects a new object, the position information of the new object obtained in the initial stage may be inaccurate. If the inaccurate position information is transmitted to the control module, the control module may misjudge the dangerous working condition based on the inaccurate position information, and ultimately cause the AEB system to be mistriggered. Therefore, when it is determined that the position information of the target object meets the collision condition, this scheme does not directly trigger the vehicle's AEB system, but ensures that the target object is continuously detected for a target time that is greater than or equal to the untrusted time, so as to ensure that the acquired position information of the target object is more accurate, thereby making the vehicle's operating condition determined based on the more accurate position information more accurate, reducing the occurrence of false triggering of AEB due to inaccurate position information of the new object acquired, thereby reducing the false triggering rate of vehicle AEB and improving the user experience.

BRIEF DESCRIPTION OF THE DRAWINGS

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

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

FIG1 is a schematic flow chart of a vehicle control method provided by an embodiment of the present disclosure;

FIG2 is a flow chart of another vehicle control method provided by an embodiment of the present disclosure;

FIG3 is a flow chart of another vehicle control method provided by an embodiment of the present disclosure;

FIG4 is a schematic flow chart of another vehicle control method provided by an embodiment of the present disclosure;

FIG5 is a schematic flow chart of another vehicle control method provided by an embodiment of the present disclosure;

FIG6 is a flow chart of another vehicle control method provided by an embodiment of the present disclosure;

FIG7 is a schematic flow chart of another vehicle control method provided by an embodiment of the present disclosure;

FIG8 is a schematic flow chart of another vehicle control method provided by an embodiment of the present disclosure;

FIG9 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present disclosure;

FIG. 10 is a block diagram of the hardware structure of an electronic device provided in an embodiment of the present disclosure.

DETAILED DESCRIPTION

In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

The technical solution of the embodiment of the present disclosure is explained in detail below through several specific embodiments.

FIG1 is a flow chart of a vehicle control method provided in an embodiment of the first aspect of the present disclosure. As shown in FIG1 , the method may include the following steps 101 to 104 .

101. Detect position information of various objects within a preset range relative to the vehicle during the driving process of the vehicle.

In some embodiments, the preset range is the entire or partial range that can be monitored by sensors disposed outside the vehicle.

In some embodiments, during the driving process of the vehicle, multiple sensors arranged outside the vehicle continuously collect environmental information around the vehicle. The sensor may be: a camera, an infrared sensor, a radar sensor, an ultrasonic sensor, etc. The multiple sensors may be sensors of the same type (e.g., each sensor in the multiple sensors is a camera), or a combination of various types of sensors (e.g., the multiple sensors include cameras and infrared sensors).

In some embodiments, each object refers to all traffic participants within a preset range during the vehicle's driving process, such as other vehicles, pedestrians, motorcycles, baby carriages, etc.

102. When it is detected that the position information of the target object relative to the vehicle satisfies the collision condition, determine the target duration.

The target duration is the duration for which the target object is continuously detected by the vehicle before the position information of the target object relative to the vehicle satisfies the collision condition.

In some embodiments, the target object is any object within a preset range during vehicle driving.

In some embodiments, the position information of the target object relative to the vehicle satisfies the collision conditions, specifically, may include at least one of the following: the lateral (direction perpendicular to the direction of travel of the vehicle) distance of the target object relative to the vehicle satisfies the minimum lateral collision distance, the lateral collision time of the target object relative to the vehicle satisfies the minimum lateral collision time, the longitudinal (direction parallel to the direction of travel of the vehicle) distance of the target object relative to the vehicle satisfies the minimum longitudinal collision distance, and the longitudinal collision time of the target object relative to the vehicle satisfies the minimum longitudinal collision time.

Specifically, the longitudinal collision time refers to the time required for the target object to collide with the vehicle in the direction of travel, and the longitudinal collision time is the ratio of the longitudinal distance between the target object and the vehicle to the longitudinal relative speed between the target object and the vehicle; the lateral collision time refers to the time required for the target object to collide with the vehicle in the lateral direction, and the lateral collision time is the ratio of the lateral distance between the target object and the vehicle to the lateral relative speed between the target object and the vehicle.

In some embodiments, among false triggers, there is a type of false triggering that is caused by the sensor's inaccurate judgment of the information of the newly detected object in the initial stage, and then the inaccurate information is transmitted to the control module. The control module may misjudge the dangerous working condition based on the inaccurate information, and finally cause the AEB system to be falsely triggered. Therefore, in order to reduce the occurrence of false triggering events caused by this situation, when the sensor detects a new object, the information of the new object collected within the untrusted period (the untrusted period after the first detection of the new target) is identified as untrusted information. In one case, the sensor does not transmit the untrusted information to the control module; in another case, the sensor transmits the untrusted information to the control module, and the control module only records the processing result obtained by processing the untrusted information, but does not trigger the AEB system based on the processing result.

In some embodiments, the target duration is the duration that the target object is continuously detected by the vehicle before the position information of the target object relative to the vehicle satisfies the collision condition. In other words, the triggering of the AEB system must meet the following two conditions: First, the position information of the target object relative to the vehicle satisfies the collision condition; Second, the duration that the target object continuously exists within the preset range of the vehicle is greater than or equal to the untrusted duration.

103. When the target duration is greater than or equal to the untrusted duration, the vehicle is triggered to perform automatic emergency braking.

