CN113734167B

CN113734167B - Vehicle control method, device, terminal and storage medium

Info

Publication number: CN113734167B
Application number: CN202111061907.5A
Authority: CN
Inventors: 方啸; 王秀峰; 李景才; 容力
Original assignee: Suzhou Zhijia Technology Co Ltd
Current assignee: Suzhou Zhijia Technology Co Ltd
Priority date: 2021-09-10
Filing date: 2021-09-10
Publication date: 2023-05-30
Anticipated expiration: 2041-09-10
Also published as: CN113734167A

Abstract

The application provides a vehicle control method, a vehicle control device, computer equipment and a storage medium, and belongs to the technical field of computers. The method comprises the following steps: responsive to the first vehicle not being forward-most of the fleet, obtaining a relative enhancement signal between the first vehicle and at least one second vehicle; determining a vehicle enhancement signal for the first vehicle based on the acquired at least one relative enhancement signal; the first vehicle is controlled based on the vehicle enhancement signal and the vehicle state information of the first vehicle. According to the scheme, the vehicle enhancement signal of the first vehicle can be determined, and the first vehicle can be controlled according to the vehicle enhancement signal and the current running speed. The vehicle enhancement signal considers the relative distance and the relative acceleration between all the second vehicles in front of the first vehicle and the first vehicle, so that the first vehicle can adjust the running speed of the first vehicle according to the running state of the vehicle in front, the self-adaptability is strong, the adjustment mode is flexible, and the stability is high.

Description

Vehicle control method, device, terminal and storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a vehicle control method, device, terminal, and storage medium.

Background

The vehicle-road cooperative system is a safe, efficient and environment-friendly road traffic system. By adopting advanced wireless communication, new generation of Internet and other technologies, the vehicle-vehicle dynamic and road dynamic real-time information interaction can be realized in an omnibearing manner, the effective cooperation of people and vehicles and roads can be fully realized, the traffic safety is ensured, and the traffic efficiency is improved.

Currently, in a scene of vehicle-road cooperative automatic driving formation, three common modes of vehicle-vehicle communication, vehicle-road communication and vehicle cloud communication exist. Whichever way of road cooperation is adopted, for a vehicle located at the rear, it is necessary to plan whether the own vehicle accelerates or decelerates according to the current speed, acceleration, distance from the own vehicle to the preceding vehicle, speed of the preceding vehicle, and acceleration of the preceding vehicle, so as to maintain the same speed and appropriate distance from the preceding vehicle.

However, the problem with the above solution is that, with the increase of the vehicle speed of the fleet, the own vehicle can frequently adjust its own running speed, i.e. frequently accelerate and decelerate, resulting in poor running stability of the vehicle, and in the case of encountering sudden braking or overtaking, congestion of the rear vehicle or disconnection of the fleet may be caused, and the reliability and flexibility are not high.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, a device, a terminal and a storage medium, which enable a vehicle to adjust the running speed of the vehicle according to the running state of at least one other vehicle in front, and have strong adaptability, flexible adjustment mode and strong stability. The technical scheme is as follows:

in one aspect, a vehicle control method is provided, applied to a first vehicle, the method including:

responsive to the first vehicle not being forward-most of a fleet of vehicles, obtaining a relative enhancement signal between the first vehicle and at least one second vehicle traveling forward of the first vehicle in the fleet of vehicles, the relative enhancement signal being indicative of a relative distance and a relative acceleration between the first vehicle and a corresponding second vehicle;

determining a vehicle enhancement signal of the first vehicle based on the acquired at least one relative enhancement signal, the vehicle enhancement signal being indicative of a relative distance and a relative acceleration between the first vehicle and the at least one second vehicle;

the first vehicle is controlled based on the vehicle-enhancement signal and vehicle-state information of the first vehicle, the vehicle-state information including a current traveling speed of the first vehicle.

In another aspect, there is provided a vehicle control apparatus including:

an acquisition module for acquiring a relative enhancement signal between the first vehicle and at least one second vehicle traveling in front of the first vehicle in the fleet in response to the first vehicle not being at the forefront of the fleet, the relative enhancement signal being indicative of a relative distance and a relative acceleration between the first vehicle and a corresponding second vehicle;

a determination module for determining a vehicle enhancement signal of the first vehicle based on the acquired at least one relative enhancement signal, the vehicle enhancement signal being indicative of a relative distance and a relative acceleration between the first vehicle and the at least one second vehicle;

and a control module configured to control the first vehicle based on the vehicle-enhancement signal and vehicle-state information of the first vehicle, the vehicle-state information including a current traveling speed of the first vehicle.

In some embodiments, the acquisition module comprises:

the system comprises an acquisition sub-module, a first acceleration module and a second acceleration module, wherein the acquisition sub-module is used for acquiring vehicle distance information, first acceleration information and vehicle length information corresponding to any second vehicle, the vehicle distance information is used for indicating the current vehicle distance between the second vehicle and the first vehicle, the first acceleration information is used for indicating the acceleration of the second vehicle, and the vehicle length information is used for indicating the vehicle length of the vehicle between the second vehicle and the first vehicle;

A determining sub-module configured to determine a relative enhancement signal between the second vehicle and the first vehicle based on the vehicle distance information, the first acceleration information, the vehicle length information, second acceleration information of the first vehicle, and threshold information, the second acceleration information being used to indicate an acceleration of the first vehicle, and the threshold information being used to indicate a vehicle distance threshold between adjacent vehicles.

In some embodiments, the determining submodule includes:

a determining unit configured to determine a first critical value, a second critical value, and a third critical value based on the threshold information and the vehicle length information, the first critical value being smaller than the second critical value, the second critical value being smaller than the third critical value;

the first algorithm unit is used for responding to the fact that the current vehicle distance indicated by the vehicle distance information is between the second critical value and the third critical value, and processing the vehicle distance information, the first acceleration information, the vehicle length information, the second acceleration information and the threshold value information based on a first algorithm to obtain a relative enhancement signal between the second vehicle and the first vehicle;

The second algorithm unit is used for responding to the fact that the current vehicle distance is between the first critical value and the second critical value, and processing the vehicle distance information, the first acceleration information, the vehicle length information, the second acceleration information and the threshold value information based on a second algorithm to obtain the relative enhancement signal;

the third algorithm unit is used for responding to the fact that the current vehicle distance is smaller than the first critical value or larger than the third critical value, and processing the vehicle distance information, the first acceleration information, the vehicle length information, the second acceleration information and the threshold value information based on a third algorithm to obtain the relative enhancement signal;

wherein the first algorithm, the second algorithm, and the third algorithm are different algorithms.

In some embodiments, the determining unit is configured to determine, when the second vehicle and the first vehicle are adjacent vehicles, a first distance threshold value in the threshold information as the first critical value, a second distance threshold value in the threshold information as the second critical value, a third distance threshold value in the threshold information as the third critical value, the first distance threshold value being smaller than the second distance threshold value, and the second distance threshold value being smaller than the third distance threshold value.

In some embodiments, the determining unit is configured to determine, in a case where the second vehicle and the first vehicle are not neighboring vehicles, the first critical value based on a first distance threshold in the threshold information and a vehicle length in the vehicle length information; determining the second critical value based on a second distance threshold value in the threshold value information and the length of the vehicle in the length information; determining a third critical value based on a third distance threshold value in the threshold information and the length of the vehicle in the length information; wherein the first distance threshold is less than the second distance threshold, which is less than the third distance threshold.

