CN116279473A - Vehicle following time interval verification method and device, vehicle and storage medium - Google Patents
Vehicle following time interval verification method and device, vehicle and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012795 verification Methods 0.000 title claims abstract description 31
- 230000008447 perception Effects 0.000 claims abstract description 25
- 230000006872 improvement Effects 0.000 claims abstract description 11
- 230000001133 acceleration Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 abstract description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Abstract
The application relates to the technical field of vehicles, in particular to a vehicle following time interval verification method and device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring running state information and perception information of a current vehicle; calculating the minimum safe following distance of the current vehicle according to the driving state information, determining the target following distance of the current vehicle according to the current driving scene and the driving state information matched with the perception information, and judging whether the minimum safe following distance is smaller than the target following distance; and if the minimum safe following distance is smaller than the target following time interval, judging that the target following time interval passes the verification, otherwise, judging that the target following time interval fails to verify, and generating corresponding improvement suggestions after the verification fails. Therefore, the problem that the related technology does not make a requirement on the minimum safety distance and the longitudinal control is unreasonable is solved, the rationality of the longitudinal control is increased, and the verification module can ensure the safety of the vehicle under the condition that the main controller fails.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and apparatus for checking a following distance of a vehicle, and a storage medium.
Background
The automatic driving longitudinal control is a very important part in the automatic driving technology, the technical difficulty is also high, and the safety problem and the comfort are both considered, wherein the safety is mainly the control of a safety distance, and the comfort experience is the control of longitudinal acceleration.
In the related art, the rationality verification of the longitudinal acceleration is mentioned, and the rationality of the longitudinal deceleration is judged according to the current minimum safe distance, the upper limit of the safe deceleration and the lower limit of the safe deceleration; the other is to analyze the environment of the vehicle according to the sensor data of the vehicle so as to determine the driving scene and determine the following distance according to the driving scene.
However, the related art does not require a minimum safe distance, and then different types of preceding vehicles for the same speed should be the same minimum safe distance. This is obviously unreasonable. For different front car types, we are not the same confidence for automatic driving with car. For a car, a closer safe distance can be accepted, but for a large truck, if the safe distance of the car is adopted, a driver can feel untrustworthy, so that the use scene and the use experience of automatic driving are reduced.
The driving scene is introduced into the verification module serving as the new longitudinal acceleration, so that certain driving comfort can be ensured while the driving safety is considered, and the automatic driving experience is improved.
Disclosure of Invention
The application provides a vehicle following time interval checking method, device, vehicle and storage medium, which are used for solving the unreasonable problem of longitudinal control because the related technology does not make a requirement on the minimum safety distance, increasing the rationality of longitudinal control, and ensuring the safety of the vehicle under the condition that a main controller fails.
An embodiment of a first aspect of the present application provides a method for checking a following distance of a vehicle, including the following steps: acquiring running state information and perception information of a current vehicle; calculating the minimum safe following distance of the current vehicle according to the running state information, determining the target following distance of the current vehicle according to the current driving scene matched with the perception information and the running state information, and judging whether the minimum safe following distance is smaller than the target following distance; and if the minimum safe following distance is smaller than the target following distance, judging that the target following distance is verified, otherwise, judging that the target following distance is verified to be failed, and generating corresponding improvement suggestions after the verification is failed.
Optionally, in some embodiments, the driving state information includes a current speed, a current acceleration, and a following distance between the current vehicle and a target following vehicle, and the calculating the minimum safe following distance of the current vehicle according to the driving state information includes: and calculating the minimum safe following distance according to the current speed, the current acceleration and the following distance based on a preset safe following distance formula.
Optionally, in some embodiments, the determining the target following distance of the current vehicle by the current driving scene and the driving state information matched by the perception information includes: determining an initial following time interval according to the current vehicle speed and the following distance; and obtaining the target following time interval according to the product of the initial following time interval and the scene coefficient corresponding to the current driving scene.
Optionally, in some embodiments, the current driving scenario matched by the perception information includes: acquiring the number and the type of the vehicles in the first direction of the current vehicle and the number and the type of the vehicles in the second direction of the current vehicle from the perception information; and matching the current driving scene according to the number and the type of the vehicles in the first direction and the number and the type of the vehicles in the second direction.
