CN112918471A - Anti-collision control method, device and equipment for vehicle and storage medium - Google Patents
Anti-collision control method, device and equipment for vehicle and storage medium Download PDFInfo
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- 206010039203 Road traffic accident Diseases 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 12
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
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Abstract
The application relates to a collision avoidance control method, device, equipment and storage medium for a vehicle. The method comprises the following steps: selecting a reference vehicle from a plurality of adjacent vehicles in the same driving direction as the target vehicle on the basis of the current position information of the target vehicle, wherein the view field range of the reference vehicle can cover the blind area of the target vehicle; monitoring the driving state information of the reference vehicle; and controlling the running speed of the target vehicle according to the running state information of the reference vehicle. The scheme can effectively reduce the risk of collision between the target vehicle and pedestrians or other vehicles, and improves the driving safety of the target vehicle.
Description
Technical Field
The present application relates to the field of intelligent transportation, and in particular, to a method, an apparatus, a device, and a storage medium for collision avoidance control of a vehicle.
Background
In the conventional technology, the risk of vehicle collision is increased continuously due to the shape of the vehicle, the view angle of the driver, and the like, which may generate blind zones, and the red light running condition occurs at the intersection, which all aggravate the occurrence of traffic accidents. Therefore, certain techniques need to be employed to reduce the risk of vehicle collisions with other objects.
Disclosure of Invention
The embodiment of the application provides a collision avoidance control method, device, equipment and storage medium for a vehicle.
In a first aspect, an embodiment of the present application provides a collision avoidance control method for a vehicle, including:
selecting a reference vehicle from a plurality of adjacent vehicles in the same driving direction as the target vehicle on the basis of the current position information of the target vehicle, wherein the view field range of the reference vehicle can cover the blind area of the target vehicle;
monitoring the driving state information of the reference vehicle;
and controlling the running speed of the target vehicle according to the running state information of the reference vehicle.
In a second aspect, an embodiment of the present application provides a collision avoidance control apparatus for a vehicle, including:
the system comprises a selection module, a judgment module and a display module, wherein the selection module is used for selecting a reference vehicle from a plurality of adjacent vehicles in the same driving direction with a target vehicle based on the current position information of the target vehicle, and the visual field range of the reference vehicle can cover the blind area of the target vehicle;
the monitoring module is used for monitoring the running state information of the reference vehicle;
and the control module is used for controlling the running speed of the target vehicle according to the running state information of the reference vehicle.
In a third aspect, an embodiment of the present application provides a collision avoidance control apparatus for a vehicle, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the collision avoidance control method for the vehicle provided in the first aspect of the embodiment of the present application when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the collision avoidance control method for a vehicle provided in the first aspect of the embodiments of the present application.
According to the anti-collision control method, the anti-collision control device, the anti-collision control equipment and the storage medium for the vehicles, when the visual field of the target vehicle is limited, the vehicles with the visual field range capable of covering the blind area of the target vehicle can be selected as the reference vehicles of the target vehicle according to the current position information of the target vehicle, and the running speed of the target vehicle can be controlled based on the running state information of the reference vehicles, so that when pedestrians or other vehicles running a red light appear in the blind area of the target vehicle, the risk that the target vehicle collides with the pedestrians or other vehicles can be effectively reduced, and the running safety of the target vehicle is improved.
Drawings
Fig. 1 is a schematic structural diagram of a system to which a collision avoidance control method for a vehicle according to an embodiment of the present application is applied;
fig. 2 is a schematic flow chart of a collision avoidance control method for a vehicle according to an embodiment of the present application;
fig. 3 is a schematic diagram of a selection process of a reference vehicle according to an embodiment of the present application;
FIG. 4 is a schematic diagram of another reference vehicle selection process provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of another reference vehicle selection process provided by an embodiment of the present application;
fig. 6 is another schematic flow chart of a collision avoidance control method for a vehicle according to an embodiment of the present application;
fig. 7 is a schematic flowchart of a collision avoidance control method for a vehicle according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a collision avoidance control apparatus of a vehicle according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a collision avoidance control apparatus of a vehicle according to an embodiment of the present application.
