CN114852069A

CN114852069A - Vehicle, and method and device for controlling vehicle to run

Info

Publication number: CN114852069A
Application number: CN202210568055.7A
Authority: CN
Inventors: 吴炳; 顿栋梁; 王世航; 刘凯
Original assignee: Lantu Automobile Technology Co Ltd
Current assignee: Lantu Automobile Technology Co Ltd
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2022-08-05

Abstract

The invention discloses a vehicle, a method and a device for controlling the vehicle to run, which are characterized in that a vehicle contour model of a current vehicle and target characteristics of a target vehicle are obtained, the target contour model of the target vehicle is determined in a preset vehicle model library according to the target characteristics, the target vehicle is identified by comparing data through the target characteristics, the vehicle target contour model is quickly determined, the current measurement distance between the target vehicle and the current vehicle is updated according to the vehicle contour model and the target contour model, the relative distance between the current vehicle and the target vehicle can be more accurately calculated, the calculation precision of auxiliary driving is greatly improved, the collision risk between the current vehicle and the target vehicle is more accurately predicted, and the safety of vehicle running control is further improved.

Description

Vehicle, and method and device for controlling vehicle to run

Technical Field

The present application relates to the field of vehicle driving control technologies, and in particular, to a vehicle, a method and an apparatus for controlling vehicle driving.

Background

The main function principle of active braking is that the vehicle normally runs under the condition of non-adaptive cruising, and if the vehicle meets an emergency dangerous condition, the vehicle can actively generate a braking effect to decelerate the vehicle (but the vehicle with the function cannot necessarily brake the vehicle completely), so that the driving safety is improved. In addition, the names of a Collision prevention System (Pre-crash System), a Forward Collision Warning System (Forward Collision Warning System), a Collision reduction System (Collision suppression System), a Pre-Collision safety System (Pre-Collision System), and a Collision Mitigation Brake System (Collision Mitigation Brake System) are also known in accordance with the names of the respective car factories.

The existing active braking is to visually acquire road conditions, judge whether a barrier exists in front or not and detect the distance of the barrier by a radar.

Therefore, how to improve the safety of vehicle driving control is a technical problem to be solved urgently at present.

Disclosure of Invention

The vehicle, the method and the device for controlling the vehicle to run improve the safety of the vehicle running control.

The embodiment of the invention provides the following scheme:

in a first aspect, an embodiment of the present invention provides a method for controlling vehicle running, where the method includes:

acquiring a vehicle contour model of a current vehicle and target characteristics of a target vehicle, wherein the target vehicle is a vehicle around the current vehicle;

determining a target contour model of the target vehicle in a preset vehicle model library according to the target characteristics;

updating the current measurement distance between the target vehicle and the current vehicle according to the vehicle contour model and the target contour model, wherein the current measurement distance is the minimum distance between the target vehicle and the current vehicle measured by a distance sensor;

and controlling the current vehicle to avoid collision when the current vehicle and the target vehicle are predicted to have collision risk according to the updated current measurement distance.

In an optional embodiment, before determining the target contour model of the target vehicle in a preset vehicle model library according to the target feature, the method further includes:

acquiring vehicle announcement data, manufacturer data and industry sharing data;

and updating the vehicle model base according to the vehicle notice data, the manufacturer data and the industry sharing data.

In an optional embodiment, the target feature is an outer contour feature and/or a component feature, and the determining a target contour model of the target vehicle in a preset vehicle model library according to the target feature includes:

identifying a vehicle model of the target vehicle according to the outer contour features and/or the component features;

and correspondingly determining the target contour model in the vehicle model library according to the vehicle model.

In an optional embodiment, when the target vehicle is located behind the current vehicle, and it is predicted that the current vehicle and the target vehicle have a collision risk according to the updated current measured distance, controlling the current vehicle to avoid a collision includes:

and when the updated current measured distance is smaller than a preset safe distance, controlling the current vehicle to run in an accelerated manner.