Optionally, in some embodiments, the following distance checking method of the vehicle further includes: acquiring the state of the current vehicle longitudinal deceleration actuating mechanism; calculating a safe deceleration upper limit and a safe deceleration lower limit of the current vehicle in the current driving scene; and checking the longitudinal deceleration of the current vehicle according to the state of the longitudinal deceleration actuating mechanism, the upper safety deceleration limit and the lower safety deceleration limit, and checking the output signal of the longitudinal deceleration based on a preset signal checking strategy after the longitudinal deceleration is checked, so that the output signal of the longitudinal deceleration is a valid signal.
An embodiment of a second aspect of the present application provides a following distance checking device for a vehicle, including: the acquisition module is used for acquiring the running state information and the perception information of the current vehicle; the judging module is used for calculating the minimum safe following distance of the current vehicle according to the driving state information, determining the target following distance of the current vehicle according to the current driving scene matched with the perception information and the driving state information, and judging whether the minimum safe following distance is smaller than the target following distance; and the judging module is used for judging that the target following distance passes the verification if the minimum safety following distance is smaller than the target following distance, otherwise judging that the target following distance fails the verification and generating corresponding improvement suggestions after the verification fails.
Optionally, in some embodiments, the determining module is further configured to: and calculating the minimum safe following distance according to the current speed, the current acceleration and the following distance based on a preset safe following distance formula.
Optionally, in some embodiments, the determining module is further configured to: determining an initial following time interval according to the current vehicle speed and the following distance; and obtaining the target following time interval according to the product of the initial following time interval and the scene coefficient corresponding to the current driving scene.
Optionally, in some embodiments, the determining module is further configured to: acquiring the number and the type of the vehicles in the first direction of the current vehicle and the number and the type of the vehicles in the second direction of the current vehicle from the perception information; and matching the current driving scene according to the number and the type of the vehicles in the first direction and the number and the type of the vehicles in the second direction.
Optionally, in some embodiments, the following distance checking device of the vehicle is further configured to: acquiring the state of the current vehicle longitudinal deceleration actuating mechanism; calculating a safe deceleration upper limit and a safe deceleration lower limit of the current vehicle in the current driving scene; and checking the longitudinal deceleration of the current vehicle according to the state of the longitudinal deceleration actuating mechanism, the upper safety deceleration limit and the lower safety deceleration limit, and checking the output signal of the longitudinal deceleration based on a preset signal checking strategy after the longitudinal deceleration is checked, so that the output signal of the longitudinal deceleration is a valid signal.
An embodiment of a third aspect of the present application provides a vehicle, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the following time interval checking method of the vehicle according to the embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for implementing the following distance verification method of a vehicle as described in the above embodiment.
Therefore, the minimum safe following distance of the current vehicle is calculated according to the driving state information, the target following distance of the current vehicle is determined according to the current driving scene and the driving state information matched with the sensing information, whether the minimum safe following distance is smaller than the target following distance is judged, if the minimum safe following distance is smaller than the target following time, the target following distance is judged to pass the verification, otherwise, the target following distance is judged to fail the verification, corresponding improvement advice is generated after the verification fails, the problem that the related technology does not require the minimum safe distance, the unreasonable longitudinal control is solved, the rationality of the longitudinal control is increased, and the verification module can ensure the safety of the vehicle under the condition that the main controller fails.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flowchart of a method for verifying a following distance of a vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for verifying a following distance of a vehicle according to one embodiment of the present application;
FIG. 3 is a block schematic diagram of a vehicle following moment checking device according to an embodiment of the present application;
fig. 4 is a schematic structural view of a vehicle according to an embodiment of the present application.
Reference numerals illustrate: 10-a vehicle following time interval checking device, 100-acquisition module, 200-judgment module and 300-judgment module.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following distance checking method and device for a vehicle, the vehicle and the storage medium of the embodiments of the present application are described below with reference to the accompanying drawings. Aiming at the problem that the related art mentioned in the background art does not make a requirement on the minimum safe distance and the longitudinal control is unreasonable, the application provides a vehicle following distance checking method, in the method, the minimum safe following distance of the current vehicle is calculated according to the running state information and the running state information of the current vehicle by acquiring the running state information and the perception information of the current vehicle, the current driving scene and the running state information matched by the perception information determine the target following distance of the current vehicle and judge whether the minimum safe following distance is smaller than the target following distance, if the minimum safe following distance is smaller than the target following time, the target following distance checking passes, otherwise, the target following distance checking fails, and corresponding improvement advice is generated after the checking fails, the problem that the related art does not make the requirement on the minimum safe distance and the longitudinal control is unreasonable is solved, the rationality of the longitudinal control is increased, and the checking module can ensure the safety of the vehicle under the condition that a main controller fails.