Detailed Description
The collision avoidance control method for the vehicle provided by the embodiment of the application can be applied to the system architecture diagram shown in fig. 1. As shown in fig. 1, the system may include a plurality of vehicles 11, a control apparatus 12, and the like. The vehicles 11 may communicate wirelessly, the vehicles 11 may communicate wirelessly with the control device 12, and the control device 12 may control the travel of the vehicles 11 by a control command based on the traffic information. Some vehicles 11 are provided with a drive computer or an On Board Unit (OBU), and some vehicles 11 are provided with a user terminal such as a mobile phone. A mobile phone, a travel computer or an OBU in the vehicle may communicate with the control device 12 for information interaction.
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application are further described in detail by the following embodiments in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that the execution subject of the method embodiments described below may be a collision avoidance control apparatus of a vehicle, which may be implemented by software, hardware or a combination of software and hardware to become part or all of a collision avoidance control device (such as the above control device) of a vehicle. The method embodiments described below are described taking as an example the execution subject being a control device.
Fig. 2 is a schematic flow chart of a collision avoidance control method for a vehicle according to an embodiment of the present application. The present embodiment relates to a specific process of how the control apparatus avoids or reduces the occurrence of a collision of the vehicle. As shown in fig. 2, the method may include:
s201, selecting a reference vehicle from a plurality of adjacent vehicles in the same driving direction with the target vehicle based on the current position information of the target vehicle.
Specifically, the field of view of the reference vehicle can cover a blind area of the target vehicle. The target vehicle may be understood as a vehicle to be controlled with a limited field of view. In practice, the field of view of the target vehicle may be limited for a variety of reasons. For example, a vehicle traveling or stopped in a lane ahead of the target vehicle may obstruct the view of the target vehicle, thereby limiting the field of view of the target vehicle. The front lane may be a lane directly in front of the target vehicle, or may be a left front lane or a right front lane. And when the target vehicle runs in a curve, the sight line of the target vehicle is blocked by the curve, so that the target vehicle has a vision-limited area. Thus, when the limited-field-of-view area of the target vehicle suddenly intrudes into a pedestrian or another vehicle, the target vehicle may collide with the intruded pedestrian or vehicle.
For this reason, the present embodiment sets a reference object for traveling for the target vehicle so that the target vehicle travels with reference to the traveling behavior of the reference object. Wherein the field of view of the reference object is capable of covering the limited-field-of-view area of the target vehicle. That is, the control apparatus may select the reference vehicle for the target vehicle from a plurality of adjacent vehicles traveling in the same traveling direction as the target vehicle, based on the current position information of the target vehicle. If there are a plurality of vehicles whose visual field ranges can cover the blind areas of the target vehicle, one vehicle whose traveling speed is the smallest may be determined as the reference vehicle of the target vehicle.
For example, referring to fig. 3, 4, and 5, when the right-side field of view of the target vehicle is limited, the control apparatus may determine a right-side neighboring vehicle in the traveling direction of the target vehicle as the reference vehicle of the target vehicle. When the left-side field of view of the target vehicle is limited, a left-side neighboring vehicle in the traveling direction of the target vehicle may also be determined as the reference vehicle of the target vehicle. When both the left and right side views of the target vehicle are limited, the control apparatus may determine, as the reference vehicle of the target vehicle, the left-side neighboring vehicle whose traveling speed is the smallest, from among the left-side neighboring vehicle and the right-side neighboring vehicle in the traveling direction of the target vehicle, as in fig. 5.
And S202, monitoring the running state information of the reference vehicle.
Specifically, after the reference vehicle is selected for the target vehicle, the target vehicle may travel based on the travel state information of the reference vehicle. Therefore, the control apparatus can monitor the running state information of the reference vehicle in real time. The running state information may include a running speed, a running acceleration, and running intention information of the reference vehicle. The driving intention information may be an acceleration intention, a deceleration intention, a turning intention, a braking intention, and the like.
