CN115782750A

CN115782750A - Vehicle control method, device and equipment

Info

Publication number: CN115782750A
Application number: CN202211618177.9A
Authority: CN
Inventors: 周晓萌; 吴胜武
Original assignee: Spreadtrum Semiconductor Nanjing Co Ltd
Current assignee: Spreadtrum Semiconductor Nanjing Co Ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-03-14

Abstract

The embodiment of the application provides a vehicle control method, device and equipment. The method comprises the following steps: detecting that the first vehicle is switched from a driving state to a parking state; the first vehicle is located on a first lane; receiving warning information sent by a road side unit and/or vehicle information of a second vehicle, wherein the warning information is used for indicating that the door of the first vehicle is opened and collision can occur; determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or performing sound prompt and/or light prompt according to the warning information sent by the road side unit; the door opening collision prediction result is used for indicating whether a door of a first vehicle is opened to collide with a second vehicle, the vehicle information is used for representing a second position and vehicle speed information of the second vehicle, the second vehicle is a vehicle which is located behind the first vehicle and is closest to the first vehicle in a second lane, and the second lane is adjacent to the first lane. The safety of controlling the vehicle is improved.

Description

Vehicle control method, device and equipment

Technical Field

The embodiment of the application relates to the technical field of computers, in particular to a vehicle control method, device and equipment.

Background

When a vehicle parks close to the roadside, other vehicles may pass through the adjacent lanes. If the door is opened at this time, a collision accident may occur.

In the related art, whether to control the vehicle to open the door may be determined by: the vehicle is provided with the detection equipment, whether traffic participants and road condition information exist around the vehicle can be obtained, and after the vehicle stops, a user can judge whether the door is opened or not to cause collision risk according to the traffic participants and the road condition information and determine whether the door is opened or not. In the process, because the door needs to be manually judged and determined to be opened or not, the collision after the door is opened cannot be completely avoided, and the safety of controlling the vehicle is low.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, a vehicle control device and vehicle control equipment, which are used for solving the problem of low safety of a control vehicle.

In a first aspect, an embodiment of the present application provides a vehicle control method, including:

detecting that the first vehicle is switched from a running state to a parking state; the first vehicle is located on a first lane;

receiving warning information sent by a road side unit and/or vehicle information of a second vehicle, wherein the warning information is used for indicating that the door of the first vehicle is opened and collision can occur;

determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or performing sound prompt and/or bright prompt according to the alarm information sent by the road side unit;

the door opening collision prediction result is used for indicating whether a door of the first vehicle is opened to collide with the second vehicle, the vehicle information is used for representing a second position and vehicle speed information of the second vehicle, the second vehicle is a vehicle which is located behind the first vehicle and is closest to the first vehicle in a second lane, and the second lane is adjacent to the first lane.

In a possible implementation manner, the determining the door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or performing sound prompt and/or bright prompt according to the warning information sent by the road side unit comprises:

when the first vehicle and the second vehicle are in communication connection, determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and vehicle information of the second vehicle;

and when the first vehicle and the second vehicle are not in communication connection, carrying out voice prompt and/or bright light prompt according to the alarm information sent by the road side unit.

In one possible embodiment, determining a door opening collision prediction result of the first vehicle based on the position of the first vehicle and the vehicle information of the second vehicle comprises:

determining a first time period required for the second vehicle to travel to the position of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle;

and determining the door opening collision prediction result according to the first time length and the position relation between the second lane and the first lane.

In one possible embodiment, determining a first period of time required for the second vehicle to travel to the location of the first vehicle based on the location of the first vehicle and the vehicle information of the second vehicle includes:

acquiring path information between the first vehicle and the second vehicle;

determining a vehicle distance between the first vehicle and the second vehicle according to the path information, the position of the first vehicle and the second position;

and determining the first time length according to the vehicle speed information and the vehicle distance.

In a possible implementation, determining the door opening collision prediction result according to the first time length and the position relation between the second lane and the first lane comprises:

if the first duration is greater than a first threshold, determining that the door opening collision prediction result is that the vehicle door is opened safely;

and if the first time length is less than or equal to the first threshold value, determining a target vehicle door according to the position relation between the second lane and the first lane, and determining that the door opening collision prediction result is the danger of opening the target vehicle door.

In one possible embodiment, after determining that the door opening collision prediction result is the target door opening risk, the method further includes:

and carrying out sound prompt and/or light prompt according to the door opening collision prediction result.

sending second prompt information to the second vehicle, wherein the second prompt information is used for prompting the second vehicle to change the lane and/or decelerate;

receiving response information sent by the second vehicle, wherein the response information comprises updated vehicle information of the second vehicle;

and updating the door opening collision prediction result according to the updated vehicle information and the position of the first vehicle.