Specifically, fig. 1 is a schematic flow chart of a vehicle following distance checking method according to an embodiment of the present application.
As shown in fig. 1, the following distance checking method of the vehicle comprises the following steps:
in step S101, the running state information and the perception information of the current vehicle are acquired.
Specifically, after the adaptive cruise function is turned on, the embodiment of the application obtains vehicle running state information and vehicle sensor information, where the vehicle sensor information may include: information acquired by laser radar, cameras, ultrasonic sensors and the like.
In step S102, a minimum safe following distance of the current vehicle is calculated according to the driving state information, a target following distance of the current vehicle is determined according to the current driving scene and the driving state information matched with the sensing information, and whether the minimum safe following distance is smaller than the target following distance is determined.
Optionally, in some embodiments, the driving state information includes a current speed, a current acceleration, and a following distance of the current vehicle from the target following vehicle, and calculating a minimum safe following distance of the current vehicle according to the driving state information includes: and calculating the minimum safe following distance according to the current speed, the current acceleration and the following distance based on a preset safe following distance formula.
Optionally, in some embodiments, the current driving scenario matched by the awareness information includes: acquiring the number and the type of vehicles in the first direction of the current vehicle and the number and the type of vehicles in the second direction of the current vehicle from the perception information; the current driving scene is matched according to the number and the type of the vehicles in the first direction and the number and the type of the vehicles in the second direction.
The vehicle types may include cars, vans, coaches, or large transport vehicles, among others.
Specifically, the first direction may be a front vehicle, for example, if there is no vehicle in front of the current vehicle, the number of vehicles in the first direction of the current vehicle is 0; if a truck is in front of the current vehicle, the data of the current vehicle in the first direction is 1, and the type of the vehicle in the first direction is the truck. The second direction may be a vehicle-side vehicle, for example, if there is no vehicle on the side of the current vehicle, the number of vehicles in the second direction of the current vehicle is 0; if the left side vehicle of the current vehicle is 2, and a car and a truck exist, the number of vehicles in the second direction of the current vehicle is 2, and the types of the vehicles are the car and the car.
Optionally, in some embodiments, determining the target following distance of the current vehicle from the current driving scenario and the driving state information matched by the perception information includes: determining an initial following time interval according to the current speed and the following distance; and obtaining the target following time interval according to the product of the initial following time interval and the scene coefficient corresponding to the current driving scene.
Specifically, determining the following distance from the current vehicle driving scenario includes: determining an initial following time interval according to the current speed and the distance between the initial following time interval and a following target; determining a target following time interval according to the initial following time interval and the vehicle driving scene coefficient, wherein the target following time interval is as follows: the product of the vehicle driving scene coefficient and the basic following distance is the current target following distance.
In step S103, if the minimum safe following distance is smaller than the target following time, it is determined that the target following time passes the verification, otherwise, it is determined that the target following time fails the verification, and a corresponding improvement suggestion is generated after the verification fails.
The minimum safe distance can be calculated according to the running state information (running speed, current acceleration, distance from the front vehicle and the like) of the vehicle under the current condition.
Specifically, if the current minimum safe following distance is greater than the target following time interval determined by the current vehicle driving scene, the following time interval determined by the current vehicle driving scene is not verified; the current minimum safe following distance is smaller than the target following distance determined by the current vehicle driving scene: and checking the following vehicle distance determined by the current vehicle driving scene.
Optionally, in some embodiments, the following distance checking method of the vehicle further includes: acquiring the state of a current vehicle longitudinal deceleration actuating mechanism; calculating a safe deceleration upper limit and a safe deceleration lower limit of the current vehicle in the current driving scene; and checking the longitudinal deceleration of the current vehicle according to the state of the longitudinal deceleration actuating mechanism, the upper limit of the safe deceleration and the lower limit of the safe deceleration, and checking the output signal of the longitudinal deceleration based on a preset signal checking strategy after the longitudinal deceleration is checked, so that the output signal of the longitudinal deceleration is a valid signal.