For example, when a sensor on the reference vehicle monitors that the reference vehicle depresses a brake pedal, it may be determined that there is braking intent for the reference vehicle, at which point the reference vehicle may send this braking intent information to the control device. Of course, when communication is possible between the target vehicle and the reference vehicle, the reference vehicle may also transmit the braking intention information to the target vehicle.
And S203, controlling the running speed of the target vehicle according to the running state information of the reference vehicle.
After the running state information of the reference vehicle is acquired, the control device may control the running speed of the target vehicle by referring to the running state information of the vehicle as a reference. Alternatively, the control apparatus may control the travel speed of the target vehicle based on the travel intention information of the reference vehicle. For example, since the field of view of the reference vehicle can cover the blind area of the target vehicle, when the reference vehicle detects that the blind area of the target vehicle suddenly intrudes into a pedestrian or another vehicle, the reference vehicle performs a braking action, and at this time, the control apparatus may control the target vehicle to decelerate based on the braking action of the reference vehicle. When the blind area of the target vehicle does not suddenly break into the pedestrian or other vehicles, the reference vehicle runs at a constant speed or accelerates, and at the moment, the target vehicle also can run at a constant speed or accelerates.
In order to further avoid or reduce collision of the target vehicle with other objects suddenly intruding into the blind area of the target vehicle, optionally, after S201 above, the method may further include: judging whether the distance between the target vehicle and the reference vehicle is greater than or equal to a preset distance or not; and if not, controlling the running speed of the target vehicle so that the distance between the target vehicle and the reference vehicle is greater than or equal to the preset distance.
Wherein the preset distance is related to the reflecting time of the target vehicle for taking protective measures. Typically, the preset distance may be set to a distance of 1 body, such as 4.5-5 meters. And when the distance between the target vehicle and the reference vehicle is determined to be smaller than the preset distance, controlling the target vehicle to decelerate so that the distance between the target vehicle and the reference vehicle is larger than or equal to the preset distance.
Taking the reference vehicle shown in fig. 3 as an example, and the target vehicle and the reference vehicle both wait for the change of traffic lights at the intersection, the condition of the sidewalk cannot be observed due to the limited view of the target vehicle. At this time, the traffic light is changed from red to green, the target vehicle and the reference vehicle start to run, the control device monitors whether the distance between the target vehicle and the reference vehicle is greater than or equal to a preset distance, and if the distance between the target vehicle and the reference vehicle is smaller than the preset distance, the control device controls the target vehicle to decelerate so that the distance between the target vehicle and the reference vehicle is greater than or equal to the preset distance. And, the control device monitors the running state information of the reference vehicle, and when it is monitored that the reference vehicle performs a braking action, preferentially controls the target vehicle to run at a reduced speed.
Since the field of view of the reference vehicle can cover the blind area of the target vehicle, the control apparatus may alternatively acquire the field of view information of the reference vehicle and transmit the field of view information of the reference vehicle to the target vehicle, so that the target vehicle can travel based on the field of view information of the reference vehicle.
Correspondingly, after the visual field information of the reference vehicle is acquired, the process of S203 may be: when the travel intention information of the reference vehicle is braking intention information, the control target vehicle decelerates, and the travel speed of the target vehicle is controlled based on the visual field information of the reference vehicle.
When the environmental information in the blind area of the target vehicle is not acquired, the target vehicle runs based on the running behavior of the reference vehicle, and when the reference vehicle has a braking behavior, the target vehicle is controlled to decelerate preferentially, so that the target vehicle can be effectively prevented from colliding with other objects suddenly intruding into the blind area. When the visual field information of the reference vehicle is obtained, the traveling speed of the target vehicle may also be controlled based on the visual field information at this time. When the acquired visual field information is a pedestrian or other vehicle having a sudden intrusion, the control target vehicle is decelerated.
