CN116279540A - Safety-field-based vehicle control method and device, vehicle and storage medium - Google Patents
Safety-field-based vehicle control method and device, vehicle and storage medium Download PDFInfo
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- B60W40/08—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 related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- 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
- B60W40/10—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 related to vehicle motion
- B60W40/105—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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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Abstract
The invention discloses a vehicle control method and device based on a security field, a vehicle and a storage medium, wherein the vehicle control method comprises the following steps: acquiring historical position information of a vehicle as first data; determining a safe field target distance according to the first data, wherein the safe field target distance is used for representing the actual distance between the target obstacle and the vehicle; acquiring a braking parameter of the vehicle, a relative speed of the vehicle relative to the target obstacle and a preset driver braking response time as second data; determining a safe field radius from the second data; determining a security field according to the radius of the security field; judging the safety of the vehicle according to the target distance of the safety field and the safety field to obtain a judging result; and controlling the vehicle according to the judgment result. The invention solves the technical problem of low safety of intelligent driving automobiles in the related technology.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a vehicle control method and device based on a security field, a vehicle and a storage medium.
Background
The intelligent driving is realized without separation of three technical elements of perception, planning and control. In fact, this is also a rough split of the human driving car process, i.e. first observing the surrounding vehicle conditions, traffic lights; then, according to the destination direction, the accelerator, the brake and the steering wheel are used for accelerating/decelerating, turning/changing the road and braking. For intelligent driving, the intelligent driving automobile wants to complete autonomous driving, just like walking, the road is clear, perception is that the intelligent driving automobile can understand and grasp the traffic environment, through the addition of a perception system, the intelligent driving automobile can predict the position, speed and possible next behavior of obstacles in the traffic environment, in order to improve the driving safety of the automobile, the life and property safety of people is guaranteed, the intelligent driving safety field is paid more and more attention to whole automobile manufacturers and research institutions, the intelligent driving safety field can be constructed according to the acquired state information and target vehicle information of the automobile, the occurrence of risks is predicted in advance, and the safety is guaranteed. The calculation of the track information of the vehicle is not considered in the safety field constructed in the prior art, so that the technical problems of inaccurate construction of the safety field, low safety and the like exist.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method and device based on a security field, a vehicle and a storage medium, which at least solve the technical problem of low security of intelligent driving automobiles in the related technology.
According to one embodiment of the present invention, there is provided a vehicle control method based on a security field, including: acquiring historical position information of a vehicle as first data; determining a safe field target distance according to the first data, wherein the safe field target distance is used for representing the actual distance between the target obstacle and the vehicle; acquiring a braking parameter of the vehicle, a relative speed of the vehicle relative to the target obstacle and a preset driver braking response time as second data; determining a safe field radius from the second data; determining a security field according to the radius of the security field; judging the safety of the vehicle according to the target distance of the safety field and the safety field to obtain a judging result; and controlling the vehicle according to the judgment result.
Optionally, the method of security-field-based vehicle control further comprises: the historical location information includes lateral location data and longitudinal location data; determining a security field target distance from the first data includes: determining a track fitting equation of the running track of the vehicle according to the transverse position data and the longitudinal position data; determining the radius of the running track of the vehicle according to the track fitting equation; comparing the radius of the running track of the vehicle with a preset radius threshold value to obtain a comparison result; and responding to the comparison result to indicate that the radius of the running track of the vehicle is smaller than or equal to a preset radius threshold value, and determining the safe field target distance by utilizing a first preset formula, wherein parameters of the first preset formula comprise first data, the front and rear axle distance of the vehicle, steering wheel rotation angle and steering transmission coefficient.
Optionally, the method of security-field-based vehicle control further comprises: and determining the safe field target distance by using a second preset formula in response to the comparison result indicating that the radius of the running track of the vehicle is larger than a preset radius threshold, wherein the parameters of the second preset formula comprise first data.
Optionally, the method of security-field-based vehicle control further comprises: determining the radius of the running track of the vehicle according to a track fitting equation: determining a curvature equation of a running track of the vehicle according to the track fitting equation; determining a radius corresponding to each position point in a running track of the vehicle according to the curvature equation to obtain a plurality of radius data; the radius of the running track of the vehicle is determined according to the maximum value and the minimum value in the plurality of radius data.