In some embodiments, the determining module is configured to obtain at least one impact factor corresponding to the at least one relative enhancement signal, where the relative enhancement signal corresponds to the impact factor one-to-one, and the impact factor is used to indicate a correlation between vehicles; and weighting and summing the at least one relative enhancement signal based on the at least one influence factor to obtain the vehicle enhancement signal of the first vehicle.

In some embodiments, the control module is configured to input the vehicle enhancement signal and the vehicle state information of the first vehicle into a vehicle control system, and output vehicle control information; the first vehicle is controlled based on the vehicle control information.

In some embodiments, the learning manner of the vehicle control system includes:

randomly acquiring sample vehicles from a sample vehicle team, and carrying out system initialization to obtain sample system information, wherein the sample system information comprises a test frequency threshold value and a step length threshold value of a single test;

responding to the fact that the current test times are smaller than the test times threshold value, and adjusting the running speed of the sample vehicle based on the first vehicle control information output in the last step to obtain sample vehicle state information;

determining a sample enhancement signal based on the sample vehicle state information in response to a current step size being less than the step size threshold;

and adjusting parameters of the vehicle control system based on the sample enhancement signal, and outputting second vehicle control information.

In another aspect, a computer device is provided, the computer device being disposed on a first vehicle, the computer device including a processor and a memory for storing at least one segment of a computer program loaded and executed by the processor to implement operations performed in a vehicle control method in an embodiment of the present application.

In another aspect, a computer readable storage medium having stored therein at least one segment of a computer program loaded and executed by a processor to implement operations performed in a vehicle control method in an embodiment of the present application is provided.

In another aspect, a computer program product is provided that includes computer program code stored in a computer readable storage medium. The processor of the computer device reads the computer program code from the computer readable storage medium, and the processor executes the computer program code so that the computer device performs the vehicle control method provided in various alternative implementations of the above aspects.

The beneficial effects that technical scheme that this application embodiment provided brought are:

the embodiment of the application provides a vehicle control method, which is used for acquiring a relative enhancement signal between at least one second vehicle and a first vehicle which are driven in front of the first vehicle in a vehicle team, so that the vehicle enhancement signal of the first vehicle can be determined based on the acquired at least one relative enhancement signal, and then the first vehicle is controlled according to the vehicle enhancement signal and the current driving speed of the first vehicle. The vehicle enhancement signals take the relative distance and the relative acceleration between all the second vehicles in front of the first vehicle and the first vehicle into consideration, so that the first vehicle can adjust the running speed of the first vehicle according to the running state of at least one second vehicle in front, the self-adaptability is strong, the adjustment mode is flexible, and the stability is strong.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a block diagram of a vehicle control system provided in accordance with an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle control method provided in accordance with an embodiment of the present application;

FIG. 3 is a flow chart of a vehicle control method provided in accordance with an embodiment of the present application;

FIG. 4 is a schematic illustration of a fleet of vehicles provided in accordance with embodiments of the present application;

FIG. 5 is a schematic illustration of a first vehicle and a second vehicle adjacent, provided in accordance with an embodiment of the present application;

FIG. 6 is a schematic illustration of a first vehicle and a second vehicle not being adjacent, provided in accordance with an embodiment of the present application;

FIG. 7 is a schematic illustration of a control vehicle provided in accordance with an embodiment of the present application;

FIG. 8 is a schematic diagram of a learning flow of a vehicle control system provided according to an embodiment of the present application;

Fig. 9 is a block diagram of a vehicle control apparatus provided according to an embodiment of the present application;

FIG. 10 is a block diagram of another vehicle control apparatus provided in accordance with an embodiment of the present application;

fig. 11 is a block diagram of a vehicle-mounted terminal according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The terms "first," "second," and the like in this application are used to distinguish between identical or similar items that have substantially the same function and function, and it should be understood that there is no logical or chronological dependency between the "first," "second," and "nth" terms, nor is it limited to the number or order of execution.

The term "at least one" in this application means one or more, and the meaning of "a plurality of" means two or more.

The following description applies to terms involved in the practice of this application.

Reinforcement learning (Reinforcement Learning, RL), also known as re-learning, evaluation learning, or reinforcement learning, is one of the paradigm and methodology of machine learning to describe and solve the problem of agents (agents) through learning strategies to maximize returns or achieve specific goals during interactions with an environment.

The enhancement signal may also be referred to as an enhancement signal. In reinforcement learning, where the agent learns in a "trial and error" manner, and the rewards obtained by interacting with the environment guide the behavior with the goal of having the agent obtain the maximum rewards, unlike supervised learning in connection with learning, which is primarily manifested on reinforcement signals, reinforcement signals provided by the environment in reinforcement learning are an assessment of how well an action is produced (typically scalar signals) rather than telling the reinforcement learning system (Reinforcement Learning System, RLS) how to produce the correct action.

An On Board Unit (OBU) is a microwave device that communicates with an RSU using DSRC (Dedicated Short Range Communication, short range communication) technology.

A Road Side Unit (RSU) is a device installed on a Road Side to realize vehicle identification and electronic deduction in an ETC (Electronic Toll Collection) system. The roadside units communicate with the on-board units using DSRC techniques.

Fig. 1 is a block diagram of a vehicle control system provided according to an embodiment of the present application. The vehicle control system is deployed in an unmanned vehicle, and the current vehicle in the embodiment of the application is the unmanned vehicle with the vehicle control system deployed. The vehicle control system includes a camera 101, a radar 102, a controller, a terminal, and the like.

The terminal is connected to the camera 101, the radar 102, and the controller through a wireless network or a wired network. The terminal is used for processing the data acquired by the data acquisition modules of the camera 101, the radar 102 and the like to predict the intention of other vehicles, and then generating a control signal, and the controller controls the vehicles based on the control signal. The terminal can be a vehicle-mounted terminal or an external terminal based on the data interface, and the embodiment of the application is not limited. The vehicle control method provided by the embodiment of the application can be executed by a vehicle control system or the terminal.

In some embodiments, the camera 101 includes a binocular camera, a trinocular camera, and a multi-ocular camera for capturing images of the surrounding environment. The radar 102 includes at least one of a laser radar, a millimeter wave radar, and a three-dimensional laser radar. The radar 102 is mounted on the roof of the autonomous vehicle so that the radar 102 can scan into the surroundings of the autonomous vehicle.

The terminal can determine the vehicle information of the current vehicle and the vehicle information of other vehicles on the road based on the data acquired by the unmanned vehicle during the running process.

Fig. 2 is a flowchart of a vehicle control method according to an embodiment of the present application, and as shown in fig. 2, the application to a first vehicle is described in the embodiment of the present application as an example. The vehicle control method includes the steps of:

201. in response to the first vehicle not being forward-most of the fleet, a relative boost signal between the first vehicle and at least one second vehicle traveling forward of the first vehicle in the fleet is obtained, the relative boost signal being indicative of a relative distance and a relative acceleration between the first vehicle and a corresponding second vehicle.

In the embodiment of the application, the vehicle team comprises at least two vehicles, and if the first vehicle is at the forefront of the vehicle team, namely, no other vehicle in the front of the vehicle team, the first vehicle is controlled to run in the speed limit range according to the actual traffic rule; if the first vehicle is not at the forefront of the fleet, a relative enhancement signal between the first vehicle and each second vehicle is obtained, wherein the second vehicle is any vehicle in the fleet that runs in front of the first vehicle, that is, the vehicles in the fleet that run in front of the first vehicle are all called second vehicles.