After the target vehicle decelerates, the target vehicle may also send a warning message to the rear vehicle, the warning message being used to indicate that there is a possibility of a collision accident in front. The target vehicle may send the reminding information in a mechanical manner such as a double flashing light or an electronic manner of signal intercommunication, and the sending manner of the reminding information is not limited in this embodiment.
According to the anti-collision control method for the vehicles, when the visual field of the target vehicle is limited, the vehicles with the visual field range capable of covering the blind area of the target vehicle can be selected as the reference vehicles of the target vehicle according to the current position information of the target vehicle, and the running speed of the target vehicle can be controlled based on the running state information of the reference vehicles, so that when pedestrians or other vehicles running the red light appear in the blind area of the target vehicle, the risk that the target vehicle collides with the pedestrians or other vehicles can be effectively reduced, and the running safety of the target vehicle is improved.
In practical application, in consideration of the fact that some people or some vehicles often have some illegal behaviors, such as running red light or randomly changing lanes, the important monitoring is carried out on the part of people, and the occurrence of collision accidents can be effectively reduced. Based on this, on the above embodiment, optionally, as shown in fig. 6, the method may further include:
s601, monitoring historical violation objects.
The historical illegal object refers to an object with illegal driving behaviors, and the illegal driving behaviors can include red light running, reverse running, lane change at random and the like. To further reduce the occurrence of collision accidents, the portion of historical offending objects may be monitored. Of course, an authorization request may be sent to the historical violation object before the historical violation object is monitored, and after authorization of the historical violation object is obtained, monitoring of the historical violation object is started. In this way, the control apparatus can obtain the travel information of the history violation object, including the position information, the travel speed, the acceleration, the travel direction, the travel intention information, and the like of the history violation object. By using the travel information, the travel of another vehicle can be guided.
S602, when it is monitored that the historical violation object enters a target area where the target vehicle is located, the target vehicle and the historical violation object are reminded according to historical violation information of the historical violation object.
The historical violation information comprises at least one of the red light running times, the random lane changing times, the information of the caused traffic accidents and the danger level of the historical violation object. The target area may include an intersection where the target vehicle is located or a lane where the target vehicle is located, or the like.
When it is monitored that the historical violation object enters the target area where the target vehicle is located, the control device can remind the historical violation object to pay attention to the driving behavior of the historical violation object based on the historical violation information of the historical violation object. In specific implementation, different degrees of reminding can be performed based on the danger level of the historical violation object. Different color signs can be adopted for different danger levels, and the color signs used for representing the reminding information are displayed in mobile phone end software (such as navigation software) or vehicle-mounted software. Of course, the reminding mode can also be as follows: reminding is carried out through broadcasting, voice in the vehicle, navigation prompt and manual traffic police patrol.
In addition to alerting historical violation objects, alert information may also be sent to the target vehicle. The reminding information comprises historical violation information of the historical violation object, so that the target vehicle can take corresponding protective measures based on the historical violation information of the historical violation object. The sending mode of the reminding information may refer to the above reminding mode for the historical violation object, and this embodiment is not described herein again.
For example, when it is monitored that the history violation object runs to the intersection where the target vehicle is located, a reminding message "you have entered the intersection and please pay attention to the traffic lights ahead" may be sent to the history violation object. Meanwhile, reminding information that people often running red light enter the intersection and please pay attention to the deceleration driving can be sent to the target vehicle, and the specific position of the people running red light can be sent to the target vehicle, so that the target vehicle can take corresponding protective measures.
Next, the above-described history violation object and the process of acquiring history violation information of the history violation object will be specifically described. On the basis of the foregoing embodiment, optionally, as shown in fig. 7, before the foregoing S601, the method further includes:
and S701, acquiring historical image data generated by each road.
Wherein the driving data generated in the road are collected by a camera device arranged in the road and the collected driving data are stored in a corresponding storage device. Therefore, when the violation needs to be analyzed, the history image data generated for each road can be acquired from the storage device.