In an optional embodiment, the controlling the current vehicle to avoid the collision further comprises:

acquiring speed deviation and acceleration deviation of the current vehicle and the target vehicle;

determining the collision risk level of the current vehicle and the target vehicle according to the speed deviation, the acceleration deviation and the updated current measurement distance, and predicting a collision result;

and correspondingly executing a preset control strategy according to the collision risk level and the predicted collision result.

In an optional embodiment, the correspondingly executing a preset control strategy according to the collision risk level and the predicted collision result includes:

when the predicted collision result is collision, controlling to tighten a safety belt to control the current vehicle to avoid collision and sending alarm information;

the collision risk level is high risk, and when the predicted collision result is no collision, the safety belt is controlled to be tightened to control the current vehicle to avoid collision;

when the collision risk level is a medium risk, controlling to send out an approach early warning of the target vehicle and a speed lane keeping early warning of the current vehicle;

and when the collision risk level is low risk, controlling to send out an approaching early warning of the target vehicle and displaying the position information of the target vehicle.

In a second aspect, the embodiment of the invention further provides a vehicle, and the vehicle is controlled to run by the method in any one of the first aspect.

In a third aspect, an embodiment of the present invention further provides an apparatus for controlling vehicle running, including:

the system comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is used for obtaining a vehicle contour model of a current vehicle and a target feature of a target vehicle, and the target vehicle is a vehicle located around the current vehicle;

the first determination module is used for determining a target contour model of the target vehicle in a preset vehicle model library according to the target characteristics;

a first updating module, configured to update a current measured distance between the target vehicle and the current vehicle according to the vehicle contour model and the target contour model, where the current measured distance is a minimum distance between the target vehicle and the current vehicle measured by a distance sensor;

and the first control module is used for controlling the current vehicle to avoid collision when the current vehicle and the target vehicle are predicted to have collision risks according to the updated current measurement distance.

In a fourth aspect, embodiments of the present invention also provide an electronic device, including a processor and a memory, the memory being coupled to the processor, the memory storing instructions that, when executed by the processor, cause the electronic device to perform the steps of the method of any one of the first aspects.

In a fifth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is used to implement the steps of the method in any one of the first aspect when executed by a processor.

Compared with the prior art, the vehicle, the method and the device for controlling the vehicle to run provided by the invention have the following advantages:

according to the method, the vehicle profile model of the current vehicle and the target characteristics of the target vehicle are obtained, the target profile model of the target vehicle is determined in the preset vehicle model library according to the target characteristics, the target vehicle is identified by comparing the target characteristics with data, the vehicle target profile model is quickly determined, the current measurement distance between the target vehicle and the current vehicle is updated according to the vehicle profile model and the target profile model, the relative distance between the current vehicle and the target vehicle can be calculated more accurately, the calculation precision of auxiliary driving is greatly improved, the collision risk between the current vehicle and the target vehicle is predicted more accurately, and the safety of vehicle driving control is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a method for controlling a vehicle to run according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a current vehicle obtaining target characteristics provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of the distribution of cameras and radar on a current vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a current vehicle identification target feature provided by an embodiment of the present invention;

FIG. 5 is a schematic illustration of a current vehicle determining a collision risk level provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of a control strategy for different collision risk levels according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an apparatus for controlling vehicle driving according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.

Referring to fig. 1, fig. 1 is a flowchart illustrating a method for controlling a vehicle to run according to an embodiment of the present invention, where the method includes:

s11, obtaining a vehicle contour model of the current vehicle and target characteristics of the target vehicle, wherein the target vehicle is a vehicle located around the current vehicle.

Specifically, the vehicle contour model represents the contour of the current vehicle in a three-dimensional digital model (or called 3D model), and the model is established through relevant geometric parameters of the current vehicle, and various types of models are specifically realized, for example, the contour geometric model is generated through matlab, or the vehicle contour model can be generated in a parameterization manner by setting parameter information such as length, width, height, wheelbase, wheel base and the like through Catia; of course, the vehicle contour model can also be generated from the point cloud data of the current vehicle or of the corresponding model. The target feature is a key feature for identifying a model of a target vehicle, such as a design configuration of a vehicle tail or a vehicle head.