104. When the target duration is less than the untrusted duration, control the vehicle to keep moving.

In some embodiments, the untrusted time period may be a fixed time period determined based on experience, or a dynamically changing time period determined based on the vehicle driving environment. The specific time period is determined based on actual conditions and is not limited in the embodiments of the present disclosure.

In some embodiments, the untrusted time is a fixed time of 200ms (determined based on experience). The untrusted time is 100ms, 200ms or 300ms (determined based on the driving environment of the vehicle). For example, the untrusted time is determined based on the change in relative speed between the reference object around the vehicle and the vehicle. When the change in relative speed is less than or equal to the first change threshold, the untrusted time is determined to be 300ms; when the change in relative speed is greater than the first change threshold and less than or equal to the second change threshold, the untrusted time is determined to be 200ms; when the change in relative speed is greater than the second change threshold, the untrusted time is determined to be 100ms, and the first change threshold is less than the second change threshold. quantitative threshold; the vehicle driving environment may also be reflected by the change in the relative distance between the reference objects around the vehicle and the vehicle.

In some embodiments, when the target duration is less than the untrusted duration, the vehicle is controlled to keep driving, that is, the target duration for which the target object is continuously detected is short, and the position information of the target object relative to the vehicle obtained by the sensor in the initial stage is considered untrustworthy.

In some embodiments, when the target duration is less than the untrusted time, the vehicle is controlled to maintain the driving state, that is, when the target duration is less than the untrusted time, the vehicle continues to drive.

In some embodiments, when the target duration is less than the untrusted time, the vehicle is controlled to maintain the driving state. Specifically, when the target duration is less than the untrusted time, the vehicle is controlled to maintain the current speed; when the target duration is less than the untrusted time, the vehicle is controlled to travel at a speed of a first preset percentage of the current speed; when the target duration is less than the untrusted time, the vehicle is controlled to maintain the current speed and output a prompt message to remind the driver that there is a possible risk of collision.

In some embodiments, the method of outputting prompt information can be to display the prompt information on the vehicle screen, to broadcast the prompt information by voice, or to display the prompt information on the dashboard with specific symbols; the specific method of outputting prompt information is not limited in the embodiments of the present disclosure.

In the disclosed embodiment, the position information of each object within a preset range relative to the vehicle is detected during the driving process of the vehicle; when it is detected that the position information of the target object relative to the vehicle satisfies the collision condition, the target duration is determined, and the target duration is the duration for which the target object is continuously detected by the vehicle before it is detected that the position information of the target object relative to the vehicle satisfies the collision condition; when the target duration is greater than or equal to the untrusted duration, the vehicle is triggered to perform automatic emergency braking; when the target duration is less than the untrusted duration, the vehicle is controlled to maintain driving. If the target duration for which the target object is continuously detected is less than the untrusted duration, the vehicle emergency braking will not be triggered. When the vehicle detects a new object, the position information of the new object acquired in the initial stage may be inaccurate. If the inaccurate position information is transmitted to the control module, the control module may misjudge the dangerous condition based on the inaccurate position information, and ultimately cause the AEB system to be mistriggered. Therefore, when it is determined that the position information of the target object meets the collision condition, this scheme does not directly trigger the vehicle's AEB system, but ensures that the target object is continuously detected for a target time that is greater than or equal to the untrusted time, so as to ensure that the acquired position information of the target object is more accurate, thereby making the vehicle's operating condition determined based on the more accurate position information more accurate, reducing the occurrence of false triggering of AEB due to inaccurate position information of the new object acquired, thereby reducing the false triggering rate of vehicle AEB and improving the user experience.

In some embodiments of the present disclosure, as shown in FIG. 2 , after the above step 101 and before step 102 , the vehicle control method provided by the present disclosure further includes the following steps 105 to 108 .

105. Determine at least one reference object from objects within a preset range detected by the vehicle at a target time.

Among them, at least one reference object is a part of each object within a preset range detected by the vehicle at the target time. object or all objects.

In some embodiments, at least one reference object is determined, specifically, the distance between each reference object and the vehicle is less than or equal to a distance threshold, and/or the duration for which each reference object is continuously detected before the target time is greater than or equal to a duration threshold. The duration threshold can be preset.

106. Obtain motion information of each reference object in at least one reference object within a preset time period.

The target time is the starting time of a preset period (such as the period for updating the untrusted time), and the preset time is a time shorter than one period. The preset time can be after the target time or before the target time.

In some embodiments, if there is a reference object in at least one reference object whose motion information cannot be obtained, that is, the vehicle cannot detect the reference object within a preset time period, the reference object is removed from the at least one reference object.

107. Determine at least one stable reference object from at least one reference object based on motion information of each reference object within a preset time period.

Among them, each stable reference object has a motion information change within a preset time period that is less than or equal to a change threshold.