202. A vehicle enhancement signal of the first vehicle is determined based on the acquired at least one relative enhancement signal, the vehicle enhancement signal being indicative of a relative distance and a relative acceleration between the first vehicle and the at least one second vehicle.

In this embodiment of the present application, based on at least one relative enhancement signal between a first vehicle and at least one second vehicle, a vehicle enhancement signal corresponding to the first vehicle may be obtained by fusion, where the vehicle enhancement signal is a total enhancement signal obtained by fusing at least one relative enhancement signal based on an association relationship between different second vehicles and the first vehicle.

203. The first vehicle is controlled based on the vehicle enhancement signal and vehicle state information of the first vehicle, the vehicle state information including a current travel speed of the first vehicle.

In the embodiment of the application, the first vehicle can process the current running speed and the vehicle enhancement signal determined by the steps, and determine to control the first vehicle to accelerate or decelerate so as to keep a safe vehicle distance between the first vehicle and the front vehicle.

Fig. 3 is a flowchart of a vehicle control method according to an embodiment of the present application, and as shown in fig. 3, the application to a first vehicle is described in the embodiment of the present application as an example. The method comprises the following steps:

301. at least one second vehicle is determined in the fleet that is traveling in front of the first vehicle in the fleet in response to the first vehicle not being forward-most of the fleet.

In the embodiment of the application, the motorcade comprises at least two vehicles, and the vehicle at the forefront of the motorcade is the head vehicle. If the first vehicle is a head vehicle, the first vehicle is controlled to run according to the actual traffic rule on the premise that the speed limit range is not exceeded, and the vehicle control method provided by the embodiment of the application does not need to be executed. If the first vehicle is not a head-end vehicle, the first vehicle is traveling in a manner that takes into account the traveling state of at least one second vehicle in front of the first vehicle, and therefore in response to the first vehicle not being forward-most in the fleet, the first vehicle determines in the fleet to travel at least one second vehicle in front of the first vehicle.

For example, fig. 4 is a schematic diagram of a fleet of vehicles according to an embodiment of the present application, see fig. 4, where 1 represents a number 1 vehicle in the fleet of vehicles, 2 represents a number 2 vehicle in the fleet of vehicles, 3 represents an RSU, and 4 represents a cloud end for storing information reported by vehicles. Taking the first vehicle of the vehicle group of the vehicle No. 1 as an example, the vehicle No. 2 can determine the vehicle information of other vehicles in the vehicle group in three ways, such as position, speed, acceleration and the like. According to the first mode, the OBE is installed in each of the No. 1 vehicle and the No. 2 vehicle, and the positions of other vehicles in the fleet can be acquired through the OBE and the No. 2 vehicle, so that the No. 1 vehicle is determined to run in front of the No. 2 vehicle. In the second way, an RSU is installed on the driving route of the fleet, that is, 3 in fig. 4, the vehicles in the fleet send vehicle information to the RSU, and the No. 2 vehicle can acquire the positions of other vehicles in the fleet through the RSU, so as to determine that the No. 1 vehicle is driving in front of the No. 2 vehicle. In a third mode, the vehicles in the fleet can report the vehicle information to the cloud, that is, the vehicles No. 4 and No. 2 in fig. 4 can obtain the positions of other vehicles in the fleet from the cloud, so as to determine that the vehicle No. 1 is running in front of the vehicle No. 2.

302. And for any second vehicle, acquiring vehicle distance information, first acceleration information and vehicle length information corresponding to the second vehicle, wherein the vehicle distance information is used for indicating the current vehicle distance between the second vehicle and the first vehicle, the first acceleration information is used for indicating the acceleration of the second vehicle, and the vehicle length information is used for indicating the vehicle length of the vehicle between the second vehicle and the first vehicle.

In this embodiment of the present application, taking any second vehicle in front of the first vehicle as an example, the first vehicle can acquire the current distance between the second vehicle and the first vehicle and the current acceleration of the second vehicle. If there are other vehicles between the second vehicle and the first vehicle, the first vehicle is also able to obtain the vehicle length of the vehicle between the second vehicle and the first vehicle. The first vehicle can acquire the information based on the OBE installed by the vehicle, can also acquire the information based on the RSU installed on the travel route of the fleet, and can also acquire the information uploaded to the cloud end by the second vehicle based on the remote end.

303. A relative boost signal between the second vehicle and the first vehicle is determined based on the distance information, the first acceleration information, the length information, second acceleration information of the first vehicle, the second acceleration information indicating an acceleration of the first vehicle, and threshold information indicating a distance threshold between adjacent vehicles, the relative boost signal indicating a relative distance and a relative acceleration between the first vehicle and the second vehicle.

In the embodiment of the application, because the running speeds of the vehicles are different, the safety distance between the vehicles also changes, and if the distance between the vehicles is too small, collision accidents are easy to happen; if the distance between two vehicles is too large, the vehicles are easy to be plugged, so that the vehicles cannot travel along with the fleet, therefore, the first vehicle can determine three critical values based on the threshold information and the vehicle length information, and then three different algorithms are adopted based on the relation between the distance between the first vehicle and the second vehicle and the critical values. To determine a relative enhancement signal between the first vehicle and the second vehicle.

In some embodiments, the first vehicle determines a first threshold value, a second threshold value, and a third threshold value based on the threshold information and the length information, the first threshold value being less than the second threshold value, the second threshold value being less than the third threshold value. After the three critical values are determined, responding to the fact that the current vehicle distance indicated by the vehicle distance information is between a second critical value and a third critical value, and processing the vehicle distance information, the first acceleration information, the vehicle length information, the second acceleration information and the threshold value information based on a first algorithm to obtain a relative enhancement signal between a second vehicle and the first vehicle; responding to the fact that the current vehicle distance is between a first critical value and a second critical value, and processing vehicle distance information, first acceleration information, vehicle length information, second acceleration information and threshold value information based on a second algorithm to obtain a relative enhancement signal; responding to the fact that the current vehicle distance is smaller than the first critical value or larger than the third critical value, and processing vehicle distance information, first acceleration information, vehicle length information, second acceleration information and threshold value information based on a third algorithm to obtain a relative enhancement signal; wherein the first algorithm, the second algorithm, and the third algorithm are different algorithms. By determining the critical value and adopting different algorithms to determine the relative enhancement signal according to the relation between the current distance between vehicles and the critical value, the relative enhancement signal can promote the distance between two vehicles not to be too small or too large, so that the proper and safe distance is maintained.

In some embodiments, the second vehicle and the first vehicle are adjacent vehicles, that is, no other vehicle is present between the first vehicle and the second vehicle, and therefore, in the case where the second vehicle and the first vehicle are adjacent vehicles, the first distance threshold in the threshold information is determined as a first critical value, the second distance threshold in the threshold information is determined as a second critical value, the third distance threshold in the threshold information is determined as a third critical value, the first distance threshold is smaller than the second distance threshold, and the second distance threshold is smaller than the third distance threshold. The first distance threshold is a dangerous distance threshold between two adjacent vehicles, and when the distance between the two vehicles is smaller than the first distance threshold, the two vehicles are at risk of collision; the second vehicle distance threshold value is an ideal vehicle distance critical value between two adjacent vehicles, which is calculated according to vehicle dynamics and a related control algorithm, and the ideal vehicle distance critical value is not a fixed value, but a dynamic value which is dynamically determined based on the vehicle speed between the two vehicles at different moments; the third distance threshold is the maximum distance value between two adjacent vehicles, if the distance between two adjacent vehicles is greater than the maximum distance value, the following vehicles consume more energy, which is uneconomical and inefficient, and there is a risk that vehicles other than the fleet enter the fleet to influence the fleet.