In one possible embodiment, the method is applied to the first vehicle, the method further comprising:

when the first vehicle is in a running state, receiving third prompt information, wherein the third prompt information is used for prompting the first vehicle to change lanes and/or decelerate;

and changing the lane and/or decelerating the vehicle according to the third prompt information.

In a second aspect, an embodiment of the present application provides a vehicle control apparatus, including:

the device comprises a detection module, a control module and a control module, wherein the detection module is used for detecting that a first vehicle is switched from a running state to a parking state; the first vehicle is located on a first lane;

the receiving module is used for receiving warning information sent by a road side unit and/or vehicle information of a second vehicle, wherein the warning information is used for indicating that the door of the first vehicle is opened and collision can occur;

the determining module is used for determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or performing sound prompt and/or light prompt according to the warning information sent by the road side unit;

In a possible implementation, the determining module is specifically configured to:

when the first vehicle and the second vehicle have communication connection, determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and vehicle information of the second vehicle;

In one possible embodiment, the determining module is configured to:

acquiring path information between the first vehicle and the second vehicle;

In one possible embodiment, the determining module is configured to:

if the first duration is greater than a first threshold value, determining that the door opening collision prediction result is that the vehicle door is opened safely;

and if the first time is less than or equal to the first threshold, determining a target vehicle door according to the position relation between the second lane and the first lane, and determining that the door opening collision prediction result is the danger of opening the target vehicle door.

In a possible implementation manner, the device further comprises a prompting module, an updating module and a lane-changing deceleration module.

Wherein, the prompt module is used for:

The update module is to:

The lane changing deceleration module is used for:

In a third aspect, the present application provides a chip having a computer program stored thereon, which, when executed by the chip, implements the method according to any of the first aspects.

In a fourth aspect, the present application provides a chip module having a computer program stored thereon, where the computer program, when executed by the chip module, implements the method according to any one of the first aspect.

In a fifth aspect, an embodiment of the present application provides a vehicle control apparatus, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the first aspects.

In a sixth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of the first aspect.

In a seventh aspect, this application provides a computer program product, which includes a computer program that, when executed by a processor, implements the method of any one of the first aspect.

According to the vehicle control method, the vehicle control device and the vehicle control equipment, when the first vehicle is determined to be in the parking state, the position of the first vehicle is determined. Vehicle information of the second vehicle is simultaneously acquired. And determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle. And determining the safety of opening the door of the first vehicle according to the door opening collision prediction result of the first vehicle. In the above process, the door opening collision prediction result of the first vehicle may be determined to determine the safety of opening the door of the first vehicle when it is determined that the first vehicle is in the parking state. The safety of opening the first vehicle door is not determined artificially, and the safety of controlling the vehicle is improved.

Drawings

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;

FIG. 2 is a schematic flow chart of a vehicle control method according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a process for acquiring vehicle information of a second vehicle according to an embodiment of the present application;

FIG. 4 is a schematic flow chart diagram illustrating another vehicle control method provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a process for determining a target vehicle door according to an embodiment of the present disclosure;

FIG. 6 is a process diagram of vehicle control provided by an embodiment of the present application;

fig. 7 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of another vehicle control device provided in the embodiment of the present application;

fig. 9 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

For easy understanding, an application scenario to which the embodiment of the present application is applied will be described below with reference to fig. 1.

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application. Referring to fig. 1, the vehicle includes a first vehicle 101 and a second vehicle 102. The first vehicle 101 is on a first lane. The second vehicle 102 is in a second lane, which is an adjacent lane to the first lane. The second vehicle 102 is a vehicle behind the first vehicle 101 and closest to the first vehicle 101. When the first vehicle 101 is stopped in the first lane and the door needs to be opened, it may be determined whether to control the first vehicle 101 to open the door based on the traveling information of the second vehicle 102.

In the related art, whether to control the vehicle to open the door may be determined by: the vehicle is provided with the detection equipment, whether traffic participants and road condition information exist around the vehicle can be obtained, and after the vehicle stops, a user can judge whether the door is opened or not to cause collision risk according to the traffic participants and the road condition information and determine whether the door is opened or not. In the process, because the vehicle door needs to be manually judged and determined to be opened or not, the collision after the door is opened cannot be completely avoided, and the accuracy of controlling the vehicle is low.