In some embodiments, based on the motion information of each reference object within a preset time period, at least one stable reference object is determined from at least one reference object, specifically, including the following two situations:

The motion information includes: speed information of the reference object relative to the vehicle, based on the speed information of each reference object relative to the vehicle within a preset time period before the target moment, a reference object whose speed information relative to the vehicle within the preset time period changes less than or equal to a speed change threshold is determined as a stable reference object; or, based on the speed information of each reference object relative to the vehicle within a preset time period after the target moment, a reference object whose speed information relative to the vehicle within the preset time period changes less than or equal to a speed change threshold is determined as a stable reference object;

The motion information includes: speed information of the reference object relative to the vehicle and distance information of the reference object relative to the vehicle. Based on the speed information and distance information of each reference object relative to the vehicle within a preset time period before the target moment, the reference object whose speed information change relative to the vehicle within the preset time period is less than or equal to a speed change threshold, and whose distance information change relative to the vehicle is less than or equal to a distance threshold, is determined to be a stable reference object; or, based on the speed information of each reference object relative to the vehicle within a preset time period after the target moment, the reference object whose speed information change relative to the vehicle within the preset time period is less than or equal to a speed change threshold, and whose distance information change relative to the vehicle is less than or equal to a distance threshold, is determined to be a stable reference object.

108. According to the target range of the ratio of the number of stable reference objects to the total number, determine the untrustworthy time corresponding to the target range.

The total number is the number of objects detected within a predetermined time period before the target moment, or the total number is the number of objects detected within a preset time period. The target range is a preset value range, and the target range corresponds to the untrusted time period.

In some embodiments, the vehicle periodically updates the untrusted time while driving, and the target time is every week. The starting time of the period, the preset duration is less than the duration of one cycle, and the predetermined duration is the duration of one cycle. For example, if the untrusted duration is updated every one second, the untrusted duration is calculated and updated in the first second after the vehicle starts to travel. After the update is completed, a 1s timer is started. When the timer reaches 1s, the untrusted duration is calculated and updated again. After the update is completed, the 1s timer is started again. By analogy, the untrusted duration is updated periodically during the vehicle's travel.

In some embodiments, the total number is the number of objects detected within a preset time period. There are two cases: in the case of obtaining motion information of each reference object in at least one reference object within a preset time period before the target moment, the total number is the number of objects detected within the preset time period before the target moment; in the case of obtaining motion information of each reference object in at least one reference object within a preset time period after the target moment, the total number is the number of objects detected within the preset time period after the target moment.

In some embodiments, the preset time is 200ms, the predetermined time is 1s, and the target time is the 1s. The total number is the number of objects detected within the preset time before the target time, that is, the total number is the number of objects detected by the vehicle from 0 to 1s; the total number is the number of objects detected within the preset time, that is, the total number is the number of objects detected by the vehicle within 200ms before the 1s, or the total number is the number of objects detected by the vehicle within 200ms after the 1s.

Specifically, the above steps 106 to 108 include the following four solutions:

Obtain motion information of each reference object in at least one reference object within a preset time length before a target moment; determine at least one stable reference object from at least one reference object based on the motion information of each reference object within the preset time length; and determine an untrusted time length corresponding to a target range based on a target range in which a ratio of the number of stable reference objects to the number of objects detected within a predetermined time length before a target moment lies.

Obtain motion information of each reference object in at least one reference object within a preset time length before a target moment; determine at least one stable reference object from at least one reference object based on the motion information of each reference object within the preset time length; and determine an untrusted time length corresponding to a target range based on a target range in which a ratio of the number of stable reference objects to the number of objects detected within the preset time length before a target moment lies.

Obtain motion information of each reference object in at least one reference object within a preset time length after a target moment; determine at least one stable reference object from at least one reference object based on the motion information of each reference object within the preset time length; and determine an untrusted time length corresponding to a target range based on a target range in which a ratio of the number of stable reference objects to the number of objects detected within a predetermined time length before a target moment lies.

Obtain motion information of each reference object in at least one reference object within a preset time length after a target moment; determine at least one stable reference object from at least one reference object based on the motion information of each reference object within the preset time length; and determine an untrusted time length corresponding to a target range based on a target range in which a ratio of the number of stable reference objects to the number of objects detected within the preset time length after a target moment lies.

In the embodiment of the present disclosure, at least one reference object is determined, and the at least one reference object is a part of or all of the objects detected by the vehicle at the target time; each reference object in the at least one reference object is obtained at a preset time. The preset time length is the time length after the target moment or before the target moment; based on the motion information of each reference object within the preset time length, at least one stable reference object is determined from at least one reference object, and each stable reference object is a reference object whose change amount of motion information within the preset time length is less than or equal to the change amount threshold; according to the target range where the ratio of the number of stable reference objects to the total number is located, the untrusted time length corresponding to the target range is determined, and the total number is the number of objects detected within the predetermined time length before the target moment, or the total number is the number of objects detected within the preset time length. In this way, according to the number of stable reference objects among the objects that can be detected around the vehicle, it can be reflected whether the current environment of the vehicle is stable, thereby determining a more accurate untrusted time length, further ensuring that when a new object appears, whether the AEB system is triggered is determined based on the accurate information obtained, thereby reducing the occurrence of false triggering of AEB due to inaccurate information obtained about the new object.

In some embodiments of the present disclosure, in combination with FIG. 2 , as shown in FIG. 3 , the above step 105 may be specifically implemented through the following steps 105a and 105b.

105a. Count the duration of each object in the preset range detected by the vehicle at the target time being detected before the target time.

105b. Among the objects within the preset range detected by the vehicle at the target time, an object whose continuous detection time is greater than or equal to the time threshold is determined as a reference object.