S702, identifying the violation behaviors in the historical image data, and obtaining information of all historical violation objects corresponding to the violation behaviors, the violation times of all historical violation objects and the caused traffic accidents.
Specifically, after the historical image data is obtained, a preset face recognition algorithm can be adopted to recognize the illegal persons in the historical image data and the number of times of violation of the illegal behaviors of the illegal persons, and meanwhile, other information can be further recognized, such as whether the traffic accidents are caused by the violation of the illegal persons. Similarly, a preset license plate recognition algorithm is adopted to recognize the illegal vehicle in the historical image data and the number of violation times of the illegal vehicle, and other information such as whether traffic accidents are caused by the illegal vehicle behaviors can be further recognized. The illegal behavior can be red light running or lane change at will.
And S703, determining the danger level of each historical violation object based on the violation times of each historical violation object and the information of the caused traffic accidents.
The risk level is used for indicating the probability of the historical violation object having the violation again, the higher the risk level is, the higher the probability of the historical violation object having the violation again is, and conversely, the lower the risk level is, the lower the probability of the historical violation object having the violation again is. After identifying the number of violations of historical violating objects and the information of the incurred traffic accidents from the historical image data, the control device may determine a hazard level for each historical violating object based on the number of violations of each historical violating object and the information of the incurred traffic accidents.
Alternatively, the control device may determine the risk level of each historical violation object by referring to table 1 below based on the number of violations of each historical violation object and the information of the triggered traffic accident.
TABLE 1
It should be noted that, the correspondence between the number of violations and the risk level in table 1 may be set based on actual requirements, and meanwhile, the indication of the risk level by letters such as A, B, C, D is merely an example, and other expressions, such as percentages, may also be used.
In the embodiment, historical image data generated by each road is identified, historical violation objects and historical violation information of the historical violation objects are obtained, the historical violation objects are monitored, and when it is monitored that the historical violation objects enter a target area where the target vehicle is located, the target vehicle and the historical violation objects are reminded, so that the risk of collision of the target vehicle is reduced, and the driving safety of the target vehicle is further improved.
After obtaining the historical violation information of the historical violation object, the travel speed of the target vehicle may be further controlled using the historical violation information as reference information. On the basis of the foregoing embodiment, optionally, the process of S203 may be: and controlling the running speed of the target vehicle according to the running state information of the reference vehicle and the historical violation information of the historical violation object.
The driving state information of the reference vehicle can be used as a reference factor for controlling the target vehicle, because the visual field range of the reference vehicle can cover the blind area of the target vehicle; meanwhile, it can be understood that the more the number of red light running in the history of the historical violation object is, the more the number of vehicles are randomly changed or the higher the danger level is, the higher the possibility that the violation behavior of the historical violation object occurs again is, the higher the risk that the target vehicle collides with the historical violation object is, and therefore, the historical violation information of the historical violation object can be used as another reference factor for controlling the target vehicle, and the running speed of the target vehicle can be controlled based on the combined action of the two reference factors.
In order to further reduce the risk of collision of the target vehicle, optionally, the ambient environment information of the target vehicle may also be used as another reference factor for controlling the target vehicle. On the basis of the foregoing embodiment, optionally, the method further includes: monitoring whether the target vehicle is in a preset environment set.
Alternatively, when the target vehicle is in the preset environment set, the process of controlling the driving speed of the target vehicle according to the driving state information of the reference vehicle and the historical violation information of the historical violation object may include:
step A: and determining the reference running speed of the target vehicle according to the running state information of the reference vehicle.
Wherein, the environment included in the preset environment set is: schools, hospitals, supermarkets, driveways with long-term violations, and other environments with intense pedestrian traffic. The reference traveling speed is a traveling speed of the target vehicle calculated with respect to the reference object by the reference vehicle. Generally, the reference running speed is smaller than the running speed of the reference vehicle.
And B: and determining the highest running speed of the target vehicle according to the historical violation information of the historical violation object and the environment type of the current environment where the target vehicle is located.