In the embodiment of the application, when the first vehicle is determined to be in the parking state, the position of the first vehicle is determined. Vehicle information of a second vehicle is also acquired. And determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle. And determining the safety of opening the door of the first vehicle according to the door opening collision prediction result of the first vehicle. In the above process, the door opening collision prediction result of the first vehicle may be determined to determine the safety of opening the door of the first vehicle when it is determined that the first vehicle is in the parking state. Instead of artificially determining the safety of opening the first vehicle door, the safety of controlling the vehicle is improved.

The method described in the present application will be described below with reference to specific examples. It should be noted that the following embodiments may exist alone or in combination with each other, and the description of the same or similar contents is not repeated in different embodiments.

Fig. 2 is a schematic flowchart of a vehicle control method according to an embodiment of the present application. Referring to fig. 2, the method may include:

s201, the first vehicle is detected to be switched from a running state to a parking state.

The execution main body of the embodiment of the application can be a vehicle control device, and also can be a chip, a chip module or a vehicle control device arranged in the vehicle control device. The vehicle control device may be implemented by software, or may be implemented by a combination of software and hardware.

The first vehicle is located on a first lane.

When the first vehicle is detected to be switched from the running state to the parking state, the lane where the first vehicle is located is determined to be the first lane.

For example, when it is detected that the vehicle a is switched from the running state to the parking state, it is determined that the vehicle a is the first vehicle. The lane 1 in which the vehicle a is located is a first lane.

S202, receiving the warning information sent by the road side unit and/or the vehicle information of the second vehicle.

The warning information is used to indicate that a collision may occur with the door of the first vehicle open.

When the road side unit detects that the vehicle door of the first vehicle is opened and the first vehicle collides, the first vehicle can send warning information to the first vehicle. And/or the first vehicle may receive the vehicle information of the second vehicle sent by the road side unit. And determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle.

S203, determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or carrying out sound prompt and/or light prompt according to the warning information sent by the road side unit.

The door opening collision prediction result is used for indicating whether a door of a first vehicle is opened to collide with a second vehicle, the vehicle information is used for representing a second position and vehicle speed information of the second vehicle, the second vehicle is a vehicle which is located behind the first vehicle and is closest to the first vehicle in a second lane, and the second lane is adjacent to the first lane.

The vehicle information may also include vehicle type, vehicle identification, time of day, heading angle, etc. The second position comprises longitude and latitude information and a vehicle head azimuth angle. The vehicle speed information may include a running speed and an acceleration of the second vehicle.

The first vehicle may actively acquire vehicle information of the second vehicle when there is a communication connection between the first vehicle and the second vehicle. And determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle.

And when the first vehicle and the second vehicle are not in communication connection, carrying out voice prompt and/or bright light prompt according to the alarm information sent by the road side unit. Or the first vehicle receives the vehicle information of the second vehicle sent by the road side unit. A door opening collision prediction result of the first vehicle is determined according to the position of the first vehicle and vehicle information of the second vehicle.

When there is a communication connection between the first vehicle and the second vehicle, the first vehicle needs to acquire vehicle information of the second vehicle. Next, a process of acquiring the vehicle information of the second vehicle will be described with reference to fig. 3. Fig. 3 is a schematic process diagram for acquiring vehicle information of a second vehicle according to an embodiment of the present application. Referring to fig. 3, 3 vehicles are included, including 3 vehicles, which are vehicle 301, vehicle 302, and vehicle 303. Wherein, vehicle 301 and vehicle 302 are located in lane 1 and vehicle 303 is located in lane 2. When it is detected that the vehicle 303 is switched from the traveling state to the parking state, it is determined that the vehicle 303 is the first vehicle and the lane 2 is the first lane. And if the lane 1 is adjacent to the lane 2, determining that the lane 1 is a second lane. Since the vehicle 302 is located behind the vehicle 303 and closest to the vehicle 303 in the lane 2, the vehicle 302 is determined to be the second vehicle. The acquired vehicle information of the vehicle 302 may be specifically as shown in table 1:

TABLE 1

The door opening collision prediction result of the first vehicle may be determined by: determining a first time period required for the second vehicle to travel to the position of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle; and determining a door opening collision prediction result according to the first time length and the position relation between the second lane and the first lane.

The door opening collision prediction result can be determined by: if the first time length is larger than a first threshold value, determining that the door opening collision prediction result is that the door is opened safely; and if the first time is less than or equal to the first threshold, determining the target vehicle door according to the position relation between the second lane and the first lane, and determining that the door opening collision prediction result is the danger of opening the target vehicle door.

And after the door opening collision prediction result is determined to be the danger of opening the target vehicle door, carrying out sound prompt and/or light prompt according to the door opening collision prediction result.