In some embodiments, in order to obtain a more accurate picture of the driving environment of the vehicle, the reference object selected for the judgment of the environment is a stable reference object; for example, if the duration threshold is 200ms, the object that has been continuously detected for a duration greater than or equal to 200ms before the target moment is used as the reference object; for an object that has been continuously detected for less than 200ms, it is considered that it is not a stable object and is not used as a reference object for determining the vehicle's surrounding environment.

In some embodiments, the duration of each object detected by the vehicle within a preset range before the target time is counted; among the objects detected by the vehicle within a preset range at the target time, the object whose duration of continuous detection is greater than or equal to the duration threshold is determined as a reference object. In this way, by using the object whose duration of continuous existence is greater than or equal to the duration threshold as a reference object, it is possible to more accurately determine whether the behavior of each traffic participant in the environment where the vehicle is located is stable, thereby more accurately determining the untrustworthy duration.

In some embodiments of the present disclosure, the motion information includes: the lateral speed of the reference object relative to the vehicle, and the longitudinal speed of the reference object relative to the vehicle; in combination with FIG. 2 , as shown in FIG. 4 , the above step 107 can be specifically implemented through the following steps 107a and 107b.

107a. Based on the lateral speed and the longitudinal speed of each reference object relative to the vehicle within a preset time period, determine the variance of the lateral speed and the variance of the longitudinal speed corresponding to each reference object.

107b. Determine a reference object that meets the target condition among the at least one reference object as at least one stable reference object.

The target conditions include: the variance of the lateral velocity is less than or equal to the lateral velocity variance threshold, and the longitudinal velocity The variance of is less than or equal to the longitudinal speed variance threshold.

It can be understood that the variance is used to measure the discreteness of the sample. In the embodiment of the present disclosure, the variance of the lateral velocity and the variance of the longitudinal velocity of each reference object calculated can reflect the magnitude of the fluctuation of the lateral velocity and the longitudinal velocity of each reference object, and then the reference object with smaller fluctuation of the lateral velocity and the longitudinal velocity is determined as a stable reference object.

In some embodiments, the motion information includes: a lateral speed relative to the vehicle and a longitudinal speed relative to the vehicle; based on the motion information of each reference object within a preset time length, at least one stable reference object is determined from at least one reference object, including: based on the lateral speed of each reference object relative to the vehicle and the longitudinal speed of each reference object within the preset time length, the variance of the lateral speed and the variance of the longitudinal speed corresponding to each reference object are determined; the reference object that meets the target condition in the at least one reference object is determined as at least one stable reference object, and the target condition includes: the variance of the lateral speed is less than or equal to the lateral speed variance threshold, and the variance of the longitudinal speed is less than or equal to the longitudinal speed variance threshold. In this way, the magnitude of the speed fluctuation of each reference object is reflected by the variance of the lateral speed and the variance of the longitudinal speed, so that the reference object with smaller lateral speed and longitudinal speed fluctuation is used as a stable reference object, and then according to the proportion of stable reference objects, it is more accurately determined whether the behavior of each traffic participant in the environment where the vehicle is located is stable.

In some embodiments of the present disclosure, the motion information also includes: a lateral distance of the reference object relative to the vehicle, and a longitudinal distance of the reference object relative to the vehicle; in combination with FIG. 4 , as shown in FIG. 5 , the above step 107a also includes the following step 107c.

107c. Based on the lateral distance and the longitudinal distance of each reference object relative to the vehicle within a preset time period, determine the variance of the lateral distance and the variance of the longitudinal distance corresponding to each reference object.

The target condition in step 107b further includes: the variance of the lateral distance is less than or equal to the lateral distance variance threshold, and the variance of the longitudinal distance is less than or equal to the longitudinal distance variance threshold.

In some embodiments, in the above step 107b, each of the at least one stable reference object determined satisfies all items of the target conditions. The target conditions include: the variance of the lateral velocity is less than or equal to the lateral velocity variance threshold, and the variance of the longitudinal velocity is less than or equal to the longitudinal velocity variance threshold, and the variance of the lateral distance is less than or equal to the lateral distance variance threshold, and the variance of the longitudinal distance is less than or equal to the longitudinal distance variance threshold.

In some embodiments, the calculated variance of the lateral distance and the longitudinal distance of each reference object can reflect the fluctuation of the lateral distance and longitudinal distance of each reference object, and then the reference object with smaller fluctuation of the lateral distance and longitudinal distance is determined as a stable reference object.

In some embodiments, each stable reference object satisfies: the variance of the lateral velocity is less than or equal to the lateral velocity variance threshold, the variance of the longitudinal velocity is less than or equal to the longitudinal velocity variance threshold, the variance of the lateral distance is less than or equal to the lateral distance variance threshold, and the variance of the longitudinal distance is less than or equal to the longitudinal distance variance threshold.

In some embodiments, among the reference objects, if the speed fluctuation is small (indicating fewer abnormal driving behaviors such as sudden acceleration or deceleration) and the distance fluctuation is also small (indicating fewer aggressive driving behaviors such as frequent lane changes and overtaking), then the driving behavior of the reference object is deemed to be relatively stable and is determined to be a stable reference object.