It can be understood that the target feature can be obtained based on a camera on the current vehicle, please refer to fig. 2-3, a panoramic camera can be uniformly arranged on the head, the tail, the left and right rearview mirrors of the current vehicle, the target features of the surrounding target vehicles can be obtained at different angles, the target features can be extracted through pictures shot by the cameras, the specific extraction mode can be implemented by selecting an algorithm based on a convolutional neural network, the convolutional neural network is one of the representative algorithms of deep learning, the target features can be accurately extracted, and details are omitted here. In addition, radar sensors are mounted on two sides, four corners and front and rear ends of the current vehicle and are used for acquiring the current measurement distance between the current vehicle and the target vehicle; of course, the acquisition may also be carried out by a laser sensor. The vehicle contour model of the current vehicle and the target feature of the target vehicle are acquired, and the process proceeds to step S12.

And S12, determining a target contour model of the target vehicle in a preset vehicle model library according to the target characteristics.

Specifically, the contour of the vehicle has respective design characteristics, the target characteristics are used as identification characteristics, the vehicle model base is a database established based on contour models of various vehicle types, and the target contour model of the target vehicle can be determined in the vehicle model base by comparing the target characteristics. It can be understood that the vehicle model library may be collected and established by public data, such as vehicle announcement data, manufacturer data, industry shared data, and the like on a network, and generally, such public data may represent the outline characteristics of the vehicle, wherein the vehicle announcement data may be acquired through an announcement information network, the manufacturer data may be acquired through a manufacturer self-established database, and the industry shared data may be acquired through a shared database of the automobile industry.

As the vehicle is continuously updated and iterated or modified over time, the target features may change, causing differences in the target profile model or target feature determination.

In order to solve the above problem, in a specific embodiment, before determining the target contour model of the target vehicle in a preset vehicle model library according to the target feature, the method further includes:

acquiring vehicle announcement data, manufacturer data and industry sharing data; and updating the vehicle model base according to the vehicle notice data, the manufacturer data and the industry sharing data.

Specifically, after vehicle announcement data, manufacturer data and industry shared data are obtained, historical data are compared, and if differences exist, a new contour model is reestablished through the vehicle announcement data, the manufacturer data and the industry shared data, so that a vehicle model base can contain more contour models of vehicle types to be changed.

In a specific embodiment, the target feature is an outer contour feature and/or a component feature, and the determining of the target contour model of the target vehicle in the preset vehicle model library according to the target feature includes:

identifying the vehicle model of the target vehicle according to the outer contour characteristics and/or the component characteristics; and correspondingly determining a target contour model in a vehicle model library according to the vehicle model.

Specifically, the outer contour feature may be a shape feature of a vehicle door, a hood, a window, or a belt line feature of the vehicle; the feature may be a vehicle light, a vehicle logo, or the like having a particular identifying characteristic. And identifying the vehicle model of the target vehicle through the outer contour characteristics or the component characteristics, and correspondingly searching in a vehicle model library to determine the target contour model. Of course, the corresponding weight coefficient can be set according to the outer contour features and the component features, and the corresponding target contour model can be identified more accurately. After the target contour model of the target vehicle is determined, the process proceeds to step S13.

And S13, updating the current measurement distance between the target vehicle and the current vehicle according to the vehicle contour model and the target contour model, wherein the current measurement distance is the minimum distance between the target vehicle and the current vehicle measured by the distance sensor.

Specifically, the distance sensor may be a radar or laser sensor mounted on the current vehicle, and is affected by a mounting position of the distance sensor or a measurement position on the target vehicle, so that a deviation may exist between the actual distance and the current measurement distance, the vehicle profile model represents the profile of the current vehicle, the target profile model represents the profile of the target vehicle, and the model is used for further comparison, so that the updated current measurement distance can represent the actual distance. The current measurement distance is updated, and the process proceeds to step S14.