Specifically, in order to ensure the validity and accuracy of the output signal, the embodiment of the application may perform rationality verification after reasonably verifying the longitudinal deceleration, and may determine the execution mechanism according to the deceleration information and the state of the longitudinal deceleration execution mechanism, and execute the deceleration signal. It should be noted that, the preset signal checking policy may be a checking policy in the related art, and detailed description is omitted herein to avoid redundancy.
From this, as shown in fig. 2, the embodiment of the application can acquire vehicle perception information through the sensor, combine vehicle running state information, establish driving scene to confirm with the car distance, comprehensively judge driving road conditions, can accomplish under the safe prerequisite of driving, promote driving travelling comfort, bring certain automatic auxiliary driving experience, improve intelligent driving auxiliary system's rate of utilization.
According to the vehicle following distance checking method, the minimum safe following distance of the current vehicle is calculated according to the running state information and the sensing information of the current vehicle, the target following distance of the current vehicle is determined according to the current driving scene and the running state information matched with the sensing information, whether the minimum safe following distance is smaller than the target following distance is judged, if the minimum safe following distance is smaller than the target following distance, the target following distance checking is judged to pass, otherwise, the target following distance checking is judged to fail, corresponding improvement advice is generated after the checking fails, the problem that the related technology does not make a requirement on the minimum safe distance and the longitudinal control is unreasonable is solved, the rationality of the longitudinal control is increased, and the checking module can ensure the safety of the vehicle under the condition that a main controller fails.
Next, a following distance checking device for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a block schematic diagram of a following distance checking device of a vehicle according to an embodiment of the present application.
As shown in fig. 3, the following distance verification device 10 of the vehicle includes: an acquisition module 100, a judgment module 200, and a judgment module 300.
The acquiring module 100 is configured to acquire driving state information and perception information of a current vehicle; the judging module 200 is configured to calculate a minimum safe following distance of the current vehicle according to the driving state information, determine a target following distance of the current vehicle according to the current driving scene and the driving state information matched with the sensing information, and judge whether the minimum safe following distance is smaller than the target following distance; and a determining module 300, configured to determine that the target following distance is checked to pass if the minimum safe following distance is smaller than the target following distance, or determine that the target following distance is checked to fail, and generate a corresponding improvement suggestion after the check fails.
Optionally, in some embodiments, the determining module 200 is further configured to: and calculating the minimum safe following distance according to the current speed, the current acceleration and the following distance based on a preset safe following distance formula.
Optionally, in some embodiments, the determining module 200 is further configured to: determining an initial following time interval according to the current speed and the following distance; and obtaining the target following time interval according to the product of the initial following time interval and the scene coefficient corresponding to the current driving scene.
Optionally, in some embodiments, the determining module 200 is further configured to: acquiring the number and the type of vehicles in the first direction of the current vehicle and the number and the type of vehicles in the second direction of the current vehicle from the perception information; the current driving scene is matched according to the number and the type of the vehicles in the first direction and the number and the type of the vehicles in the second direction.
Optionally, in some embodiments, the following distance checking device 10 of the vehicle is further configured to: acquiring the state of a current vehicle longitudinal deceleration actuating mechanism; calculating a safe deceleration upper limit and a safe deceleration lower limit of the current vehicle in the current driving scene; and checking the longitudinal deceleration of the current vehicle according to the state of the longitudinal deceleration actuating mechanism, the upper limit of the safe deceleration and the lower limit of the safe deceleration, and checking the output signal of the longitudinal deceleration based on a preset signal checking strategy after the longitudinal deceleration is checked, so that the output signal of the longitudinal deceleration is a valid signal.
It should be noted that the foregoing explanation of the embodiment of the following distance checking method of the vehicle is also applicable to the following distance checking device of the vehicle of this embodiment, and will not be repeated here.