In some embodiments, the motion information also includes: the lateral distance relative to the vehicle, the longitudinal distance relative to the vehicle; based on the motion information of each reference object within a preset time length, at least one stable reference object is determined from at least one reference object, and further includes: based on the lateral distance relative to the vehicle and the longitudinal distance relative to the vehicle of each reference object within a preset time length, the variance of the lateral distance and the variance of the longitudinal distance corresponding to each reference object are determined; the target condition also includes: the variance of the lateral distance is less than or equal to the lateral distance variance threshold, and the variance of the longitudinal distance is less than or equal to the longitudinal distance variance threshold. In this way, the reference object with smaller speed and distance changes among the reference objects is used as a stable reference object, and the stable reference object is more accurately screened out from at least one reference object.

In some embodiments of the present disclosure, in combination with FIG. 2 , as shown in FIG. 6 , the above step 108 may be specifically implemented through the following steps 108a to 108d.

108a. Determine a target range for the ratio of the number of stable reference objects to the total number.

108b. When the target range is the first range, determine a first preset time length corresponding to the first range as an untrusted time length.

108c. When the target range is the second range, determine that a second preset time duration corresponding to the second range is an untrustworthy time duration.

108d. When the target range is the third range, determine that the third preset time length corresponding to the third range is the untrusted time length.

Among them, any value in the first range is greater than any value in the second range, any value in the second range is greater than any value in the third range, the first preset time length is greater than the second preset time length, and the second preset time length is greater than the third preset time length.

In some embodiments, the vehicle pre-stores the correspondence between different ranges and untrusted durations, and each range corresponds to an untrusted duration. According to the target range where the ratio is located, the untrusted duration corresponding to the target range is determined.

It can be understood that according to the description of step 108 above, the total number is determined in different ways, and the corresponding ranges are divided differently for different total number determination methods. For example, when the total number is the number of objects detected within a preset time length, the first range is: (0.8, 1], and the corresponding untrusted time length is 300ms, the second range is: (0.6, 0.8] and the corresponding untrusted time length is 200ms, and the third range is: (0, 0.6] and the corresponding untrusted time length is 100ms. When the total number is the number of objects detected within a predetermined time length before the target moment, the first range is: (0.7, 1] and the corresponding untrusted time length is 300ms, the second range is: (0.5, 0.7] and the corresponding untrusted time length is 200ms, and the third range is: (0, 0.5].

It should be noted that the first range, the second range and the third range provided in the embodiment of the present disclosure are merely exemplary descriptions and are not intended to be a limitation of the present disclosure. Increasing or decreasing the number of range divisions, such as dividing the range into numbers other than three, is also within the protection scope of the present disclosure.

In some embodiments, according to the target range where the ratio of the number of stable reference objects to the total number is located, determining the untrusted duration corresponding to the target range includes: determining the target range where the ratio of the number of stable reference objects to the total number is located; when the target range is a first range, determining a first preset duration corresponding to the first range as the untrusted duration; When the target range is the second range, the second preset time length corresponding to the second range is determined as the untrusted time length; when the target range is the third range, the third preset time length corresponding to the third range is determined as the untrusted time length; wherein, any value in the first range is greater than any value in the second range, any value in the second range is greater than any value in the third range, the first preset time length is greater than the second preset time length, and the second preset time length is greater than the third preset time length. According to different ratios, the size of the untrusted time length is dynamically adjusted, so that when a new object appears, the information of the new object obtained after the untrusted time length is ensured to be reliable and accurate information, and then the working condition of the vehicle determined based on the accurate information is more accurate, avoiding the false triggering of the AEB system due to the wrong working condition judgment.

In some embodiments of the present disclosure, in combination with FIG. 2 , as shown in FIG. 7 , the above step 108 may be specifically implemented through the following steps 108e to 108h.

108e. A target range based on the ratio of the number of stable reference objects to the total number.

108f. When the target range is the first range, determine the sum of the target preset duration and the target offset as the untrusted duration.

108g. When the target range is the second range, determine the target preset time length as the untrusted time length.

108h. When the target range is the third range, determine the difference between the target preset duration and the target offset as the untrusted duration.

Among them, any value in the first range is greater than any value in the second range, and any value in the second range is greater than any value in the third range. The target offset is the product of the ratio, the target preset duration and the preset coefficient, and the preset coefficient is greater than 0 and less than or equal to 1.

In some embodiments, the preset coefficient is determined based on experience or multiple experiments. The preset coefficients corresponding to different total quantity determination methods may be the same or different.

In some embodiments, the target preset duration is 200ms, the preset coefficient is 0.5, the first range is: (0.8, 1], the second range is: (0.6, 0.8], and the third range is: (0, 0.6]. If the ratio is 0.9, the untrusted duration is: 200+0.9*200*0.5=290ms; if the ratio is 0.8, the untrusted duration is: 200ms; if the ratio is 0.5, the untrusted duration is: 200-0.5*200*0.5=150ms.

It should be noted that, for the description of the range, reference may be made to the description of step 108a and step 108c above, which will not be repeated here.

In some embodiments, based on the target range where the ratio of the number of stable reference objects to the total number is located, the untrusted duration corresponding to the target range is determined, including: determining the target range where the ratio of the number of stable reference objects to the total number is located; when the target range is the first range, determining the sum of the target preset duration and the target offset as the untrusted duration; when the target range is the second range, determining the target preset duration as the untrusted duration; when the target range is the third range, determining the difference between the target preset duration and the target offset as the untrusted duration. By dynamically determining the target offset, the size of the untrusted duration can be determined more finely and accurately, so that when a new object appears, it is ensured that The information of new objects obtained after the untrusted period is reliable and accurate, and the working condition of the vehicle determined based on the accurate information is more accurate, avoiding the false triggering of the AEB system due to incorrect working condition judgment.