The control device may determine the maximum driving speed of the target vehicle from a preset speed limit table based on the historical violation information of the historical violation object and the environment type of the current environment where the target vehicle is located. Specifically, the reference factors included in the speed limit table may be the following factors (the reference factors refer to factors affecting the maximum traveling speed of the target vehicle):
1. whether a historical violation object suddenly breaks into the lane where the target vehicle is located or not.
2. Whether there is a dense stream of people around the lane where the target vehicle is located.
3. Whether there is a school, hospital, etc. around the lane where the subject vehicle is located.
4. Whether the current travel time of the target vehicle is in the morning and evening peak periods.
Meanwhile, the maximum running speed of the target vehicle corresponding to the case where the 4 cases are all met, the maximum running speed of the target vehicle corresponding to the case where any 3 cases are met, the maximum running speed of the target vehicle corresponding to the case where any 2 cases are met, and the maximum running speed of the target vehicle corresponding to the case where any 1 case is met are also set in the speed limit table.
Thus, after obtaining the historical violation information of the historical violation object and the environment type of the current environment where the target vehicle is located, the control device can determine the highest running speed of the target vehicle by querying the speed limit table.
And C: and determining the minimum one of the reference running speed and the maximum running speed as a target running speed of the target vehicle, and controlling the target vehicle to run according to the target running speed.
Of course, in addition to limiting the maximum traveling speed of the target vehicle, when there is a stationary history violation object on the adjacent lane of the target vehicle, in order to prevent the history violation object from suddenly entering the lane in which the target vehicle is located to cause a collision accident, i.e., in order to further reduce the collision risk of the target vehicle, the target vehicle is controlled to decelerate while passing the history violation object. Meanwhile, the speed variation of the target vehicle can be determined based on the historical violation information of the historical violation object, and the target vehicle is controlled to run at a reduced speed based on the speed variation.
For example, the target vehicle runs in the current lane, and when the historical violation object is detected to exist in the adjacent lane, the target vehicle is controlled to decelerate in advance. And when the danger level of the history violation object is D level, the control target vehicle decelerates to 50% of the current vehicle speed, so that when the history violation object suddenly enters the current lane where the target vehicle is located, the risk of collision of the target vehicle can be effectively avoided or reduced.
In the present embodiment, the control apparatus is capable of controlling the travel speed of the target vehicle not only based on the travel state information of the reference vehicle, but also based on the history violation information of the history violation object and the environment type of the environment in which the target vehicle is currently located. That is to say, the control equipment can synthesize multiple reference factor, and the operation that slows down of control target vehicle has reduced the risk that target vehicle bumps, has further improved target vehicle's driving safety.
Fig. 8 is a schematic structural diagram of a collision avoidance control device of a vehicle according to an embodiment of the present application. As shown in fig. 8, the apparatus may include: a selection module 801, a monitoring module 802 and a control module 803.
Specifically, the selection module 801 is configured to select a reference vehicle from a plurality of adjacent vehicles traveling in the same direction as a target vehicle based on current location information of the target vehicle, where a field of view of the reference vehicle can cover a blind area of the target vehicle;
the monitoring module 802 is configured to monitor the driving state information of the reference vehicle;
the control module 803 is configured to control the traveling speed of the target vehicle according to the traveling state information of the reference vehicle.
The anti-collision control device of the vehicle provided by the embodiment of the application can select the vehicle with the view range capable of covering the blind area of the target vehicle as the reference vehicle of the target vehicle through the current position information of the target vehicle when the view of the target vehicle is limited, and can control the running speed of the target vehicle based on the running state information of the reference vehicle, so that when the pedestrian or other vehicles running the red light appear in the blind area of the target vehicle, the risk that the target vehicle collides with the pedestrian or other vehicles can be effectively reduced, and the running safety of the target vehicle is improved.
On the basis of the foregoing embodiment, optionally, the apparatus may further include: and a judging module.