Optionally, the method of security-field-based vehicle control further comprises: the safety field radius comprises a safety field collision radius and a safety field early warning radius; determining a safe field radius from the second data includes: according to the second data, a third preset formula is adopted to determine the collision radius of the safety field; and determining the early warning radius of the security yard by adopting a fourth preset formula according to the second data and the early warning reserved time, wherein the early warning reserved time is determined according to the current speed of the vehicle.
Optionally, the method of security-field-based vehicle control further comprises: constructing a safe field target distance queue, wherein the safe field target distance queue comprises a plurality of safe field target distances corresponding to a plurality of continuous historical moments; constructing a safety field collision radius cache queue, wherein the safety field collision radius cache queue comprises a plurality of safety field collision radii corresponding to a plurality of continuous historical moments; determining a collision threshold according to the safety field collision radius cache queue, wherein the ratio of the safety field collision radius larger than the collision threshold in the safety field collision radius cache queue to the safety field collision radius smaller than the collision threshold is a first preset ratio; constructing a safety field early warning radius cache queue, wherein the safety field early warning radius cache queue comprises a plurality of safety field early warning radii corresponding to a plurality of continuous historical moments; determining an early warning threshold according to the early warning radius cache queue of the safety field, wherein the ratio of the early warning radius of the safety field, which is larger than the early warning threshold, to the early warning radius of the safety field, which is smaller than the collision threshold, in the early warning radius cache queue of the safety field is a second preset ratio; comparing each safe field target distance in the safe field target distance queue with a collision threshold value and an early warning threshold value respectively to obtain a comparison result; and outputting a judging result according to the comparison result.
Optionally, the method of security-field-based vehicle control further comprises: responding to the comparison result to indicate that the third preset proportion of safe field target distances in the safe field target distance array is smaller than a collision threshold value, and outputting a vehicle deceleration signal which is used for controlling the vehicle to decelerate; and responding to the comparison result to indicate that the third preset proportion of the safe field target distance in the safe field target distance queue is smaller than the early warning threshold value, and outputting an early warning prompt signal, wherein the early warning prompt signal is used for prompting the distance between the vehicle and the target obstacle.
According to one embodiment of the present invention, there is also provided a vehicle control device based on a security field, applied to a vehicle, including: a first acquisition module for acquiring historical position information of a vehicle as first data; a first determining module for determining a safe field target distance according to the first data, wherein the safe field target distance is used for representing an actual distance between a target obstacle and a vehicle; the second acquisition module is used for acquiring a braking parameter of the vehicle, a relative speed of the vehicle relative to the target obstacle and a preset driver braking response time as second data; a second determination module for determining a safe field radius from the second data; the third determining module is used for determining the safety field according to the radius of the safety field; the judging module is used for judging the safety of the vehicle according to the safety field target distance and the safety field to obtain a judging result; and the control module is used for controlling the vehicle according to the judgment result.
According to one embodiment of the invention there is also provided a vehicle comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the method of safety-based vehicle control of any of the above.
According to one embodiment of the present invention, there is also provided a non-volatile storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method of safety-field-based vehicle control of any one of the above at run-time.
In the embodiment of the invention, the historical position information of the vehicle is acquired as the first data; determining a safe field target distance according to the first data, wherein the safe field target distance is used for representing the actual distance between the target obstacle and the vehicle; acquiring a braking parameter of the vehicle, a relative speed of the vehicle relative to the target obstacle and a preset driver braking response time as second data; determining a safe field radius from the second data; determining a security field according to the radius of the security field; judging the safety of the vehicle according to the target distance of the safety field and the safety field to obtain a judging result; according to the judgment result, the vehicle is controlled, the purpose of judging the running safety of the vehicle based on the target distance and the safety field is achieved, the technical effect of improving the safety of the intelligent driving vehicle is achieved, and the technical problem that the safety of the intelligent driving vehicle is low in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow chart of a method of security-field-based vehicle control in accordance with one embodiment of the present invention;
FIG. 2 is a flow chart of a method of intelligent driving safety field construction according to one embodiment of the present invention;
fig. 3 is a block diagram of a safety field-based vehicle control device according to one embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, there is provided an embodiment of a security-field-based vehicle control method, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system containing at least one set of computer-executable instructions, and that, although a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a different order than that illustrated herein.