In some embodiments of the present disclosure, in combination with FIG. 2 , as shown in FIG. 8 , after the above step 108 , the vehicle control method provided by the embodiment of the present disclosure further includes the following steps 109 to 111 .

109. When the ratio is greater than or equal to the first threshold, adjust the following distance of the vehicle in the automatic driving state to the first distance.

The first distance is smaller than a preset following distance.

110. When the ratio is less than the first threshold and greater than or equal to the second threshold, control the following distance to maintain a preset following distance.

The second threshold is smaller than the first threshold.

111. When the ratio is less than the second threshold, adjust the following distance to the second distance.

The second distance is greater than the preset following distance.

It can be understood that when the ratio is large, it can be determined that in the vehicle's current environment, the driving behavior of most vehicles is relatively stable. Therefore, the preset following distance can be appropriately reduced; when the ratio is small, it can be determined that in the vehicle's current environment, the driving behavior of most vehicles is unstable. Therefore, it is necessary to appropriately increase the preset following distance to avoid collision due to insufficient braking distance in emergency conditions.

In some embodiments, specifically, the determination of the first distance and the second distance can be pre-set with a fixed specific value, and any ratio greater than or equal to the first threshold value, the corresponding following distance is the first distance, and any ratio less than the second threshold value, the corresponding following distance is the second distance; the determination of the first distance and the second distance can also be calculated by a preset formula, such as: the first distance is the difference between the preset following distance and the distance offset, the second distance is the sum of the preset following distance and the distance offset, and the distance offset is the product of the ratio, the preset following distance and the preset following coefficient.

In some embodiments, after determining the untrusted time length corresponding to the target range according to the target range where the ratio of the number of stable reference objects to the total number is located, the method further includes: when the ratio is greater than or equal to the first threshold, adjusting the following distance of the vehicle in the automatic driving state to a first distance, the first distance is less than the preset following distance; when the ratio is less than the first threshold and greater than or equal to the second threshold, controlling the following distance to maintain the preset following distance; when the ratio is less than the second threshold, adjusting the following distance to a second distance, the second distance is greater than the preset following distance. In this way, the following distance in the automatic driving process can be dynamically adjusted. When the driving behavior of most vehicles in the environment where the vehicle is located is relatively stable, the following distance can be appropriately reduced. When the driving behavior of most vehicles in the environment where the vehicle is located is unstable, the following distance can be appropriately increased to avoid collisions caused by insufficient braking distance in emergency conditions.

In the second aspect, as shown in FIG9 , the embodiment of the present disclosure provides a vehicle control device, including: a detection module 901, which is used to detect the position information of each object within a preset range relative to the vehicle during the vehicle's driving process; a determination module 902, which is used to determine the target duration when it is detected that the position information of the target object relative to the vehicle meets the collision condition, and the target duration. The target duration is the duration for which the target object is continuously detected by the vehicle before the position information of the target object relative to the vehicle satisfies the collision condition; the trigger module 903 is used to trigger the vehicle to perform automatic emergency braking when the target duration is greater than or equal to the untrusted duration; the control module 904 is used to control the vehicle to keep driving when the target duration is less than the untrusted duration.

In some embodiments, the vehicle control device further includes: an acquisition module; the determination module 902 is further used to determine at least one reference object from various objects within a preset range detected by the vehicle at the target time before determining the target time when it is detected that the position information of the target object relative to the vehicle meets the collision condition, and the at least one reference object is a part of or all of the various objects within the preset range detected by the vehicle at the target time; the acquisition module is used to obtain the motion information of each reference object in the at least one reference object within the preset time, and the preset time is the time after the target time or the time before the target time; the determination module 902 is further used to determine at least one stable reference object from the at least one reference object based on the motion information of each reference object within the preset time, and each stable reference object is a stable reference object whose motion information change within the preset time is less than or equal to the change threshold; the determination module 902 is further used to determine the untrusted time corresponding to the target range according to the target range where the ratio of the number of stable reference objects to the total number is located, and the total number is the number of objects detected within the predetermined time before the target time, or the total number is the number of objects detected within the preset time.

In some embodiments, the vehicle control device also includes: a statistical module; the statistical module is used to count the duration of continuous detection of each object within a preset range detected by the vehicle at the target moment before the target moment; the determination module 902 is specifically the same as determining an object among the objects within the preset range detected by the vehicle at the target moment, whose continuous detection duration is greater than or equal to a duration threshold, as a reference object.

In some embodiments, the motion information includes: a lateral velocity of the reference object relative to the vehicle, and a longitudinal velocity of the reference object relative to the vehicle; the determination module 902 is specifically used to determine the variance of the lateral velocity and the variance of the longitudinal velocity corresponding to each reference object based on the lateral velocity and the longitudinal velocity of each reference object relative to the vehicle within a preset time period; a reference object that meets the target condition among at least one reference object is determined as at least one stable reference object, and the target condition includes: the variance of the lateral velocity is less than or equal to the lateral velocity variance threshold, and the variance of the longitudinal velocity is less than or equal to the longitudinal velocity variance threshold.