And S14, controlling the current vehicle to avoid collision when the current vehicle is predicted to have collision risk with the target vehicle according to the updated current measurement distance.

Specifically, when the current vehicle and the target vehicle are in a driving state, the collision risk is predicted according to the updated current measured distance, a distance threshold value can be set, and when the distance threshold value is exceeded, the distance between the two vehicles is relatively short, that is, the collision risk is determined to exist, the current vehicle is controlled to avoid collision, for example, when the target vehicle is located in front of the current vehicle, the current vehicle is controlled to brake, so that the current vehicle is ensured to be at a safe distance from the target vehicle.

In the existing control strategy for avoiding collision of vehicles, only a rear vehicle adopts brake avoidance, and a front vehicle does not actively avoid, so that the control strategy has the following defects:

1. when the vehicle speed is too high, although the active brake for assisting driving intervenes to perform braking, the vehicle cannot be braked, and rear-end collision still occurs, for example, the vehicle cannot be braked basically in a high-speed driving state, wherein the vehicle speed is generally 70-90 km/h.

2. When collision danger happens, only the rear vehicle takes measures, and in analogy to actual life, if people perceive danger in the process of traveling, the measures can be taken to avoid or reduce the danger, so that the avoidance of collision is not only the rear vehicle is used for braking, but also the front vehicle is required to make a corresponding avoidance strategy.

3. Vehicles coming from the side or coming from the intersection suddenly run out and are collided passively, so that the vehicles are not avoided actively.

In a specific embodiment, when the target vehicle is located behind the current vehicle, and the current vehicle is predicted to have a collision risk with the target vehicle according to the updated current measured distance, controlling the current vehicle to avoid the collision includes:

and when the updated current measured distance is smaller than the preset safe distance, controlling the current vehicle to run in an accelerated manner.

Specifically, the safety distance may be set to a fixed value; the vehicle speed and the acceleration of the two vehicles can be comprehensively determined, the two vehicles can be guaranteed not to collide, the current vehicle is controlled to run at an accelerated speed, the safe distance between the current vehicle and the rear vehicle can be guaranteed, and the rear-end collision and rear-side collision accidents are reduced.

In a specific embodiment, before controlling the current vehicle to avoid the collision, the method further comprises:

acquiring speed deviation and acceleration deviation of a current vehicle and a target vehicle; determining the collision risk level of the current vehicle and the target vehicle according to the speed deviation, the acceleration deviation and the updated current measurement distance, and predicting a collision result; and correspondingly executing a preset control strategy according to the collision risk level and the predicted collision result.

Specifically, referring to fig. 4-5, when the current vehicle and the target vehicle are in a driving state, the distance between the two vehicles will change due to the difference between the speed and the acceleration. If the speed deviation and the acceleration deviation are larger and the updated current measurement distance is smaller, it is indicated that the two vehicles may have collision risks, and the current vehicle correspondingly performs addition or braking to keep the two vehicles at a safe distance; and otherwise, if the speed deviation and the acceleration deviation are smaller and the updated current measurement distance is larger, the collision risk of the two vehicles is lower, and the driver is reminded to drive safely.

In a specific embodiment, the corresponding implementation of the preset control strategy according to the collision risk level and the predicted collision result includes:

when the collision risk level is high, and the predicted collision result is collision, controlling to tighten the safety belt to control the current vehicle to avoid collision and sending alarm information; the collision risk level is high, and when the collision result is predicted to be no collision, the safety belt is controlled to be tightened to control the current vehicle to avoid collision; when the collision risk level is a medium risk, controlling to send out an approach early warning of a target vehicle and a speed lane keeping early warning of a current vehicle; and when the collision risk level is low, controlling to send out an approaching early warning of the target vehicle and displaying the position information of the target vehicle.