Fig. 5 is a schematic view of a first vehicle and a second vehicle adjacent to each other according to an embodiment of the present application. Referring to fig. 5, vehicle No. 1 is the head vehicle of the fleet, vehicle No. 2 is the first vehicle, vehicle No. 2 determines vehicle No. 1 is the second vehicle, and vehicles No. 2 and No. 1 are adjacent vehicles. At any time t, the vehicle distance between the No. 1 vehicle and the No. 2 vehicle is delta d ₁₂ (t) the optimal following distance (i.e. the ideal distance critical value) between two adjacent vehicles is d ^* (t) dangerous distance critical value of two adjacent vehicles is d _min (t) the threshold value of the proper distance between two adjacent vehicles (namely the maximum distance value) is d _max (t). The suitable following distance range of the No. 1 vehicle and the No. 2 vehicle is d _min (T)≤Δd ₁₂ (t)≤d _max (t) dangerous distance range Δd ₁₂ (t)＜d _min (t) unsuitable distance range Δd ₁₂ (t)＜d _max (t). The first distance threshold value in the threshold value information acquired by the first vehicle is d _min (t) the second range threshold is d ^* (t) the third distance threshold is d _max (t). Since there is only one vehicle in front of the No. 2 vehicle, i.e. only one second vehicle, the relative enhancement signal between the first vehicle and the second vehicle is equivalent to the vehicle enhancement signal of the first vehicle, the vehicle enhancement signal of the No. 2 vehicle is shown with reference to equation (1), which equation (1) shows three different algorithms.

Wherein r is ₂ (t) represents a relative enhancement signal between vehicle number 2 and vehicle number 1; alpha represents a weight coefficient (0 < alpha < 1); Δd ₁₂ (t) represents a vehicle distance between the vehicle No. 2 and the vehicle No. 1; d, d ^* (t) TableShowing a second threshold; d, d _max (t) represents a third threshold value; d, d _min (t) represents a first threshold value; a, a ₁ (t) represents the acceleration of vehicle No. 1; a, a ₂ And (t) represents the acceleration of vehicle No. 2.

The relative enhancement signal is related to both the vehicle distance between the two vehicles and the relative acceleration between the two vehicles. When alpha is less than 0.5, the influence of the relative acceleration between the two vehicles is larger; when alpha > 0.5, the influence of the vehicle distance between two vehicles is larger. When the current distance indicated by the distance information is between the second critical value and the third critical value, i.e. d ^* (t)＜Δd ₁₂ (t)＜d _max (t) at the time of the first algorithm, the first algorithm is a polynomial

To enhance the relative signal r between vehicle number 2 and vehicle number 1 ₂ The value of (t) is maximum, then the postterm +.>

Must be positive, i.e. a ₂ ＞a ₁ The No. 2 vehicle can reach the ideal vehicle distance position through acceleration. Similarly, when the distance indicated by the distance information is between the first and second threshold values, i.e. d _min (t)＜Δd ₁₂ (t)＜d ^* At (t), the polynomial ++in the second algorithm>

Also has to be positive, i.e. a ₁ ＞a ₂ The No. 2 vehicle can reach the ideal vehicle distance position through speed reduction. When Deltad ₁₂ (t)＝d ^* (t) and a ₁ ＝a ₂ When the relative enhancement signal r between the No. 2 vehicle and the No. 1 vehicle ₂ (t) =0, indicating that the vehicle distance between the current vehicle No. 2 and vehicle No. 1 is the ideal vehicle distance, and the relative speed of both vehicles is 0. When Deltad ₁₂ (t)≥d _max (t) at a time, e.g. third algorithm, the relative enhancement signal r between vehicle number 2 and vehicle number 1 ₂ (t) = -1; when Deltad ₁₂ (t)≤d _min (t) at a time, e.g. third algorithm, the relative enhancement signal r between vehicle number 2 and vehicle number 1 ₂ (t) = -1 due to r ₂ (t) = -1 is the minimum value of the enhancement signal, and represents that the car number 2 has the worst following effect in the current car distance and acceleration state.

In some embodiments, the second vehicle and the first vehicle are not neighboring vehicles, i.e., there are other vehicles between the first vehicle and the second vehicle, and therefore, in the case where the second vehicle and the first vehicle are not neighboring vehicles, the first threshold value is determined based on the first distance threshold value in the threshold value information and the vehicle length in the vehicle length information; determining a second critical value based on a second distance threshold value in the threshold information and the length of the vehicle in the length information; determining a third critical value based on a third distance threshold value in the threshold information and the length of the vehicle in the length information; wherein the first distance threshold is less than the second distance threshold, and the second distance threshold is less than the third distance threshold. The first vehicle distance threshold value is a dangerous vehicle distance critical value between two adjacent vehicles, and when the vehicle distance between the two vehicles is smaller than the first vehicle distance threshold value, the two vehicles are at risk of collision; the second vehicle distance threshold value is an ideal vehicle distance critical value between two adjacent vehicles, which is calculated according to vehicle dynamics and a related control algorithm, and the ideal vehicle distance critical value is not a fixed value, but a dynamic value which is dynamically determined based on the vehicle speed between the two vehicles at different moments; the third distance threshold is the maximum distance value between two adjacent vehicles, if the distance between two adjacent vehicles is greater than the maximum distance value, the following vehicles consume more energy, which is uneconomical and inefficient, and there is a risk that vehicles other than the fleet enter the fleet to influence the fleet.

Fig. 6 is a schematic diagram of a first vehicle and a second vehicle not being adjacent, provided according to an embodiment of the present application. Referring to fig. 2, vehicle No. 1 is the head vehicle of the fleet, vehicle No. 3 is the first vehicle, vehicle No. 3 determines vehicle No. 2 and vehicle No. 1 are the second vehicles, and vehicle No. 2 and vehicle No. 3 are adjacent vehicles. At any time t, the vehicle distance between the No. 3 vehicle and the No. 2 vehicle isΔd ₂₃ (t), the vehicle distance between the No. 3 vehicle and the No. 1 vehicle is delta d ₁₃ (t) the optimal following distance (i.e. the ideal distance critical value) between two adjacent vehicles is d ^* (t) dangerous distance critical value of two adjacent vehicles is d _min (t) the threshold value of the proper distance between two adjacent vehicles (namely the maximum distance value) is d _max (t). The determination method of the relative enhancement signal between the vehicle No. 3 and the vehicle No. 2 is shown in the formula (2):

wherein r is ₃₂ (t) represents a relative enhancement signal between vehicle number 3 and vehicle number 2; alpha represents a weight coefficient (0 < alpha < 1); Δd ₂₃ (t) represents a vehicle distance between the vehicle No. 3 and the vehicle No. 2; d, d ^* (t) represents a second threshold value; d, d _max (t) represents a third threshold value; d, d _min (t) represents a first threshold value; a, a ₃ (t) represents the acceleration of vehicle No. 3; a, a ₂ And (t) represents the acceleration of vehicle No. 2.