The method embodiments may also be performed in an electronic device comprising a memory and a processor, a similar control device or an in-vehicle terminal. Taking an in-vehicle terminal as an example, the in-vehicle terminal may include one or more processors and a memory for storing data. Optionally, the vehicle-mounted terminal may further include a communication device for a communication function and a display device. It will be appreciated by those skilled in the art that the above description of the structure is merely illustrative, and is not intended to limit the structure of the above-described vehicle-mounted terminal. For example, the in-vehicle terminal may further include more or less components than the above-described structural description, or have a different configuration from the above-described structural description.
The processor may include one or more processing units. For example: the processor may include a processing device of a central processing unit (central processing unit, CPU), a graphics processor (graphics processing unit, GPU), a digital signal processing (digital signal processing, DSP) chip, a microprocessor (microcontroller unit, MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), a tensor processor (tensor processing unit, TPU), an artificial intelligence (artificial intelligent, AI) type processor, or the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.
The memory may be used to store a computer program, for example, a computer program corresponding to the safe-field-based vehicle control method in the embodiment of the present invention, and the processor implements the safe-field-based vehicle control method by running the computer program stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication device is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet wirelessly. In some embodiments of the present solution, the communication device is configured to connect to a mobile device such as a mobile phone, a tablet, or the like, and may send an instruction to the vehicle terminal through the mobile device.
The display devices may be touch screen type liquid crystal displays (liquid crystal display, LCD) and touch displays (also referred to as "touch screens" or "touch display screens"). The liquid crystal display may enable a user to interact with a user interface of the in-vehicle terminal. In some embodiments, the vehicle-mounted terminal has a graphical user interface (graphical user interface, GUI) with which a user can interact with the GUI by touching finger contacts and/or gestures on the touch-sensitive surface, where the human-machine interaction functionality may include a vehicle gear shifting functionality, executable instructions for performing the human-machine interaction functionality described above being configured/stored in one or more processor-executable computer program products or readable storage media.
Fig. 1 is a flowchart of a security-field-based vehicle control method according to one embodiment of the present invention, as shown in fig. 1, including the steps of:
step S102, historical position information of the vehicle is acquired as first data.
Optionally, the execution body of the embodiment is an intelligent driving system, where other electronic devices and processors may also be used as the execution body, and the execution body is not specifically limited herein.
In the technical solution provided in the above step S102 of the present disclosure, the intelligent driving system may acquire, as the first data, the historical position information of the current vehicle through the vehicle-mounted positioning device included in the intelligent driving system.
Alternatively, the vehicle-mounted positioning device in the intelligent driving system may collect the current position information of the vehicle once within a preset time, or record the current position information of the vehicle once after the vehicle travels a preset distance, where the setting of the preset time and the preset distance may be selected as an empirical value, for example, the preset time may be set to 1 minute, and the preset distance may be set to 100 meters.
Step S104, determining a safe field target distance according to the first data, wherein the safe field target distance is used for representing the actual distance between the target obstacle and the vehicle.
In the technical solution provided in the above step S104 of the present disclosure, the intelligent driving system may determine the actual distance between the target obstacle and the vehicle, that is, the safe-field target distance, according to the acquired vehicle history position information.
Specifically, the target obstacle exists in the future running track of the target vehicle, and the running path of the vehicle often has a certain curvature, so that the actual distance between the target obstacle and the target vehicle is not completely consistent with the displacement distance given by perception, and therefore, in order to accurately evaluate the safety of the target vehicle, the running track of the target vehicle needs to be combined for calculation, so that the aim of accurately calculating the distance between the target obstacle and the target vehicle can be achieved.
Step S106, acquiring a braking parameter of the vehicle, a relative speed of the vehicle with respect to the target obstacle, and a preset driver braking reaction time as second data.
In the technical solution provided in the above step S106 of the present disclosure, the intelligent driving system may acquire, as the second data, a braking parameter of the target vehicle, a relative speed of the target vehicle with respect to the target obstacle, and a preset driver braking reaction time.
Alternatively, the preset driver braking response time may take an empirical value, wherein the acquisition of the empirical value may acquire the relevant data by taking a braking response experimental sample for several drivers.
Step S108, determining the radius of the security field according to the second data.
In the technical solution provided in step S108 of the present disclosure, the intelligent driving system may determine the radius of the safety field according to the obtained second data.
Step S110, determining the security field according to the radius of the security field.
In the technical solution provided in the above step S110 of the present disclosure, the intelligent driving system may determine the safety yard according to the calculated safety yard radius.