For example, assume that the first vehicle is vehicle a, the second vehicle is vehicle B, and the first threshold value is 5s. The first period of time required to determine that the vehicle B travels to the position of the first vehicle is 10s, based on the position of the first vehicle and the vehicle information of the second vehicle. And if the first time is larger than the first threshold value 5s, determining that the door opening collision prediction result is that the door is opened safely. At this time, the door of the vehicle a can be directly opened.

For example, assume that the first vehicle is vehicle a, the second vehicle is vehicle B, and the first threshold value is 5s. The first period of time required to determine that the vehicle B travels to the position of the first vehicle is 3s, based on the position of the first vehicle and the vehicle information of the second vehicle. And if the first time is less than the first threshold value 5s, determining the target vehicle door according to the position relation between the second lane and the first lane. And if the second lane is on the right of the first lane, determining that the target door is the right door of the vehicle A. And determining that the door opening collision prediction result is that the target door is dangerous to open. And after the door opening collision prediction result is determined to be that the target door is dangerous to open, the vehicle A carries out sound prompt and/or light prompt according to the door opening collision prediction result.

According to the vehicle control method provided by the embodiment of the application, the first vehicle is detected to be switched from the running state to the parking state. And receiving the warning information and/or the vehicle information of the second vehicle sent by the road side unit. And determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or carrying out sound prompt and/or bright prompt according to the alarm information sent by the road side unit. In the above process, when it is determined that the first vehicle is in the parking state, it may be determined whether a collision will occur to open the door of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or according to the warning information transmitted by the roadside unit. And whether the first vehicle door is opened or not is determined artificially, so that the safety of controlling the vehicle is improved.

On the basis of any of the above embodiments, a detailed process of the vehicle control will be described below with reference to fig. 4.

Fig. 4 is a flowchart illustrating another vehicle control method according to an embodiment of the present application. Referring to fig. 4, the method includes:

s401, the first vehicle is detected to be switched from a running state to a parking state.

It should be noted that the execution process of S401 is referred to as S201, and is not described herein again.

S402, determining a first time length required for the second vehicle to travel to the position of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle.

The first vehicle needs to determine vehicle information of the second vehicle before determining the first duration.

When the Vehicle is in a driving state, the Vehicle information can be periodically collected and broadcasted through a Cellular-Vehicle to evolution (C-V2X). The periodic broadcast frequency may be configured in advance in the vehicle control apparatus. The periodic broadcast frequency may be 10Hz. The first vehicle can directly acquire the vehicle information of the second vehicle through C-V2X and/or receive the vehicle information of the second vehicle sent by the road side unit.

The vehicle information of the second vehicle may be acquired by: acquiring a plurality of pieces of vehicle information sent by a plurality of vehicles; determining a second vehicle according to the position in the vehicle information; vehicle information of a second vehicle is determined among the plurality of pieces of vehicle information.

The vehicle closest to the first vehicle and behind the adjacent lane may be determined as the second vehicle according to a position in the vehicle information of the second vehicle.

For example, the positions of the plurality of vehicles acquired by the first vehicle may be specifically as shown in table 2:

TABLE 2

Vehicle with a steering wheel	Location information
		Vehicle 1	The east longitude 107.50010 degree, the north latitude 34.42003 degree, and the south 90 degree
Vehicle 2	107.50005 deg. for east longitude, 34.42100 deg. for north latitude, 180 deg. for right north
		Vehicle 3	The east longitude 107.50005 degree, the north latitude 34.42110 degree, and the right north 90 degree
Vehicle 4	The east longitude 107.50003 degree, the north latitude 34.42000 degree, and the right north 90 degree

Assume that the first vehicle of the first vehicle is located 107.50000 degrees east longitude, 34.42001 degrees north latitude, 90 ° true north. From the position information shown in table 2, it can be determined that the vehicle 4 is closest to the first vehicle and behind the adjacent lane. The vehicle 4 is a second vehicle, and when the vehicle information of the second vehicle is acquired, the vehicle information corresponding to the vehicle 4 is acquired.

The first period of time required for the second vehicle to travel to the location of the first vehicle may be determined by: acquiring path information between a first vehicle and a second vehicle; determining a vehicle distance between the first vehicle and the second vehicle according to the path information, the position of the first vehicle and the second position; and determining a first time length according to the vehicle speed information and the vehicle distance.

Route information between the first vehicle and the second vehicle may be acquired from a radar device in the first vehicle. Or receiving the path information sent by the second vehicle and/or the drive test module. The path information is used to indicate whether a curve exists between the first vehicle and the second vehicle.