The manner in which the relative enhancement signal between vehicle 3 and vehicle 1 is determined is described below. The vehicle length information indicates that the vehicle length of the No. 2 vehicle is L ₂ The first critical value is d ^* (t)+d _min (t)+L ₂ A second critical value of 2 d ^* (t)+L ₂ A third critical value of d ^* (t)+d _max (t)+L ₂ . The determination method of the relative enhancement signal between the vehicle No. 3 and the vehicle No. 1 is shown in the formula (3):

wherein r is ₃₁ (t) represents a relative enhancement signal between vehicle number 3 and vehicle number 1; alpha represents a weight coefficient (0 < alpha < 1); Δd ₁₃ (t) represents a vehicle distance between the vehicle No. 3 and the vehicle No. 1; d, d ^* (t) represents a second range threshold; l (L) ₂ The length of the No. 2 vehicle is represented; d, d _max (t) represents a third headway threshold; d, d _min (t) represents a first distance threshold; a, a ₃ (t) represents the acceleration of vehicle No. 3; a, a ₁ (t) represents the acceleration of vehicle No. 2; d, d ^* (t)+d _min (t)+L ₂ Representing a first threshold value; 2. D ^* (t)+L ₂ Represents a second critical value, d ^* (t)+d _max (t)+L ₂ Representing a third threshold.

The length of each vehicle in the fleet may be the same, may be partially the same, or may be completely different, and the embodiment of the present application is not limited thereto. If there are multiple other vehicles between the first vehicle and the second vehicle, then L is used _i Representing the length of the ith vehicle between the two vehicles.

304. A vehicle enhancement signal of the first vehicle is determined based on the acquired at least one relative enhancement signal, the at least one relative enhancement signal being in one-to-one correspondence with at least one second vehicle, the vehicle enhancement signal being indicative of a relative distance and a relative acceleration between the first vehicle and the at least one second vehicle.

In the embodiment of the application, if a relative enhancement signal is obtained, determining the relative enhancement signal as a vehicle enhancement signal of the first vehicle; and if two or more than two relative enhancement signals are acquired, fusing the two or more than two relative enhancement signals to obtain the vehicle enhancement signal of the first vehicle.

In some embodiments, the vehicle enhancement signal of the first vehicle is determined based on an impact factor corresponding to each second vehicle, wherein the impact factor is in one-to-one correspondence with the second vehicle for indicating a correlation between the first vehicle and the second vehicle. Since the second vehicle is one-to-one subject to the relative enhancement signal, the impact factor is one-to-one in correspondence with the relative enhancement signal. Correspondingly, the first vehicle acquires at least one influence factor corresponding to the at least one relatively enhanced signal; the at least one relative enhancement signal is then weighted based on the at least one impact factor to obtain a vehicle enhancement signal for the first vehicle. By weighting the relative enhancement signals based on the impact factors such that the weight of a second vehicle, such as an adjacent second vehicle, that is strongly associated with a first vehicle is higher, the weight of a second vehicle, such as a head vehicle, that is associated with the first vehicle is correspondingly reduced such that each vehicle is associated with both an adjacent front vehicle and other vehicles in front of the fleet. The determination of the vehicle enhancement signal for vehicle number 3 is shown in equation (4):

r ₃ (t)＝r ₃₂ (t)+βr ₃₁ (t) (4)；

Wherein r is ₃ (t) a vehicle enhancement signal for vehicle number 3; r is (r) ₃₂ (t) represents a relative enhancement signal between vehicle number 3 and vehicle number 2; r is (r) ₃₁ (t) represents a relative enhancement signal between vehicle number 3 and vehicle number 1; beta represents an influence factor (0 < beta < 1).

The formula (4) indicates that the vehicle enhancement signal of the vehicle No. 3 is directly related to the vehicle No. 2, and the correlation with the vehicle No. 1 decays with the power of β to the 1 st power.

In some embodiments, if vehicle number 4 in the fleet is a first vehicle, vehicle number 3 is a second vehicle adjacent to vehicle number 4,

vehicle numbers

2 and 1 are second vehicles not adjacent to vehicle number 4, and vehicle number 1 is the head vehicle of the fleet. At this time, the determination of the vehicle enhancement signal of the vehicle No. 4 is shown in the formula (5):

r ₄ (t)＝r ₄₃ (t)+βr ₄₂ (t)+β ² r ₄₁ (t) (5)；

wherein r is ₄ (t) a vehicle enhancement signal for vehicle number 4; r is (r) ₄₃ (t) represents a relative enhancement signal between vehicle number 4 and vehicle number 3; r is (r) ₄₂ (t) represents a relative enhancement signal between vehicle number 4 and vehicle number 2; r is (r) ₄₁ (t) represents a relative enhancement signal between vehicle number 4 and vehicle number 1; beta and beta ² The influence factor is represented and decays exponentially.

Further, when the nth vehicle in the fleet is the first vehicle, the determination method of the vehicle enhancement signal of the nth vehicle is shown in formula (6).

r _n (t)＝r _n(n-1) (t)+βr _n(n-2) (t)+β ² r _n(n-3) (t)+...+β ^n-1 r _n1 (t) (6)；

Wherein r is _n (t) vehicle indicating the nth vehicleA vehicle enhancement signal; r is (r) _n(n-1) (t) represents a relative enhancement signal between the nth vehicle and the n-1 th vehicle; r is (r) _n(n-2) (t) represents a relative enhancement signal between the nth vehicle and the n-2 nd vehicle; r is (r) _n(n-3) (t) represents a relative enhancement signal between the nth vehicle and the n-3 rd vehicle; r is (r) _n1 (t) represents a relative enhancement signal between the nth vehicle and the 1 st vehicle; beta, beta ² Beta ^n-1 The influence factor is represented and decays exponentially.

305. The first vehicle is controlled based on the vehicle enhancement signal and vehicle state information of the first vehicle, the vehicle state information including a current travel speed of the first vehicle.

In the embodiment of the application, the first vehicle can control the first vehicle to accelerate or decelerate based on the current running speed and the vehicle enhancement signal so as to keep a safe vehicle distance between the first vehicle and the front vehicle.

In some embodiments, the first vehicle is equipped with a vehicle control system. The first vehicle inputs the above-described vehicle enhancement signal and the vehicle state information of the first vehicle into a vehicle control system, outputs vehicle control information, and then controls the first vehicle, such as acceleration or deceleration, based on the vehicle control information. Wherein, the vehicle control system is a reinforcement learning system. By outputting the vehicle control information in a reinforcement learning mode, the vehicle team driving process has flexibility, adaptability and stability under the control of the reinforcement learning system.

Fig. 7 is a schematic diagram of a control vehicle provided according to an embodiment of the present application. Referring to fig. 7, taking the vehicle control system as an example of the reinforcement learning system, the current time is t, and the first vehicle inputs the vehicle reinforcement signal r (t) and the state quantity X (t) into the reinforcement learning system, where the state quantity X (t) includes the current running speed of the first vehicle, and may also include other information, which is not limited herein. The reinforcement learning system outputs vehicle control information including a decision action U (t). After the first vehicle performs the decision action U (t), the state quantity of the first vehicle is updated to X (t+1), such as a change in running speed, a change in vehicle distance from other vehicles, and the like. The first vehicle determines a vehicle enhancement signal at time t+1.