Specifically, the safety field is composed of two layers, wherein the inner layer is a safety collision field, and the outer layer is a safety early warning field.
And step S112, judging the safety of the vehicle according to the safety field target distance and the safety field to obtain a judging result.
In the technical solution provided in step S112 of the present disclosure, the intelligent driving system may compare the obtained safe field target distance and the obtained safe field radius to determine whether the target obstacle exists in the safe field, and finally output the determination result.
Specifically, when the safe field target distance is compared with the safe field radius, when the safe field target distance is larger than the safe field radius, eliminating the safe field target distance; when the safe field target distance is smaller than the safe field radius, the safe field target distance is indicated to be positioned in the safe field, and the intelligent driving system immediately gives out early warning to the driver of the target vehicle and carries out a series of early warning measures.
Step S114, controlling the vehicle according to the judging result.
In the technical scheme provided in the step S114 of the present disclosure, the intelligent driving system controls the target vehicle according to the determination result obtained after the comparison.
Optionally, when the judgment result obtained by the intelligent driving system is in the target obstacle position and the safety field, the early warning module of the intelligent driving system should send early warning prompt information to the driver of the target vehicle; if the judgment result obtained by the system is that the target obstacle position and the safety field are outside, the target vehicle is indicated to have no potential safety hazard at the moment, so that early warning information is not required to be sent to a driver.
As shown in fig. 2, it may be known that in the present invention, the historical position information of the vehicle is obtained as the first data, and the safe target distance is determined according to the first data, where the safe target distance is used to represent the actual distance between the target obstacle and the vehicle, the braking parameter of the vehicle, the relative speed of the vehicle with respect to the target obstacle, and the preset driver braking reaction time are obtained as the second data, the safe radius is determined according to the second data, the safe field is determined according to the safe radius, the safety of the vehicle is determined according to the safe target distance and the safe field to obtain a determination result, and the vehicle is controlled according to the determination result, so as to achieve the purpose of improving the safety of the intelligent driving vehicle, and further solve the technical problem of low safety of the intelligent driving vehicle in the related art.
It is easy to notice that, in the embodiment of the present disclosure, a control method based on a security field is provided, which can combine the driving track of the vehicle, calculate the actual distance between the traffic vehicle and the vehicle, calculate the radius of the security collision field and the radius of the security early warning field through formulas, and predict the occurrence of risks in advance.
The above-described method of this embodiment is described in further detail below.
As an optional embodiment, step S104, the historical location information includes lateral location data and longitudinal location data, wherein determining the security field target distance according to the first data includes: determining a track fitting equation of the running track of the vehicle according to the transverse position data and the longitudinal position data, determining the radius of the running track of the vehicle according to the track fitting equation, and comparing the radius of the running track of the vehicle with a preset radius threshold value to obtain a comparison result; and responding to the comparison result to indicate that the radius of the running track of the vehicle is smaller than or equal to a preset radius threshold value, and determining the safe field target distance by utilizing a first preset formula, wherein parameters of the first preset formula comprise first data, the front and rear axle distance of the vehicle, steering wheel rotation angle and steering transmission coefficient.
In this embodiment, the intelligent driving system determines the target distance of the safety field according to the first data, determines a track fitting equation of the vehicle on the running track according to the transverse position data and the longitudinal position data in the history position information, obtains the curvature of any point on the running track to determine the radius of the running track of the vehicle, compares the radius of the running track of the vehicle with a preset radius threshold, and calculates the target distance of the safety field according to a first preset formula when the radius of the running track of the vehicle is smaller than or equal to the preset radius threshold, wherein the first preset formula comprises the following parameters: first data, a front-rear axle distance of the vehicle, a steering wheel angle, and a steering transmission coefficient.
Specifically, determining a track fitting equation on a running track of a vehicle according to transverse position data and longitudinal position data in historical position information can be performed in simulation software, and in the invention, matlab programming software is used for simulation, and it should be noted that any software with simulation function can be used for realizing the invention, and the invention is not limited in detail herein.