Specifically, the determining module is configured to determine whether a distance between the target vehicle and a reference vehicle is greater than or equal to a preset distance after the selecting module 801 selects the reference vehicle from a plurality of adjacent vehicles in the same driving direction as the target vehicle based on the current position information of the target vehicle;
the control module 803 is further configured to control the running speed of the target vehicle when the distance between the target vehicle and the reference vehicle is smaller than a preset distance, so that the distance between the target vehicle and the reference vehicle is greater than or equal to the preset distance.
On the basis of the foregoing embodiment, optionally, the apparatus further includes: and a reminding module.
Specifically, the monitoring module 802 is further configured to monitor historical violation objects;
the reminding module is used for reminding the target vehicle and the historical violation object according to historical violation information of the historical violation object when it is monitored that the historical violation object enters a target area where the target vehicle is located.
Optionally, the historical violation information includes at least one of a number of red light runs, a number of lane changes at will, information of an induced traffic accident, and a risk level of the historical violation object.
On the basis of the foregoing embodiment, optionally, the apparatus further includes: the device comprises a first obtaining module, an identification module and a determination module.
Specifically, the first obtaining module is configured to obtain historical image data generated by each road before the monitoring module 802 monitors the historical violation object;
the identification module is used for identifying the violation behaviors in the historical image data and obtaining all historical violation objects corresponding to the violation behaviors, the violation times of all historical violation objects and the information of the caused traffic accidents;
the determining module is used for determining the danger level of each historical violation object based on the violation times of each historical violation object and the information of the caused traffic accidents.
On the basis of the foregoing embodiment, optionally, the control module 803 is specifically configured to control the running speed of the target vehicle according to the running state information of the reference vehicle and the historical violation information of the historical violation object.
On the basis of the foregoing embodiments, optionally, the monitoring module 802 is further configured to monitor whether the target vehicle is in a preset environment set;
correspondingly, when the target vehicle is in the preset environment set, the control module 803 is specifically configured to determine a reference running speed of the target vehicle according to the running state information of the reference vehicle; determining the highest running speed of the target vehicle according to the historical violation information of the historical violation object and the environment type of the current environment where the target vehicle is located; and determining the minimum one of the reference running speed and the maximum running speed as a target running speed of the target vehicle, and controlling the target vehicle to run according to the target running speed.
Optionally, the environments included in the preset environment set are: schools, hospitals, supermarkets, driveways with long-term violations, and other environments with intense pedestrian traffic.
On the basis of the above embodiment, optionally, the driving state information includes driving intention information, and the apparatus further includes: and a second obtaining module.
Specifically, the second acquisition module is used for acquiring the visual field information of the reference vehicle;
correspondingly, the control module 803 is specifically configured to control the target vehicle to decelerate when the driving intention information is braking intention information, and to control the driving speed of the target vehicle based on the visual field information of the reference vehicle.
In one embodiment, a collision avoidance control apparatus for a vehicle is provided, and a schematic structural diagram thereof may be as shown in fig. 9. The apparatus includes a processor, a memory connected by a system bus. Wherein the processor of the device is configured to provide computing and control capabilities. The memory of the device is used for storing a computer program. The computer program is executed by a processor to implement a collision avoidance control method for a vehicle.
It will be understood by those skilled in the art that the structure shown in fig. 9 is a block diagram of only a part of the structure related to the present application, and does not constitute a limitation of the collision avoidance control apparatus of the vehicle to which the present application is applied, and a specific collision avoidance control apparatus of the vehicle may include more or less components than those shown in the figure, or combine some components, or have a different arrangement of components.
In one embodiment, there is provided a collision avoidance control apparatus for a vehicle, comprising a memory having a computer program stored therein and a processor that when executed implements the steps of:
selecting a reference vehicle from a plurality of adjacent vehicles in the same driving direction as the target vehicle on the basis of the current position information of the target vehicle, wherein the view field range of the reference vehicle can cover the blind area of the target vehicle;
monitoring the driving state information of the reference vehicle;
and controlling the running speed of the target vehicle according to the running state information of the reference vehicle.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
selecting a reference vehicle from a plurality of adjacent vehicles in the same driving direction as the target vehicle on the basis of the current position information of the target vehicle, wherein the view field range of the reference vehicle can cover the blind area of the target vehicle;
monitoring the driving state information of the reference vehicle;
and controlling the running speed of the target vehicle according to the running state information of the reference vehicle.