The vehicle control system may be deployed on each vehicle in the fleet after learning by the terminal or the server. The learning method of the vehicle control system includes: and randomly acquiring sample vehicles from a sample vehicle team, and carrying out system initialization to obtain sample system information, wherein the sample system information comprises a test frequency threshold value and a step length threshold value of a single test. And then, responding to the fact that the current test times are smaller than the test times threshold value, and adjusting the running speed of the sample vehicle based on the first vehicle control information output in the last step to obtain sample vehicle state information. A sample enhancement signal is then determined based on the sample vehicle state information in response to the current step size being less than the step size threshold. And then adjusting parameters of the vehicle control system based on the sample enhancement signal, and outputting second vehicle control information. Until the number of tests reaches the test number threshold.

Fig. 8 is a schematic diagram of a learning flow of a vehicle control system according to an embodiment of the present application. Referring to fig. 8, the method comprises the following steps: 801. the system is initialized, in the step, the number of the vehicle is randomly selected, namely the position of the vehicle in the motorcade, and the number 5 of the vehicle represents the 5 th vehicle in the motorcade; setting the maximum test times as N, setting the maximum step length of each test as M, and setting N and M as positive integers; the random initialization state comprises the speed of each vehicle in the motorcade, the distance between the vehicles in the motorcade and the like. 802. Judging whether the current test times are smaller than the maximum test times N, if not, finishing learning training, and executing step 803; if the number of tests is less than the maximum number of tests N, step 804 is performed. 803. The learned experience is stored. 804. Based on the vehicle physical model, a next state of the vehicle is calculated. 805. Judging whether the current step length is smaller than the maximum step length M, if not, executing step 806; if it is smaller than the maximum step size M, step 807 is executed. 806. The learning experience, trial number +1, is stored and step 802 is performed. 807. The reinforcement learning system randomly generates a decision strategy, such as acceleration or deceleration. 808. An enhancement signal is calculated. 809. Judging whether the enhancement signal is-1, if the enhancement signal is-1, indicating that the decision strategy fails, executing step 810; if the enhancement signal is not-1, then step 811 is performed. 810. Reset to the initial state of the test, test number +1, execute step 802. 811. The reinforcement learning network learns, and the reinforcement learning network obtains the feedback of the decision action of the last step according to the value of the reinforcement signal, and judges whether the decision action of the last step is 'good' or 'bad' and judges the 'good' degree according to the value. When the signal is enhanced, the system gets a maximum feedback of 0, indicating that the system is in an optimal state. The reinforcement learning system will continuously adjust the decision strategy based on the feedback of the reinforcement signal. Step 812, step +1.

Fig. 9 is a block diagram of a vehicle control apparatus provided according to an embodiment of the present application. The apparatus is for performing the steps in the above-described vehicle control method, and referring to fig. 9, the apparatus includes: an acquisition module 901, a determination module 902 and a control module 903.

An acquisition module 901 for acquiring a relative enhancement signal between the first vehicle and at least one second vehicle traveling in front of the first vehicle in the fleet in response to the first vehicle not being at the forefront of the fleet, the relative enhancement signal being indicative of a relative distance and a relative acceleration between the first vehicle and a corresponding second vehicle;

A determining module 902 for determining a vehicle enhancement signal for the first vehicle based on the acquired at least one relative enhancement signal, the vehicle enhancement signal being indicative of a relative distance and a relative acceleration between the first vehicle and the at least one second vehicle;

a control module 903 for controlling the first vehicle based on the vehicle enhancement signal and vehicle status information of the first vehicle, the vehicle status information including a current travel speed of the first vehicle.

In some embodiments, fig. 10 is a block diagram of another vehicle control apparatus provided according to an embodiment of the present application, and referring to fig. 10, the acquisition module 901 includes:

an obtaining submodule 1001, configured to obtain, for any second vehicle, vehicle distance information, first acceleration information and vehicle length information corresponding to the second vehicle, where the vehicle distance information is used to indicate a current vehicle distance between the second vehicle and the first vehicle, the first acceleration information is used to indicate an acceleration of the second vehicle, and the vehicle length information is used to indicate a vehicle length of a vehicle located between the second vehicle and the first vehicle;

a determining sub-module 1002 is configured to determine a relative enhancement signal between the second vehicle and the first vehicle based on the vehicle distance information, the first acceleration information, the vehicle length information, second acceleration information of the first vehicle, and threshold information, the second acceleration information being used to indicate an acceleration of the first vehicle, and the threshold information being used to indicate a vehicle distance threshold between neighboring vehicles.

In some embodiments, referring to fig. 10, the determining submodule 1002 includes:

a determining unit 10021, configured to determine a first critical value, a second critical value, and a third critical value based on the threshold information and the length information, where the first critical value is less than the second critical value, and the second critical value is less than the third critical value;

a first algorithm unit 10022, configured to process, based on a first algorithm, the distance information, the first acceleration information, the length information, the second acceleration information, and the threshold information to obtain a relative enhancement signal between the second vehicle and the first vehicle in response to the current distance indicated by the distance information being between the second threshold and the third threshold;

a second algorithm unit 10023, configured to process the distance information, the first acceleration information, the length information, the second acceleration information, and the threshold information based on a second algorithm to obtain the relative enhancement signal in response to the current distance between the first threshold and the second threshold;

a third algorithm unit 10024, configured to process the distance information, the first acceleration information, the length information, the second acceleration information, and the threshold information based on a third algorithm to obtain the relative enhancement signal in response to the current distance being less than the first threshold or greater than the third threshold;

Wherein the first algorithm, the second algorithm and the third algorithm are different algorithms.

In some embodiments, the determining unit 10021 is configured to determine, when the second vehicle and the first vehicle are neighboring vehicles, a first distance threshold in the threshold information as the first critical value, a second distance threshold in the threshold information as the second critical value, and a third distance threshold in the threshold information as the third critical value, where the first distance threshold is smaller than the second distance threshold and the second distance threshold is smaller than the third distance threshold.

In some embodiments, the determining unit 10021 is configured to determine, if the second vehicle and the first vehicle are not neighboring vehicles, the first critical value based on the first distance threshold in the threshold information and the length of the vehicle in the length information; determining a second critical value based on a second distance threshold value in the threshold value information and a length of the vehicle in the length information; determining a third critical value based on a third distance threshold value in the threshold information and the length of the vehicle in the length information; wherein the first distance threshold is less than the second distance threshold, which is less than the third distance threshold.

In some embodiments, the determining module 902 is configured to obtain at least one impact factor corresponding to the at least one relative enhancement signal, where the relative enhancement signal corresponds to the impact factor one-to-one, and the impact factor is used to indicate a correlation between vehicles; the at least one relative enhancement signal is weighted based on the at least one impact factor to obtain the vehicle enhancement signal for the first vehicle.

In some embodiments, the control module 903 is configured to input the vehicle enhancement signal and the vehicle state information of the first vehicle into a vehicle control system, and output vehicle control information; the first vehicle is controlled based on the vehicle control information.

In some embodiments, the learning method of the vehicle control system includes:

responding to the current test times smaller than the test times threshold value, and adjusting the running speed of the sample vehicle based on the first vehicle control information output in the last step to obtain sample vehicle state information;

determining a sample enhancement signal based on the sample vehicle state information in response to the current step size being less than the step size threshold;

It should be noted that: in the vehicle control device provided in the above embodiment, only the division of the above functional modules is used for illustration, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the vehicle control device and the vehicle control method embodiment provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the vehicle control device and the vehicle control method embodiment are detailed in the method embodiment, and are not repeated herein.