The specific implementation steps of the determined track fitting equation are as follows:
the intelligent driving system can record historical position information of the vehicle through the vehicle-mounted positioning device, wherein the historical position information comprises longitudinal position data x= [ x ] 1 、x 2 …x m ]And lateral position data y= [ Y ] 1 、Y 2 …Y m ]After inputting the data in Matlab, the track fitting equation order is obtained by the following procedure:
j＝10；
for i＝1；j
y 2 ＝polyfit(x,y,i)；
Y＝polyval(y 2 ,x)；
if sum(Y-y) 2 <0.05
m＝i；
break；
end
end
at this time, the track fitting equation order m when the error value square sum is smaller than 0.05 is obtained, and then a function is input in a Matlab window:
y 1 ＝polyfit(x,y,m)
according to the function, the coefficient of the fitting polynomial of the running track of the target vehicle can be obtained, namely:
a 0 、a 1 ……、a m
where m is the order of the track fit equation, a i Is corresponding to x m-i So as to obtain a track fitting equation of the running track of the target vehicle:
further, the curvature corresponding to any point x on the travel locus of the target vehicle is 
Corresponding radius->
It should be noted that, assuming that the target obstacle exists in the future travel track of the target vehicle, the lateral distance between the target obstacle and the host vehicle is Y w The longitudinal distance is X w Since the travel path of the vehicle tends to have a certain curvature, the actual distance X between the target obstacle and the host vehicle is caused l Distance X from the sense of the given displacement w In order to achieve accurate assessment of safety of the target vehicle, the actual distance X between the target obstacle and the target vehicle is required to be combined with the own vehicle running track of the target vehicle l By means of calculation, the technical effect of improving the safety of the intelligent driving automobile can be achieved.
Specifically, a judgment formula for judging whether the radius of the travel track of the target vehicle is smaller than or equal to a preset radius threshold value is as follows:
x＝0～X w
wherein R is ξ1 The first radius judgment threshold value is expressed, and can be an empirical value, the value is 0.002, when the radius of the running track of the vehicle is smaller than or equal to the preset radius threshold value, the running radius of the running track of the target vehicle is considered to be nearly unchanged, so that the actual distance X between the target obstacle and the vehicle can be calculated by using the following formula l ：
Where L represents the vehicle front-rear axle distance, θ represents the steering wheel angle of the vehicle, and δ represents the vehicle steering transmission coefficient.
As an alternative embodiment, the safe-field target distance is determined using a second preset formula in response to the comparison indicating that the radius of the vehicle's travel track is greater than a preset radius threshold, wherein a parameter of the second preset formula comprises the first data.
In this embodiment, the radius of the vehicle running track is compared with a preset radius threshold, and when the radius of the vehicle running track is greater than the preset radius threshold, the target distance of the security field is calculated according to a second preset formula, wherein the first preset formula includes the following parameters: first data.
Specifically, when the radius of the travel track of the vehicle is greater than the preset radius threshold, the actual distance X between the target obstacle and the host vehicle may be calculated using the following formula l ：
X l ＝X l1 +X l2 +…+X lf +X lf+1
…
Wherein x is ξ Representing equidistant segments, x ξ The following formula needs to be satisfied:
x＝0～X w -x ξ
wherein R is ξ2 The second radius judgment threshold value may be an empirical value, and may be 0.003 in the present invention.
As an alternative embodiment, a curvature equation of the running track of the vehicle is determined according to a track fitting equation, a radius corresponding to each position point in the running track of the vehicle is determined according to the curvature equation to obtain a plurality of radius data, and the radius of the running track of the vehicle is determined according to the maximum value and the minimum value in the plurality of radius data.
In this embodiment, the intelligent driving system includes the following steps in determining the radius of the driving trajectory of the vehicle according to the trajectory fitting equation: and determining a curvature equation of the running track of the target vehicle according to the track fitting equation obtained by simulation, obtaining the radius of each position point of the target vehicle in the running process according to the curvature equation, and judging the radius value of the running track of the target vehicle according to the maximum value and the minimum value of a plurality of radius values.
Specifically, the judgment formula for judging the radius value of the target vehicle running track according to the maximum value and the minimum value among the plurality of radius values is as follows:
x＝0～X w
as an optional embodiment, step S108, where the safing field radius includes a safing field collision radius and a safing field early warning radius, determining the safing field radius based on the second data includes: and determining the collision radius of the safety field by adopting a third preset formula according to the second data, and determining the early warning radius of the safety field by adopting a fourth preset formula according to the second data and the early warning reserved time, wherein the early warning reserved time is determined according to the current speed of the vehicle.
In this embodiment, the safing field radius determined by the intelligent driving system comprises a safing field collision radius and a safing field warning radius, wherein determining the safing field radius from the second data comprises the steps of: the intelligent driving system can determine the collision radius of the safety field based on the second data by using a third preset formula, and determine the early warning radius of the safety field based on the second data and the early warning reserved time by using a fourth preset formula.