Specifically, referring to fig. 6, when the distance between the current vehicle and the target vehicle is short, the vehicle model and the size specification are identified; and acquiring the distance, the speed, the acceleration, the road information and the like of the two vehicles to judge the collision risk level. The collision risk level is high, when the collision result is predicted to be collision, the safety belt is tightened to control the current vehicle to avoid collision, alarm information is sent out, in order to reduce collision damage, a driver is prompted to take active avoidance measures, a picture of the collision direction is displayed on a central control screen, a driving auxiliary system is started, a braking system, a steering system, a driving module and the like are started to work through control instructions, and video recording, snapshot and one-key alarm are started. And when the collision risk level is high, and the predicted collision result is no collision, the strategy is executed to avoid the collision, but one-key alarm is not started, and the warning is eliminated after the collision risk is relieved. When the collision risk level is a medium risk, sending out an approaching early warning of a target vehicle and a vehicle speed lane keeping early warning of a current vehicle, synchronously tightening a safety belt, displaying a surrounding image of the view angle of the target vehicle by a central control screen to prompt a driver to drive safely, and eliminating warning after the collision risk is relieved.

It should be noted that the method for controlling vehicle running according to the embodiment of the present invention is applied to a vehicle equipped with a detection device and a controller, wherein the detection device includes a look-around camera disposed in a peripheral region of the vehicle (right front, front left and right sides, rear left and right sides), and a range radar disposed in the periphery of the vehicle; the static parameters of the vehicle such as the model and the size of the vehicle are obtained, and the dynamic parameters of the vehicle such as the distance, the speed, the acceleration and the like are measured; the controller establishes a collision analysis model according to the collected parameters, and judges whether collision risks exist, whether avoidance spaces exist at the front part and the side surface, and whether the current traffic identification and road conditions support emergency avoidance operation according to simulation analysis of the model; the establishment of a collision analysis model requires multi-theory parameter adjustment and calibration verification to form a strict and reliable control strategy; the execution module links various related modules of the vehicle according to the analysis of the collision model, such as: the display module is mainly provided with instrument screen prompts, can be warning signs, can be indicator lamps and the like; such as passive safety modules, safety belt pretensioning, doors/windows/skylights, etc.; if the driving related module is used, based on risk calculation, whether a braking system brakes or not, whether a steering module steers or not, whether a driving module accelerates or decelerates or not and the like are researched and judged; and the auxiliary image module is used for displaying/recording and snapshotting videos and images close to the vehicle.

Based on the same inventive concept as the control method, an embodiment of the invention also provides a vehicle which controls the vehicle to run by the method of any one of the first aspect.

Based on the same inventive concept as the control method, an embodiment of the present invention further provides an apparatus for controlling a vehicle to run, referring to fig. 7, the apparatus including:

a first obtaining module 701, configured to obtain a vehicle contour model of a current vehicle and a target feature of a target vehicle, where the target vehicle is a vehicle located around the current vehicle;

a first determining module 702, configured to determine a target contour model of the target vehicle in a preset vehicle model library according to the target feature;

a first updating module 703, configured to update a current measured distance between the target vehicle and the current vehicle according to the vehicle contour model and the target contour model, where the current measured distance is a minimum distance between the target vehicle and the current vehicle measured by a distance sensor;

a first control module 704, configured to control the current vehicle to avoid a collision when it is predicted that there is a collision risk between the current vehicle and the target vehicle according to the updated current measured distance.

In an alternative embodiment, the apparatus further comprises:

the second acquisition module is used for acquiring vehicle announcement data, manufacturer data and industry sharing data;

and the second updating module is used for updating the vehicle model base according to the vehicle notice data, the manufacturer data and the industry sharing data.

In an alternative embodiment, the target feature is an outer contour feature and/or a component feature, and the first determining module includes:

the first identification submodule is used for identifying the vehicle model of the target vehicle according to the outer contour characteristics and/or the component characteristics;

and the first determining submodule is used for correspondingly determining the target contour model in the vehicle model library according to the vehicle model.

In an alternative embodiment, when the target vehicle is located rearward of the current vehicle, the first control module includes:

and the first control submodule is used for controlling the current vehicle to run in an accelerated manner when the updated current measured distance is smaller than a preset safe distance.