Fig. 11 is a block diagram of a configuration of an in-vehicle terminal 1100 provided according to an embodiment of the present application when the computer device is configured as an in-vehicle terminal of a first vehicle. The in-vehicle terminal 1100 may be a portable mobile terminal such as: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion picture expert compression standard audio plane 3), an MP4 (Moving Picture Experts Group Audio Layer IV, motion picture expert compression standard audio plane 4) player, a notebook computer, or a desktop computer. The in-vehicle terminal 1100 may also be referred to by other names of user equipment, portable terminals, laptop terminals, desktop terminals, etc.

In general, the in-vehicle terminal 1100 includes: a processor 1101 and a memory 1102.

The processor 1101 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 1101 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 1101 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1101 may be integrated with a GPU (Graphics Processing Unit, image processor) for taking care of rendering and rendering of content that the display screen is required to display. In some embodiments, the processor 1101 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 1102 may include one or more computer-readable storage media, which may be non-transitory. Memory 1102 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1102 is used to store at least one computer program for execution by processor 1101 to implement the vehicle control method provided by the method embodiments herein.

In some embodiments, the vehicle-mounted terminal 1100 may further optionally include: a peripheral interface 1103 and at least one peripheral. The processor 1101, memory 1102, and peripheral interface 1103 may be connected by a bus or signal lines. The individual peripheral devices may be connected to the peripheral device interface 1103 by buses, signal lines or circuit boards. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1104, a display screen 1105, a camera assembly 1106, audio circuitry 1107, a positioning assembly 1108, and a power supply 1109.

A peripheral interface 1103 may be used to connect I/O (Input/Output) related at least one peripheral device to the processor 1101 and memory 1102. In some embodiments, the processor 1101, memory 1102, and peripheral interface 1103 are integrated on the same chip or circuit board; in some other embodiments, any one or both of the processor 1101, memory 1102, and peripheral interface 1103 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 1104 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1104 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 1104 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1104 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 1104 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuitry 1104 may also include NFC (Near Field Communication, short range wireless communication) related circuitry, which is not limited in this application.

The display screen 1105 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 1105 is a touch display, the display 1105 also has the ability to collect touch signals at or above the surface of the display 1105. The touch signal may be input to the processor 1101 as a control signal for processing. At this time, the display screen 1105 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display screen 1105 may be one and provided on the front panel of the in-vehicle terminal 1100; in other embodiments, the display screens 1105 may be at least two, and are respectively disposed on different surfaces of the vehicle-mounted terminal 1100 or in a folded design; in other embodiments, the display 1105 may be a flexible display disposed on a curved surface or a folded surface of the in-vehicle terminal 1100. Even more, the display 1105 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display 1105 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 1106 is used to capture images or video. Optionally, the camera assembly 1106 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal and the rear camera is disposed on the rear surface of the terminal. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1106 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

The audio circuit 1107 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and environments, converting the sound waves into electric signals, and inputting the electric signals to the processor 1101 for processing, or inputting the electric signals to the radio frequency circuit 1104 for voice communication. For purposes of stereo acquisition or noise reduction, a plurality of microphones may be provided at different portions of the in-vehicle terminal 1100, respectively. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 1101 or the radio frequency circuit 1104 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit 1107 may also include a headphone jack.

The location component 1108 is used to locate the current geographic location of the in-vehicle terminal 1100 for navigation or LBS (Location Based Service, location-based services). The positioning component 1108 may be a positioning component based on the United states GPS (Global Positioning System ), the Beidou system of China, or the Galileo system of Russia.

The power supply 1109 is used to supply power to the respective components in the in-vehicle terminal 1100. The power source 1109 may be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power source 1109 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, in-vehicle terminal 1100 also includes one or more sensors 1110. The one or more sensors 1110 include, but are not limited to: acceleration sensor 1111, gyroscope sensor 1112, pressure sensor 1113, fingerprint sensor 1114, optical sensor 1115, and proximity sensor 1116.

The acceleration sensor 1111 may detect the magnitudes of accelerations on three coordinate axes of a coordinate system established with the in-vehicle terminal 1100. For example, the acceleration sensor 1111 may be configured to detect components of gravitational acceleration in three coordinate axes. The processor 1101 may control the display screen 1105 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal acquired by the acceleration sensor 1111. Acceleration sensor 1111 may also be used for the acquisition of motion data of a game or a user.

The gyro sensor 1112 may detect a body direction and a rotation angle of the in-vehicle terminal 1100, and the gyro sensor 1112 may collect a 3D motion of the user on the in-vehicle terminal 1100 in cooperation with the acceleration sensor 1111. The processor 1101 may implement the following functions based on the data collected by the gyro sensor 1112: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.

The pressure sensor 1113 may be disposed at a side frame of the in-vehicle terminal 1100 and/or at a lower layer of the display screen 1105. When the pressure sensor 1113 is provided at a side frame of the in-vehicle terminal 1100, a grip signal of the in-vehicle terminal 1100 by a user can be detected, and the processor 1101 performs left-right hand recognition or quick operation based on the grip signal collected by the pressure sensor 1113. When the pressure sensor 1113 is disposed at the lower layer of the display screen 1105, the processor 1101 realizes control of the operability control on the UI interface according to the pressure operation of the user on the display screen 1105. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor 1114 is used to collect a fingerprint of the user, and the processor 1101 identifies the identity of the user based on the collected fingerprint of the fingerprint sensor 1114, or the fingerprint sensor 1114 identifies the identity of the user based on the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the user is authorized by the processor 1101 to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, etc. The fingerprint sensor 1114 may be provided at the front, rear, or side of the in-vehicle terminal 1100. When a physical key or a vendor Logo is provided on the in-vehicle terminal 1100, the fingerprint sensor 1114 may be integrated with the physical key or the vendor Logo.

The optical sensor 1115 is used to collect the ambient light intensity. In one embodiment, the processor 1101 may control the display brightness of the display screen 1105 based on the intensity of ambient light collected by the optical sensor 1115. Specifically, when the intensity of the ambient light is high, the display luminance of the display screen 1105 is turned up; when the ambient light intensity is low, the display luminance of the display screen 1105 is turned down. In another embodiment, the processor 1101 may also dynamically adjust the shooting parameters of the camera assembly 1106 based on the intensity of ambient light collected by the optical sensor 1115.

The proximity sensor 1116, also referred to as a distance sensor, is typically provided on the front panel of the in-vehicle terminal 1100. The proximity sensor 1116 is used to collect a distance between a user and the front surface of the in-vehicle terminal 1100. In one embodiment, when the proximity sensor 1116 detects that the distance between the user and the front face of the in-vehicle terminal 1100 gradually decreases, the processor 1101 controls the display screen 1105 to switch from the bright screen state to the off-screen state; when the proximity sensor 1116 detects that the distance between the user and the front surface of the in-vehicle terminal 1100 gradually increases, the processor 1101 controls the display screen 1105 to switch from the off-screen state to the on-screen state.

It will be appreciated by those skilled in the art that the structure shown in fig. 11 does not constitute a limitation of the in-vehicle terminal 1100, and may include more or less components than those illustrated, or may combine certain components, or may employ a different arrangement of components.

The present application also provides a computer-readable storage medium having stored therein at least one section of a computer program that is loaded and executed by a processor of a computer device to implement the operations performed by the computer device in the vehicle control method of the above embodiments. For example, the computer readable storage medium may be Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), magnetic tape, floppy disk, optical data storage device, and the like.