When the path information indicates that there is a curve between the first vehicle and the second vehicle, the vehicle distance between the first vehicle and the second vehicle may be determined based on the path information, the position of the first vehicle, and the second position. When the path information indicates that there is no curve between the first vehicle and the second vehicle, a vehicle distance between the first vehicle and the second vehicle may be determined according to the position of the first vehicle and the second position.

First duration = vehicle distance/travel speed.

For example, the vehicle information of the second vehicle may be specifically as shown in table 3:

TABLE 3

From table 3, it can be determined that the vehicle distance between the first vehicle and the second vehicle is 10 meters. The running speed of the second vehicle is 48km/h. The first time length =10/48/1000=0.75s.

S403, judging whether the first time length is less than or equal to a first threshold value.

If yes, go to step S404.

If not, go to step S410.

If the first duration is less than or equal to the first threshold, there is a risk that the first vehicle will open the door when the second vehicle travels to the position of the first vehicle.

S404, determining a target vehicle door according to the position relation between the second lane and the first lane.

Next, a process of specifying the target door will be described with reference to fig. 5. Fig. 5 is a schematic diagram of a process for determining a target vehicle door according to an embodiment of the present application. Referring to fig. 5, two vehicles, namely a vehicle 501 and a vehicle 502, are included. The vehicle 502 is in a traveling state in the lane 1, and the vehicle 501 is in a parking state in the lane 2. The vehicle 501 includes 4 doors, which are respectively a door 1, a door 2, a door 3, and a door 4.

When the vehicle 501 is in the parking state, it is determined that the vehicle 501 is the first vehicle and the vehicle 502 is the second vehicle. Vehicle 501 is located in lane 2, and lane 2 is determined to be the first lane. The vehicle 502 is located in lane 1, and lane 1 is determined to be the second lane. From the location of the first vehicle and the vehicle information of the vehicle 502, it is determined that the first period of time required for the vehicle 502 to travel to the location of the first vehicle is 1s. Assuming that the first threshold is 3s, the first time length is smaller than the first threshold. At this time, the doors immediately adjacent to the lane 1 are determined as the right side door 1 and the door 3 of the vehicle 501 according to the positional relationship between the second lane and the first lane. The door 1 and the door 3 are determined as target doors.

S405, determining that the door opening collision prediction result is that the target door is opened dangerously.

When the first time period required for the second vehicle to travel to the position of the first vehicle is less than the first threshold value, it is indicated that there is a risk of collision when the target door is opened for a period corresponding to the first time period. Therefore, the door opening collision prediction result is determined as the opening target door risk.

And S406, carrying out sound prompt and/or light prompt according to the door opening collision prediction result.

When the door opening collision prediction result is determined to be that the target vehicle door is opened dangerously, sound prompt and/or light prompt can be carried out through devices such as an LED lamp and a sound box installed in the first vehicle, and the target vehicle door is prevented from being opened by a user.

And S407, sending second prompt information to a second vehicle.

The second prompt message is for prompting a lane change and/or deceleration of the second vehicle.

The second prompt message may be sent to the second vehicle via C-V2X.

For example, assume that the first vehicle is vehicle a and the second vehicle is vehicle B. And when the door opening collision prediction result of the vehicle A is that the target door is opened dangerously, the vehicle A sends second prompt information to the second vehicle through C-V2X so as to inform the second vehicle of lane changing and/or deceleration.

The second vehicle can determine to perform lane changing and/or deceleration processing on the second vehicle according to the second prompt message and the road condition message sent by the first vehicle.

The traffic information may be congested, normal or non-congested.

For example, the second vehicle determines the road condition information after receiving the second prompt message. If the road condition information is not congested or general, lane changing and/or deceleration processing can be performed on the second vehicle. If the traffic information is congestion, the second vehicle may be decelerated.

And S408, receiving response information sent by the second vehicle.

The response information includes updated vehicle information of the second vehicle.

The response information is used for prompting the first vehicle and the second vehicle to receive the second prompt information and carrying out corresponding lane change and/or deceleration processing on the second vehicle.

For example, assume that the first vehicle is vehicle a and the second vehicle is vehicle B. The vehicle information of the vehicle B may be specifically as shown in table 3 above. And when the door opening collision prediction result of the vehicle A is that the target door is opened dangerously, the vehicle A sends second prompt information to a second vehicle through C-V2X. And after the vehicle B receives the second prompt message, determining that the road condition information is not congested, and then carrying out deceleration processing on the second vehicle. Meanwhile, like the first vehicle sending the response information, the response information may be specifically as shown in table 4:

TABLE 4

And S409, updating the door opening collision prediction result according to the updated vehicle information and the position of the first vehicle.