Optionally, the pre-warning reservation time is determined according to the current speed of the vehicle, for example, if the speed of the current target vehicle is greater than 60km/h, a longer pre-warning reservation time should be set; otherwise, if the current target vehicle is smaller than 60km/h, a shorter pre-warning reservation time can be set.
Specifically, the safety field is composed of two layers, the inner side is a safety collision field, the outer side is a safety early warning field, and t is set d1 Reaction time (in s), t, required for driver braking d2 Delay time(s) for generating braking force for vehicle braking system, t r In order to increase the braking force required from the start of the generation of the braking force to the maximum braking force (in s), v rel Represents the relative speed (the difference between the speed of the target obstacle and the speed of the host vehicle, the unit is m/s) between the target obstacle and the host vehicle, a d Represents the maximum braking deceleration (in m/s 2) that can be generated by the vehicle braking system, and the following formula is used to make the safe collision field radius X s01 Is calculated by (1):
and then the following formula is used for carrying out the safety precaution field radius X s02 Is calculated by (1):
wherein t is w Representing early warning reserved time (s unit), v h The speed of the vehicle (in m/s) is expressed.
As an optional implementation manner, step S112 is to construct a safe field target distance queue, the safe field target distance queue includes a plurality of safe field target distances corresponding to a plurality of continuous history moments, a safe field collision radius cache queue is constructed, the safe field collision radius cache queue includes a plurality of safe field collision radii corresponding to a plurality of continuous history moments, a collision threshold is determined according to the safe field collision radius cache queue, wherein a ratio of the safe field collision radius larger than the collision threshold in the safe field collision radius cache queue to the safe field collision radius smaller than the collision threshold is a first preset ratio, a safe field early warning radius cache queue is constructed, the safe field early warning radius cache queue includes a plurality of safe field early warning radii corresponding to a plurality of continuous history moments, an early warning threshold is determined according to the safe field early warning radius cache queue, a ratio of the safe field early warning radius larger than the collision threshold in the safe field early warning radius cache queue to the safe field radius smaller than the collision threshold is a second preset ratio, each safe field target distance in the safe field target distance queue is compared with the collision threshold and the early warning threshold respectively, and the early warning threshold is compared, and a judgment result is obtained.
In this embodiment, the intelligent driving system may construct a safe field target distance queue, where the safe field target distance queue includes distances (safe field target distances) between a plurality of target vehicles corresponding to a plurality of continuous history moments and a target obstacle, and then construct a safe field collision radius cache queue, where the safe field collision radius cache queue includes a plurality of safe field collision radii corresponding to the target vehicles at a plurality of continuous history moments, the intelligent driving system may determine a collision threshold according to the safe field collision radius cache queue, where a ratio of a safe field collision radius greater than the collision threshold in the cache queue to a safe field collision radius less than the collision threshold is a first preset ratio, and meanwhile the intelligent driving system also needs to construct a safe field early warning radius cache queue, where the safe field early warning radius cache queue includes a plurality of safe field early warning radii corresponding to the plurality of target vehicles at the continuous history moments, and the intelligent driving system may determine the early warning threshold according to the safe field collision radius cache queue, where a ratio of a safe field early warning radius greater than the early warning threshold in the safe field early warning radius cache to the early warning threshold is less than the safe field early warning radius in the safe field early warning radius cache queue, and the intelligent driving system compares the first preset ratio with the safe field collision radius of the target distance in the safe field early warning radius queue, and then compares the final result with the target distance and the final result is obtained by comparing the first preset ratio to the safe field collision threshold.
Specifically, the intelligent driving system performs safety judgment according to the target distance of the safety field and the radius of the safety field, and comprises the following steps that the radius of the safety field is set as X s01 、X s02 Combining the calculation to obtain the actual distance X l And (3) safety judgment:
1) Reading the first target obstacle data, and calculating the actual distance X between the target obstacle and the target vehicle l Generating a safe field target distance queue, and storing N at most in the queue 01 And automatically overflowing the exceeding historical difference value according to the historical value.
2) Solving for the safe collision field radius X s01 Radius X of safety precaution field s02 Generating a buffer queue of collision radius of the safety field, and storing N at most in the buffer queue 02 And automatically overflowing the exceeding historical difference value according to the historical value. Generating a security field early warning radius cache queue, and storing N at most in the queue 03 And automatically overflowing the exceeding historical difference value according to the historical value.