Embodiments of the present application also provide a computer program product comprising computer program code stored in a computer readable storage medium. The processor of the computer device reads the computer program code from the computer readable storage medium, and the processor executes the computer program code so that the computer device performs the vehicle control method provided in the above-described various alternative implementations.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments is merely exemplary in nature and is in no way intended to limit the invention, since it is intended that all modifications, equivalents, improvements, etc. that fall within the spirit and scope of the invention.

Claims

1. A vehicle control method, characterized by being applied to a first vehicle, the method comprising:

in response to the first vehicle not being at the forefront of a fleet, for any second vehicle in the fleet, acquiring vehicle distance information, first acceleration information and vehicle length information corresponding to the second vehicle, wherein the vehicle distance information is used for indicating the current vehicle distance between the second vehicle and the first vehicle, the first acceleration information is used for indicating the acceleration of the second vehicle, and the vehicle length information is used for indicating the vehicle length of the vehicle between the second vehicle and the first vehicle;

determining a relative enhancement signal between the second vehicle and the first vehicle based on the vehicle distance information, the first acceleration information, the vehicle length information, second acceleration information of the first vehicle, and threshold information, the second acceleration information being for indicating an acceleration of the first vehicle, the threshold information being for indicating a vehicle distance threshold between adjacent vehicles, the second vehicle traveling ahead of the first vehicle in the fleet, the relative enhancement signal being for indicating a relative distance and a relative acceleration between the first vehicle and a corresponding second vehicle;

2. The method of claim 1, wherein the determining a relative enhancement signal between the second vehicle and the first vehicle based on the distance information, the first acceleration information, the length information, the second acceleration information of the first vehicle, and threshold information comprises:

determining a first critical value, a second critical value and a third critical value based on the threshold information and the vehicle length information, wherein the first critical value is smaller than the second critical value, and the second critical value is smaller than the third critical value;

processing the distance information, the first acceleration information, the length information, the second acceleration information and the threshold information based on a first algorithm to obtain a relative enhancement signal between the second vehicle and the first vehicle in response to the current distance indicated by the distance information being between the second threshold and the third threshold;

Responding to the current vehicle distance between the first critical value and the second critical value, and processing the vehicle distance information, the first acceleration information, the vehicle length information, the second acceleration information and the threshold value information based on a second algorithm to obtain the relative enhancement signal;

responding to the fact that the current vehicle distance is smaller than the first critical value or larger than the third critical value, and processing the vehicle distance information, the first acceleration information, the vehicle length information, the second acceleration information and the threshold value information based on a third algorithm to obtain the relative enhancement signal;

3. The method of claim 2, wherein the determining a first threshold, a second threshold, and a third threshold based on the threshold information and the length information comprises:

and when the second vehicle and the first vehicle are adjacent vehicles, determining a first distance threshold value in the threshold information as the first critical value, determining a second distance threshold value in the threshold information as the second critical value, determining a third distance threshold value in the threshold information as the third critical value, wherein the first distance threshold value is smaller than the second distance threshold value, and the second distance threshold value is smaller than the third distance threshold value.

4. The method of claim 2, wherein the determining a first threshold, a second threshold, and a third threshold based on the threshold information and the length information comprises:

determining the first critical value based on a first distance threshold value in the threshold value information and a length of the vehicle in the vehicle length information when the second vehicle and the first vehicle are not adjacent vehicles;

determining the second critical value based on a second distance threshold value in the threshold value information and the length of the vehicle in the length information;

determining a third critical value based on a third distance threshold value in the threshold information and the length of the vehicle in the length information;

wherein the first distance threshold is less than the second distance threshold, which is less than the third distance threshold.

5. The method of claim 1, wherein the determining a vehicle enhancement signal for the first vehicle based on the acquired at least one relative enhancement signal comprises:

acquiring at least one influence factor corresponding to the at least one relative enhancement signal, wherein the relative enhancement signal corresponds to the influence factors one by one, and the influence factors are used for indicating the correlation between vehicles;

And weighting and summing the at least one relative enhancement signal based on the at least one influence factor to obtain the vehicle enhancement signal of the first vehicle.

6. The method of claim 1, wherein the controlling the first vehicle based on the vehicle enhancement signal and the vehicle state information of the first vehicle comprises:

inputting the vehicle enhancement signal and the vehicle state information of the first vehicle into a vehicle control system, and outputting vehicle control information;

the first vehicle is controlled based on the vehicle control information.

7. The method of claim 6, wherein the learning of the vehicle control system comprises:

8. A vehicle control apparatus, characterized by being applied to a first vehicle, comprising:

an obtaining module, configured to obtain, for any second vehicle in a fleet, vehicle distance information, first acceleration information, and vehicle length information corresponding to the second vehicle in response to the first vehicle not being at a forefront of the fleet, the vehicle distance information being used to indicate a current vehicle distance between the second vehicle and the first vehicle, the first acceleration information being used to indicate an acceleration of the second vehicle, and the vehicle length information being used to indicate a vehicle length of a vehicle located between the second vehicle and the first vehicle;

the acquisition module is further configured to determine a relative enhancement signal between the second vehicle and the first vehicle based on the vehicle distance information, the first acceleration information, the vehicle length information, second acceleration information of the first vehicle, and threshold information, the second acceleration information being used to indicate an acceleration of the first vehicle, the threshold information being used to indicate a vehicle distance threshold between adjacent vehicles, the second vehicle traveling in front of the first vehicle in the fleet, the relative enhancement signal being used to indicate a relative distance and a relative acceleration between the first vehicle and a corresponding second vehicle;

9. The apparatus of claim 8, wherein the acquisition module comprises:

10. The apparatus according to claim 9, wherein the determining unit is configured to determine, in a case where the second vehicle and the first vehicle are adjacent vehicles, a first distance threshold value in the threshold information as the first critical value, a second distance threshold value in the threshold information as the second critical value, a third distance threshold value in the threshold information as the third critical value, the first distance threshold value being smaller than the second distance threshold value, and the second distance threshold value being smaller than the third distance threshold value.

11. The apparatus according to claim 9, wherein the determining unit is configured to determine the first critical value based on a first distance threshold value in the threshold value information and a length of the vehicle in the vehicle length information, in a case where the second vehicle and the first vehicle are not adjacent vehicles; determining the second critical value based on a second distance threshold value in the threshold value information and the length of the vehicle in the length information; determining a third critical value based on a third distance threshold value in the threshold information and the length of the vehicle in the length information; wherein the first distance threshold is less than the second distance threshold, which is less than the third distance threshold.

12. The apparatus of claim 8, wherein the determining module is configured to obtain at least one impact factor corresponding to the at least one relative enhancement signal, the relative enhancement signal corresponding to the impact factor one-to-one, the impact factor being configured to indicate a correlation between vehicles; and weighting and summing the at least one relative enhancement signal based on the at least one influence factor to obtain the vehicle enhancement signal of the first vehicle.

13. The apparatus of claim 8, wherein the control module is configured to input the vehicle enhancement signal and the vehicle status information of the first vehicle into a vehicle control system and output vehicle control information; the first vehicle is controlled based on the vehicle control information.

14. The apparatus of claim 13, wherein the learning means of the vehicle control system comprises:

15. A computer device, characterized in that it is provided in a first vehicle, said computer device comprising a processor and a memory for storing at least one computer program, said at least one computer program being loaded by said processor and executing the vehicle control method according to any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that the computer-readable storage medium is for storing at least one segment of a computer program for executing the vehicle control method according to any one of claims 1 to 7.