According to the vehicle following distance checking device for the vehicle, provided by the embodiment of the application, the minimum safe following distance of the current vehicle is calculated according to the running state information and the running state information of the current vehicle, the target following distance of the current vehicle is determined according to the current driving scene and the running state information matched with the sensing information, whether the minimum safe following distance is smaller than the target following distance is judged, if the minimum safe following distance is smaller than the target following distance, the target following distance checking is judged to pass, otherwise, the target following distance checking is judged to fail, corresponding improvement suggestion is generated after the checking fails, the unreasonable problem of longitudinal control due to the fact that the minimum safe distance is not required by related technologies is solved, the rationality of the longitudinal control is increased, and the checking module can ensure the safety of the vehicle under the condition that a main controller fails.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
The processor 402 implements the following distance verification method of the vehicle provided in the above embodiment when executing the program.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
The memory 401 may include high speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may perform communication with each other through internal interfaces.
The processor 402 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the following distance checking method of the vehicle as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. The vehicle following distance checking method is characterized by comprising the following steps:
acquiring running state information and perception information of a current vehicle;
calculating the minimum safe following distance of the current vehicle according to the running state information, determining the target following distance of the current vehicle according to the current driving scene matched with the perception information and the running state information, and judging whether the minimum safe following distance is smaller than the target following distance; and
and if the minimum safe following distance is smaller than the target following distance, judging that the target following distance passes the verification, otherwise, judging that the target following distance fails to verify, and generating a corresponding improvement suggestion after the verification fails.
2. The method of claim 1, wherein the driving status information includes a current speed of the current vehicle, a current acceleration, and a following distance of the current vehicle from a target following vehicle, and wherein calculating a minimum safe following distance of the current vehicle based on the driving status information comprises:
and calculating the minimum safe following distance according to the current speed, the current acceleration and the following distance based on a preset safe following distance formula.
3. The method of claim 2, wherein the determining the target following distance of the current vehicle from the current driving scenario and the driving state information matched by the perception information comprises:
determining an initial following time interval according to the current vehicle speed and the following distance;
and obtaining the target following time interval according to the product of the initial following time interval and the scene coefficient corresponding to the current driving scene.
4. A method according to claim 3, wherein the current driving scenario matched by the perception information comprises:
acquiring the number and the type of the vehicles in the first direction of the current vehicle and the number and the type of the vehicles in the second direction of the current vehicle from the perception information;
and matching the current driving scene according to the number and the type of the vehicles in the first direction and the number and the type of the vehicles in the second direction.
5. The method as recited in claim 1, further comprising:
acquiring the state of the current vehicle longitudinal deceleration actuating mechanism;
calculating a safe deceleration upper limit and a safe deceleration lower limit of the current vehicle in the current driving scene;
and checking the longitudinal deceleration of the current vehicle according to the state of the longitudinal deceleration actuating mechanism, the upper safety deceleration limit and the lower safety deceleration limit, and checking the output signal of the longitudinal deceleration based on a preset signal checking strategy after the longitudinal deceleration is checked, so that the output signal of the longitudinal deceleration is a valid signal.
6. A following distance verification device for a vehicle, comprising:
the acquisition module is used for acquiring the running state information and the perception information of the current vehicle;
the judging module is used for calculating the minimum safe following distance of the current vehicle according to the driving state information, determining the target following distance of the current vehicle according to the current driving scene matched with the perception information and the driving state information, and judging whether the minimum safe following distance is smaller than the target following distance; and
and the judging module is used for judging that the target following distance passes the verification if the minimum safety following distance is smaller than the target following distance, otherwise judging that the target following distance fails the verification and generating corresponding improvement suggestions after the verification fails.
7. The apparatus of claim 6, wherein the determining module is further configured to:
and calculating the minimum safe following distance according to the current speed, the current acceleration and the following distance based on a preset safe following distance formula.
8. The apparatus of claim 7, wherein the determining module is further configured to:
determining an initial following time interval according to the current vehicle speed and the following distance;
and obtaining the target following time interval according to the product of the initial following time interval and the scene coefficient corresponding to the current driving scene.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the following distance verification method of a vehicle as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for implementing a following distance verification method of a vehicle according to any one of claims 1-5.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116978200A (en) * | 2023-09-25 | 2023-10-31 | 西安乾迈电子科技有限公司 | Method and system for monitoring and early warning of high-speed illegal vehicles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116978200A (en) * | 2023-09-25 | 2023-10-31 | 西安乾迈电子科技有限公司 | Method and system for monitoring and early warning of high-speed illegal vehicles |
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