The door opening collision prediction result can be updated through steps S403 to S407 and S411.

When the door opening collision prediction result is updated, if the second vehicle performs only the deceleration processing, it is necessary to determine a first time period required for the second vehicle to travel to the position of the first vehicle, based on the position of the first vehicle and the updated vehicle information. And determining an updated door opening collision prediction result according to the first duration and the first threshold. When the second vehicle performs the lane change process, the door opening collision prediction result may be updated to the door opening safety.

For example, assume that the first vehicle is vehicle a, the second vehicle is vehicle B, and the first threshold value is 3s. The first vehicle of vehicle a is located 107.50000 degrees east longitude and 34.42001 degrees north latitude. And determining that the vehicle B only performs the deceleration processing according to the second prompting information shown by the distance. Therefore, the first period of time required to determine that the second vehicle travels to the position of the first vehicle is 10s, based on the updated vehicle information and the position of the first vehicle shown in table 4. And if the first time is greater than the first threshold value 3s, determining that the updated door opening collision prediction result is that the door is opened safely.

And S410, determining that the door opening collision prediction result is that the door is opened safely.

When it is determined that it is safe to open the door based on the door opening collision prediction result, the user may control the first vehicle to open the door.

The door opening collision prediction result may be determined using the first vehicle and the second vehicle when the first vehicle and the second vehicle may communicate via C-V2X. If the first vehicle does not receive the response information sent by the second vehicle after sending the second prompt information, it can be determined that the first vehicle and the second vehicle are in an offline state. At this time, the road side unit can determine the door opening collision prediction result and send warning information.

When the first vehicle and the second vehicle are in an offline state, the first vehicle can determine the door opening collision prediction result by the following means: receiving alarm information sent by a road side unit, wherein the alarm information is used for indicating danger of opening a vehicle door; and carrying out voice prompt and/or bright prompt according to the alarm information. Or the first vehicle receives the vehicle information of the second vehicle sent by the road side unit. And determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle.

When the first vehicle and the second vehicle are in an offline state and the door opening collision prediction result of the first vehicle is that the target door is opened dangerously, the second vehicle can perform corresponding processing in the following way: when the second vehicle is in a driving state, receiving third prompt information, wherein the third prompt information is used for prompting the second vehicle to change the lane and/or decelerate; and changing the lane and/or decelerating the vehicle according to the third prompt message.

According to the vehicle control method, the first vehicle is detected to be switched from the running state to the parking state. When it is determined that there is a communication connection between the first vehicle and the second vehicle, a first period of time required for the second vehicle to travel to the location of the first vehicle is determined according to the location of the first vehicle and vehicle information of the second vehicle. And determining a door opening collision prediction result according to the first time length and the first threshold value, and determining whether it is safe to open the vehicle door. And when the danger of opening the door is determined, sending second prompt information to a second vehicle. And receiving response information sent by the second vehicle. And updating the door opening collision prediction result according to the updated vehicle information and the position of the first vehicle. And when the first vehicle and the second vehicle are determined not to be in communication connection, receiving alarm information sent by the road side unit, and determining whether the door is safe to open or not according to the alarm information. In the above process, when it is determined that the first vehicle is in the parking state, the door opening collision prediction result of the first vehicle may be determined according to the position of the first vehicle and the vehicle information of the second vehicle, and/or a sound prompt and/or a light prompt may be performed according to the warning information sent by the roadside unit to determine the safety of opening the door of the first vehicle. The safety of opening the door of the first vehicle is not artificially determined, and the door opening collision prediction result can be sent to the second vehicle to be processed with the second vehicle in a coordinated mode, so that the first vehicle and the second vehicle are prevented from colliding. The safety of controlling the vehicle is improved.

Based on any of the above embodiments, a detailed process of vehicle control will be described below with reference to fig. 6.

Fig. 6 is a schematic process diagram of vehicle control provided in the embodiment of the present application. Referring to fig. 6, the vehicle includes a first vehicle 601, a second vehicle 602, and a roadside unit 603. The first vehicle 601 and the second vehicle 602 periodically collect vehicle information and broadcast the vehicle information through C-V2X. The first vehicle 601, the second vehicle 602, and the roadside unit 603 may acquire vehicle information of a plurality of vehicles.