In some embodiments, the motion information also includes: a lateral distance of the reference object relative to the vehicle, and a longitudinal distance of the reference object relative to the vehicle; the determination module 902 is specifically used to determine the variance of the lateral distance and the variance of the longitudinal distance corresponding to each reference object based on the lateral distance and the longitudinal distance of each reference object relative to the vehicle within a preset time length; the target condition also includes: the variance of the lateral distance is less than or equal to the lateral distance variance threshold, and the variance of the longitudinal distance is less than or equal to the longitudinal distance variance threshold.

In some embodiments, the determination module 902 is specifically used to determine a target range where the ratio of the number of stable reference objects to the total number is located; when the target range is a first range, determine a first preset time length corresponding to the first range. is the untrusted time length; when the target range is the second range, the second preset time length corresponding to the second range is determined as the untrusted time length; when the target range is the third range, the third preset time length corresponding to the third range is determined as the untrusted time length; wherein, any value within the first range is greater than any value within the second range, any value within the second range is greater than any value within the third range, the first preset time length is greater than the second preset time length, and the second preset time length is greater than the third preset time length.

In some embodiments, the determination module 902 is specifically used to determine the target range within which the ratio of the number of stable reference objects to the total number lies; when the target range is the first range, the sum of the target preset time and the target offset is determined as the untrusted time; when the target range is the second range, the target preset time is determined as the untrusted time; when the target range is the third range, the difference between the target preset time and the target offset is determined as the untrusted time; wherein, any value within the first range is greater than any value within the second range, and any value within the second range is greater than any value within the third range, and the target offset is the product of the ratio, the target preset time and a preset coefficient, and the preset coefficient is greater than 0 and less than or equal to 1.

In some embodiments, the vehicle control device also includes: an adjustment module; the adjustment module is used to, after determining the untrusted time length corresponding to the target range according to the target range where the ratio of the number of stable reference objects to the total number is located, adjust the following distance of the vehicle in the automatic driving state to a first distance when the ratio is greater than or equal to a first threshold, and the first distance is less than a preset following distance; the control module 904 is also used to, when the ratio is less than the first threshold and greater than or equal to a second threshold, control the following distance to maintain the preset following distance, and the second threshold is less than the first threshold; the adjustment module is also used to, when the ratio is less than the second threshold, adjust the following distance to a second distance, and the second distance is greater than the preset following distance.

It should be noted that the above-mentioned vehicle control device can be the electronic device in the above-mentioned method embodiment of the present disclosure, or it can be a functional module and/or functional entity in the electronic device that can realize the functions of the device embodiment, and the embodiment of the present disclosure is not limited.

In the embodiments of the present disclosure, each module can implement the vehicle control method provided by any method embodiment of the first aspect above, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

An embodiment of the third aspect of the present disclosure provides an electronic device, as shown in Figure 10, the electronic device may include: a processor 1001, a memory 1002, and a program or instruction stored in the memory 1002 and executable on the processor 1001. When the program or instruction is executed by the processor 1001, the various processes of the vehicle control method provided by any method embodiment of the first aspect above can be implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

An embodiment of the fourth aspect of the present disclosure provides a vehicle, which may include the vehicle control device provided by any embodiment of the second aspect or the electronic device provided by any embodiment of the third aspect, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

A fifth aspect of the present disclosure provides a computer-readable storage medium storing a program or instruction, which, when executed by a processor, implements the vehicle provided by any method embodiment of the first aspect. The various processes of the control method can achieve the same technical effect, and will not be repeated here to avoid repetition.

The sixth aspect embodiment of the present disclosure provides a computer program product, wherein the computer program product includes a computer program or instructions. When the computer program product runs on a processor, the processor executes the computer program or instructions to implement the various processes of the vehicle control method provided by any method embodiment of the first aspect above, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

The seventh aspect embodiment of the present disclosure provides a computer program, including a computer program code. When the computer program code runs on a computer, the computer executes the various processes of the vehicle control method provided by any embodiment of the first aspect of the present disclosure, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

Another embodiment of the present disclosure provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of any vehicle control method embodiment of the first aspect above, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

It should be understood that the chip mentioned in the embodiments of the present disclosure may also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip chip, etc.

It should be noted that the explanations and descriptions of the vehicle control method and device in the aforementioned embodiments are also applicable to the electronic device, vehicle, computer-readable storage medium, computer program product and computer program in the embodiments of the present disclosure, and will not be repeated here.

All embodiments of the present disclosure may be implemented individually or in combination with other embodiments, and are all deemed to be within the protection scope required by the present disclosure.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices, servers and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or partly contributed to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

As described above, the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims (14)