The anti-collision control device, the equipment and the storage medium of the vehicle provided in the above embodiments may execute the anti-collision control method of the vehicle provided in any embodiment of the present application, and have corresponding functional modules and beneficial effects for executing the method. Technical details that are not described in detail in the above embodiments may be referred to a collision avoidance control method for a vehicle provided in any embodiment of the present application.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A collision avoidance control method of a vehicle, characterized by comprising:
selecting a reference vehicle from a plurality of adjacent vehicles in the same driving direction as the target vehicle on the basis of the current position information of the target vehicle, wherein the view field range of the reference vehicle can cover the blind area of the target vehicle;
monitoring the driving state information of the reference vehicle;
and controlling the running speed of the target vehicle according to the running state information of the reference vehicle.
2. The method according to claim 1, wherein after the selecting a reference vehicle from a plurality of neighboring vehicles traveling in the same direction as the target vehicle based on the current position information of the target vehicle, the method further comprises:
judging whether the distance between the target vehicle and the reference vehicle is greater than or equal to a preset distance or not;
if not, controlling the running speed of the target vehicle so that the distance between the target vehicle and the reference vehicle is larger than or equal to the preset distance.
3. The method of claim 1, further comprising:
monitoring historical violation objects;
when it is monitored that the historical violation object enters the target area where the target vehicle is located, the target vehicle and the historical violation object are reminded according to historical violation information of the historical violation object.
4. The method of claim 3, wherein prior to the monitoring of the historical offending object, the method further comprises:
acquiring historical image data generated by each road;
identifying the violation behaviors in the historical image data, and obtaining all historical violation objects corresponding to the violation behaviors, the number of violations of all historical violation objects and information of the caused traffic accidents;
and determining the danger level of each historical violation object based on the violation times of each historical violation object and the information of the caused traffic accidents.
5. The method according to claim 3, wherein the controlling the travel speed of the target vehicle based on the travel state information of the reference vehicle includes:
and controlling the running speed of the target vehicle according to the running state information of the reference vehicle and the historical violation information of the historical violation object.
6. The method of claim 5, further comprising:
monitoring whether the target vehicle is in a preset environment set;
correspondingly, when the target vehicle is in the preset environment set, the controlling the running speed of the target vehicle according to the running state information of the reference vehicle and the historical violation information of the historical violation object includes:
determining a reference running speed of the target vehicle according to the running state information of the reference vehicle;
determining the highest running speed of the target vehicle according to the historical violation information of the historical violation object and the environment type of the current environment where the target vehicle is located;
and determining the minimum one of the reference running speed and the maximum running speed as a target running speed of the target vehicle, and controlling the target vehicle to run according to the target running speed.
7. The method according to any one of claims 1 to 6, wherein the travel state information includes travel intention information, the method further comprising:
acquiring visual field information of the reference vehicle;
correspondingly, the controlling the running speed of the target vehicle according to the running state information of the reference vehicle includes:
and when the driving intention information is braking intention information, controlling the target vehicle to decelerate, and controlling the driving speed of the target vehicle based on the visual field information of the reference vehicle.
8. A collision avoidance control apparatus of a vehicle, characterized by comprising:
the system comprises a selection module, a judgment module and a display module, wherein the selection module is used for selecting a reference vehicle from a plurality of adjacent vehicles in the same driving direction with a target vehicle based on the current position information of the target vehicle, and the visual field range of the reference vehicle can cover the blind area of the target vehicle;
the monitoring module is used for monitoring the running state information of the reference vehicle;
and the control module is used for controlling the running speed of the target vehicle according to the running state information of the reference vehicle.
9. A collision avoidance control apparatus for a vehicle, comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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