When the first vehicle 601 is detected to be switched from the running state to the parking state, the position of the first vehicle 601 is determined to be 107.50000 degrees east longitude, 34.42001 degrees north latitude, and 45 degrees east. According to the position of the first vehicle 601 and the position information of the plurality of vehicles, the vehicle closest to the first vehicle 601 and behind the adjacent lane is determined as the second vehicle 602. The vehicle information of the second vehicle 602 acquired by the first vehicle 601 may be specifically as shown in table 5:

TABLE 5

The route information between the first vehicle 601 and the second vehicle 602 is acquired, and the vehicle distance between the first vehicle 601 and the second vehicle 602 can be determined to be 15 meters according to the route information, the position of the first vehicle 601, and the second position shown in table 5. According to table 5, it can be determined that the traveling speed of the second vehicle 602 is 50km/h. According to the vehicle distance and the running speed, the first time length is determined to be 15/50/1000=1.08s.

Assuming that the first threshold value is 5s, it may be determined that the first time length 1.08s is less than the first threshold value. At this time, the target door is determined based on the positional relationship between the second lane and the first lane. Since the second lane is located on the right side of the first lane, the right side doors of the first vehicle 601 are determined as door 1 and door 2. The first vehicle 601 may determine that the target doors are door 1 and door 2 and determine that the door opening collision prediction result is that it is dangerous to open door 1 and door 2.

When the first vehicle 601 determines that the door opening collision prediction result is that the doors 1 and 2 are dangerous to open, the second prompt message is sent to the second vehicle 602. After receiving the second prompt message, the second vehicle 602 determines to decelerate the second vehicle 602 according to the traffic information. Meanwhile, the second vehicle 602 sends response information to the first vehicle 601, where the response information may be specifically as shown in table 6:

TABLE 6

After receiving the response information sent by the second vehicle 602, the first vehicle 601 determines that the second vehicle 602 performs the deceleration processing. It is determined that the first time period required for the second vehicle 602 to travel to the position of the first vehicle 601 is 15s, based on the position of the first vehicle 601 and the updated vehicle information shown in table 6. At this time, the first time is greater than the first threshold 5s, and the first vehicle 601 may determine the updated door opening collision prediction result as safe door opening. The user may control the first vehicle 601 to open the door.

The roadside unit 603 may acquire vehicle information and road condition information of the vehicle in real time. When the first vehicle 601 and the second vehicle 602 are in an out-of-communication state, if the road side unit 603 detects that the door-opening collision prediction result of the first vehicle 601 is that the doors 1 and 2 are dangerous to open by the method described above. The road side unit 603 may send warning information to the first vehicle 601, the warning information being used for indicating a danger of opening a door. The first vehicle 601 may perform an audio prompt and/or a bright prompt according to the warning information. While the roadside unit 603 may send a third prompt message to the second vehicle 602. The third prompt message is used to prompt the second vehicle 602 to change lane and/or decelerate, and give a suggested vehicle speed and a suggested lane. And the second vehicle 602 performs vehicle lane change and/or deceleration according to the third prompt message to ensure that the first vehicle 601 and the second vehicle 602 do not collide.

According to the vehicle control process provided by the embodiment of the application, the first vehicle is detected to be switched from the running state to the parking state. When it is determined that there is a communication connection between the first vehicle and the second vehicle, a first period of time required for the second vehicle to travel to the location of the first vehicle is determined according to the location of the first vehicle and vehicle information of the second vehicle. And determining a door opening collision prediction result according to the first time length and the first threshold value, and determining whether it is safe to open the vehicle door. And when the danger of opening the door is determined, sending second prompt information to a second vehicle. And receiving response information sent by the second vehicle. And updating the door opening collision prediction result according to the updated vehicle information and the position of the first vehicle. And when the first vehicle and the second vehicle are determined not to be in communication connection, receiving alarm information sent by the road side unit, and determining whether the door is safe to open or not according to the alarm information. In the above process, when it is determined that the first vehicle is in the parking state, the door opening collision prediction result of the first vehicle may be determined according to the position of the first vehicle and the vehicle information of the second vehicle, and/or a sound prompt and/or a light prompt may be performed according to the warning information sent by the roadside unit to determine the safety of opening the door of the first vehicle. Instead of artificially determining the safety of opening the door of the first vehicle, the door opening collision prediction result can be sent to the second vehicle and cooperatively processed with the second vehicle, so that the first vehicle and the second vehicle are prevented from colliding with each other. The safety of controlling the vehicle is improved.