A vehicle control method, comprising: Detecting position information of various objects within a preset range relative to the vehicle during the vehicle's travel; In the case where it is detected that the position information of the target object relative to the vehicle satisfies the collision condition, determining a target duration, the target duration being the duration for which the target object is continuously detected by the vehicle before it is detected that the position information of the target object relative to the vehicle satisfies the collision condition; When the target duration is greater than or equal to the untrusted duration, triggering the vehicle to perform automatic emergency braking; When the target duration is less than the untrusted duration, the vehicle is controlled to maintain the driving state. The method according to claim 1, wherein when it is detected that the position information of the target object relative to the vehicle satisfies the collision condition, before determining the target duration, the method further comprises: Determine at least one reference object from the objects within the preset range detected by the vehicle at the target moment, wherein the at least one reference object is a part of or all of the objects within the preset range detected by the vehicle at the target moment; Acquire motion information of each reference object in the at least one reference object within a preset time length, where the preset time length is a time length after the target time or a time length before the target time; Based on the motion information of each reference object within the preset time period, determining at least one stable reference object from the at least one reference object, wherein a change amount of the motion information of each stable reference object within the preset time period is less than or equal to a change amount threshold; The untrusted time duration corresponding to the target range is determined based on the target range in which the ratio of the number of stable reference objects to the total number is located, and the total number is the number of objects detected within a predetermined time duration before the target moment, or the total number is the number of objects detected within the preset time duration. The method according to claim 2, wherein the determining at least one reference object comprises: Counting the duration of each object in the preset range detected by the vehicle at the target moment being continuously detected before the target moment; Among the objects within the preset range detected by the vehicle at the target time, an object whose continuous detection time is greater than or equal to a time threshold is determined as a reference object. The method according to claim 2 or 3, wherein the motion information includes: a lateral speed of the reference object relative to the vehicle, and a longitudinal speed of the reference object relative to the vehicle; and determining at least one stable reference object from the at least one reference object based on the motion information of each reference object within the preset time period, comprises: Based on the lateral speed of each reference object relative to the vehicle and the lateral speed relative to the vehicle within the preset time period. The longitudinal velocity of the vehicle, determining the variance of the lateral velocity and the variance of the longitudinal velocity corresponding to each reference object; A reference object that meets a target condition among the at least one reference object is determined as the at least one stable reference object, wherein the target condition includes: a variance of a lateral velocity is less than or equal to a lateral velocity variance threshold, and a variance of a longitudinal velocity is less than or equal to a longitudinal velocity variance threshold. The method according to claim 4, wherein the motion information further includes: a lateral distance of the reference object relative to the vehicle, and a longitudinal distance of the reference object relative to the vehicle; and the determining at least one stable reference object from the at least one reference object based on the motion information of each reference object within the preset time period, further includes: Determine the variance of the lateral distance and the variance of the longitudinal distance corresponding to each reference object based on the lateral distance of each reference object relative to the vehicle and the longitudinal distance of each reference object relative to the vehicle within the preset time period; The target condition also includes: the variance of the lateral distance is less than or equal to the lateral distance variance threshold, and the variance of the longitudinal distance is less than or equal to the longitudinal distance variance threshold. The method according to any one of claims 2 to 5, wherein determining the untrusted duration corresponding to the target range according to the target range in which the ratio of the number of stable reference objects to the total number lies comprises: Determine the target range in which the ratio of the number of the stable reference objects to the total number lies; When the target range is a first range, determining a first preset duration corresponding to the first range as the untrusted duration; When the target range is the second range, determining a second preset duration corresponding to the second range as the untrusted duration; When the target range is the third range, determining a third preset duration corresponding to the third range as the untrusted duration; Among them, any value in the first range is greater than any value in the second range, any value in the second range is greater than any value in the third range, the first preset time length is greater than the second preset time length, and the second preset time length is greater than the third preset time length. The method according to any one of claims 2 to 5, wherein determining the untrusted duration corresponding to the target range according to the target range in which the ratio of the number of stable reference objects to the total number lies comprises: Determine the target range in which the ratio of the number of the stable reference objects to the total number lies; When the target range is the first range, determining the sum of the target preset duration and the target offset as the untrusted duration; When the target range is the second range, determining the target preset duration to be the untrusted duration; When the target range is the third range, determining the difference between the target preset duration and the target offset as the untrusted duration; Among them, any value within the first range is greater than any value within the second range, any value within the second range is greater than any value within the third range, and the target offset is the product of the ratio, the target preset duration and a preset coefficient, and the preset coefficient is greater than 0 and less than or equal to 1. The method according to any one of claims 2 to 7, wherein after determining the untrusted duration corresponding to the target range according to the target range where the ratio of the number of stable reference objects to the total number lies, the method further comprises: When the ratio is greater than or equal to a first threshold, adjusting the following distance of the vehicle in the automatic driving state to a first distance, wherein the first distance is less than a preset following distance; When the ratio is less than the first threshold value and greater than or equal to a second threshold value, controlling the following distance to maintain the preset following distance, and the second threshold value is less than the first threshold value; When the ratio is less than the second threshold, the following distance is adjusted to a second distance, and the second distance is greater than the preset following distance. A vehicle control device, comprising: A detection module, used to detect position information of each object within a preset range relative to the vehicle during the driving process of the vehicle; a determination module, configured to determine a target duration when it is detected that the position information of the target object relative to the vehicle satisfies a collision condition, wherein the target duration is the duration for which the target object is continuously detected by the vehicle before it is detected that the position information of the target object relative to the vehicle satisfies the collision condition; A trigger module, used for triggering the vehicle to perform automatic emergency braking when the target duration is greater than or equal to the untrusted duration; The control module is used to control the vehicle to maintain the driving state when the target duration is less than the untrusted duration. An electronic device comprises: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute a vehicle control method as claimed in any one of claims 1 to 8 when calling the computer program. A vehicle, comprising: the device as claimed in claim 9, or the electronic device as claimed in claim 10. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 8 are implemented. A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the vehicle control method according to any one of claims 1 to 8. A computer program comprises a computer program code, and when the computer program code is run on a computer, the computer is caused to execute the vehicle control method according to any one of claims 1 to 8.