In an alternative embodiment, the apparatus further comprises:

the third acquisition module is used for acquiring the speed deviation and the acceleration deviation of the current vehicle and the target vehicle;

the first determination module is used for determining the collision risk level of the current vehicle and the target vehicle according to the speed deviation, the acceleration deviation and the updated current measurement distance, and predicting a collision result;

and the first execution module is used for correspondingly executing a preset control strategy according to the collision risk level and the predicted collision result.

In an alternative embodiment, the first execution module includes:

the second control submodule is used for controlling the safety belt to be tightened to control the current vehicle to avoid collision and send alarm information when the collision risk level is high and the predicted collision result is collision;

the third control sub-module is used for controlling the tightening of the safety belt to control the current vehicle to avoid collision when the collision risk level is high and the predicted collision result is no collision;

the fourth control submodule is used for controlling and sending an approaching early warning of the target vehicle and a vehicle speed lane keeping early warning of the current vehicle when the collision risk level is a medium risk;

and the fifth control submodule is used for controlling to send out an approaching early warning of the target vehicle and displaying the position information of the target vehicle when the collision risk level is low.

Based on the same inventive concept as the control method, an embodiment of the present invention further provides an electronic device, including a processor and a memory, the memory being coupled to the processor, the memory storing instructions that, when executed by the processor, cause the electronic device to perform the steps of any one of the methods of the first aspect.

Based on the same inventive concept as the control method, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steps of the method of any one of the first aspects.

The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:

1. the method comprises the steps of obtaining a vehicle contour model of a current vehicle and target characteristics of a target vehicle, determining the target contour model of the target vehicle in a preset vehicle model library according to the target characteristics, comparing data by using the target characteristics to identify the target vehicle, quickly determining the vehicle target contour model, updating the current measurement distance between the target vehicle and the current vehicle according to the vehicle contour model and the target contour model, calculating the relative distance between the current vehicle and the target vehicle more accurately, greatly improving the calculation precision of auxiliary driving, predicting the collision risk between the current vehicle and the target vehicle more accurately, and further improving the safety of vehicle driving control.

2. By carrying out image recognition on the target vehicle and realizing linkage with a database (such as a product bulletin and a traffic management information base) and the like, the vehicle model and size parameters are quickly recognized, and the information of the dynamic key parameters close to the target vehicle is analyzed and calculated, so that the recognition is more accurate.

3. The solution of actively avoiding collision of the front vehicle is realized by controlling measurement, collision analysis and linkage execution (modules such as braking, steering, driving, passive safety, doors and windows, images and rescue). If the vehicle speed is too fast or the distance is too close, the front vehicle also carries out active avoidance (advancing, side approaching and the like), so that the collision can be avoided or the damage caused by the collision can be greatly reduced.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A method of controlling travel of a vehicle, the method comprising:

2. The method for controlling vehicle running according to claim 1, wherein before determining the target contour model of the target vehicle in a preset vehicle model library according to the target feature, the method further comprises:

3. The method for controlling vehicle driving according to claim 1, wherein the target feature is an outer contour feature and/or a component feature, and the determining a target contour model of the target vehicle in a preset vehicle model library according to the target feature comprises:

identifying the vehicle model of the target vehicle according to the outer contour features and/or the component features;

4. The method of controlling vehicle travel according to claim 1, wherein controlling the current vehicle to avoid a collision when it is predicted that the current vehicle has a collision risk with the target vehicle based on the updated current measured distance when the target vehicle is located behind the current vehicle, includes:

5. The method of controlling vehicle travel according to claim 1, wherein the controlling the current vehicle before avoiding the collision further comprises:

6. The method for controlling vehicle travel according to claim 5, wherein the corresponding execution of a preset control strategy according to the collision risk level and the predicted collision result comprises:

7. A vehicle, characterized in that the vehicle is controlled to run by the method of any one of claims 1-6.

8. An apparatus for controlling running of a vehicle, characterized by comprising:

9. An electronic device comprising a processor and a memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the electronic device to perform the steps of the method of any of claims 1-6.

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 6.