Fig. 7 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application. The vehicle control device may be a chip or a chip module. Referring to fig. 7, the vehicle control device 10 may include:

a detection module 11 for detecting that the first vehicle is switched from a running state to a parking state; the first vehicle is located on a first lane;

the receiving module 12 is configured to receive warning information sent by a roadside unit and/or vehicle information of a second vehicle, where the warning information is used to indicate that a collision will occur when a door of the first vehicle is opened;

the determining module 13 is configured to determine a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or perform sound prompt and/or bright prompt according to warning information sent by a roadside unit;

The vehicle control device provided in the embodiment of the present application may implement the technical solutions shown in the above method embodiments, and the implementation principles and beneficial effects are similar, which are not described herein again.

In a possible implementation, the determining module 13 is specifically configured to:

In one possible embodiment, the determining module 13 is configured to:

acquiring path information between the first vehicle and the second vehicle;

In one possible embodiment, the determining module 13 is configured to:

The vehicle control device provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, the implementation principle and the beneficial effect are similar, and the detailed description is omitted here.

Fig. 8 is a schematic structural diagram of another vehicle control device according to an embodiment of the present application. In addition to the embodiment shown in fig. 7, please refer to fig. 8, the vehicle control device 10 further includes a prompt module 14, an update module 15, and a lane change deceleration module 16.

Wherein the prompt module 14 is configured to:

The update module 15 is configured to:

The lane-changing deceleration module 16 is configured to:

Fig. 9 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application. Referring to fig. 9, the vehicle control apparatus 20 may include: memory 21, processor 22. Illustratively, the memory 21, the processor 22, and the various parts are interconnected by a bus 23.

Memory 21 is used to store program instructions;

the processor 22 is configured to execute program instructions stored in the memory to cause the vehicle control apparatus 20 to perform the method illustrated in the above-described method embodiments.

The vehicle control device provided by the embodiment of the application can execute the technical scheme shown in the method embodiment, the implementation principle and the beneficial effect are similar, and details are not repeated here.

The embodiment of the application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is used for implementing the above method.

Embodiments of the present application may also provide a computer program product comprising a computer program which, when executed by a processor, can implement the above method.

All or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The foregoing program may be stored in a readable memory. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned memory (storage medium) includes: read-only memory (ROM), random Access Memory (RAM), flash memory, hard disk, solid state disk, magnetic tape (magnetic tape), floppy disk (floppy disk), optical disk (optical disk), and any combination thereof.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. 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 processing unit of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit 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.

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

In the present application, the terms "include" and variations thereof may refer to non-limiting inclusions; the term "or" and variations thereof may mean "and/or". The terms "first," "second," and the like in this application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. In the present application, "a plurality" means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

Claims

1. A vehicle control method characterized by comprising:

determining a door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or performing sound prompt and/or light prompt according to the warning information sent by the road side unit;

2. The method of claim 1, wherein determining the door opening collision prediction result of the first vehicle according to the position of the first vehicle and the vehicle information of the second vehicle, and/or performing an audio prompt and/or a light prompt according to the warning information sent by the roadside unit comprises:

and when the first vehicle and the second vehicle are not in communication connection, sound prompt and/or light prompt are/is carried out according to the alarm information sent by the road side unit.

3. The method of claim 2, wherein determining a door open collision prediction for the first vehicle based on the location of the first vehicle and the vehicle information of the second vehicle comprises:

4. The method of claim 3, wherein determining a first length of time required for the second vehicle to travel to the location of the first vehicle based on the location of the first vehicle and vehicle information of the second vehicle comprises:

acquiring path information between the first vehicle and the second vehicle;

determining a vehicle distance between the first vehicle and the second vehicle according to the path information, the position of the first vehicle and the second position, wherein the second position comprises longitude and latitude information and a head azimuth;

5. The method of claim 3 or 4, wherein determining the door opening collision prediction result according to the first time period and the position relationship between the second lane and the first lane comprises:

if the first duration is greater than a first threshold, determining that the door opening collision prediction result is that no collision occurs;

and if the first time length is less than or equal to the first threshold value, determining a target vehicle door according to the position relation between the second lane and the first lane, and determining that the door opening collision prediction result is that the target vehicle door is opened and collision can occur.

6. The method of claim 5, wherein determining that the door opening collision prediction is after the opening of the target vehicle door would collide further comprises:

7. The method of claim 5, wherein determining that the door opening collision prediction is after a collision would occur with opening the target vehicle door further comprises:

8. The method according to any one of claims 1-4, applied to the first vehicle, comprising:

and changing lanes and/or decelerating the vehicle according to the third prompt message.

9. A vehicle control apparatus, characterized by comprising:

10. A vehicle control apparatus characterized by comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.

11. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method according to any one of claims 1 to 8.