3) Calculation A s01 ，A s01 Equal to the average of the values in the safe-field collision radius cache queue, if the value of the member present in the safe-field collision radius cache queue exceeds 0.8xA s01 ～1.2×A s01 Removing the members out of range, wherein the values can be selected as empirical values, and calculating a value R corresponding to 90% percentile of the remaining members in the safe field collision radius cache queue s01 (i.e., 90% of the values in the safing field collision radius cache queue are less than R s01 10% has a value greater than R s01 )。
4) Calculation A s02 ，A s02 Equal to the average value of all the values in the safe field early warning radius cache queue, if the value of the member existing in the safe field early warning radius cache queue exceeds 0.7 xA s02 ～1.3×A s02 Removing the members out of range, wherein the values can be selected as empirical values, and calculating a value R corresponding to 90% percentile of the remaining members in the security field early warning radius cache queue s02 (i.e. 90% of the values in the security field early warning radius cache queue are less than R s02 10% has a value greater than R s02 )；
5) When the actual distance between the target obstacle and the host vehicle is greater than 80% of members X in the buffer queue l ≥R s01 When the target obstacle is considered to be outside the safe collision field of the vehicle, no collision risk exists, step 6 is executed, otherwise, the target obstacle is considered to be inside the safe collision field of the vehicle, the collision risk exists, braking measures are taken for the vehicle, and step 1 shown in fig. 2 is executed for the next target obstacle in the perception range of the vehicle;
6) When the actual distance between the target obstacle and the host vehicle is greater than 80% of members X in the buffer queue l ≥R s02 When the target obstacle is considered to be outside the safety early warning field of the vehicle, the driver is not warned, otherwise, the driver is considered to be And (3) carrying out early warning prompt on a driver for the target obstacle in the safety early warning field of the vehicle, and executing the step (1) shown in the figure 2 aiming at the next target obstacle in the perception range of the vehicle.
Optionally, the first preset proportion and the second preset proportion may be selected as empirical values, which specifically illustrates that when there are more target obstacles on the current running track of the target vehicle, the first preset proportion may be set to a higher proportion, so as to improve the running safety of the target vehicle; conversely, when there are fewer target obstacles on the current travel track of the target vehicle, the first preset proportion may be set to a lower proportion.
As an alternative implementation manner, in response to the comparison result indicating that the third preset proportion of the safe field target distance in the safe field target distance queue is smaller than the collision threshold value, a vehicle deceleration signal is output, wherein the vehicle deceleration signal is used for controlling the vehicle to decelerate; and responding to the comparison result to indicate that the third preset proportion of the safe field target distance in the safe field target distance queue is smaller than the early warning threshold value, and outputting an early warning prompt signal, wherein the early warning prompt signal is used for prompting the distance between the vehicle and the target obstacle.
In this embodiment, when the third preset proportion of the safe field target distance in the safe field target distance queue is smaller than the collision threshold, it indicates that the current target obstacle is located in the safe collision field, and at this time, the intelligent driving system should output a vehicle deceleration signal, where the vehicle deceleration signal is used to control the vehicle to decelerate; when the third preset proportion of the safe field target distance in the safe field target distance queue is smaller than the early warning threshold value, the current target obstacle is indicated to be positioned in the safe early warning field, and an early warning prompt signal is output at the moment, wherein the early warning prompt signal is used for prompting the distance between the vehicle and the target obstacle.
Optionally, the intelligent driving system may control a driving module in the system to control the target vehicle to decelerate when receiving the deceleration signal; when the early warning prompt signal is received in the intelligent driving system, early warning prompt information can be displayed on the vehicle operation panel so as to early warning prompt the driver.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus a necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the various embodiments of the present invention.
The present embodiment also provides a device for controlling a vehicle based on a security field, which is used for implementing the foregoing embodiments and preferred embodiments, and will not be described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 3 is a block diagram of a security-field-based vehicle control apparatus 300, according to one embodiment of the present disclosure, as shown in fig. 3, including: a first acquisition module 301, a first determination module 302, a second acquisition module 303, a second determination module 304, a third determination module 305, a judgment module 306, and a control module 307.
A first acquisition module 301 for acquiring, as first data, historical position information of a vehicle;
a first determining module 302, configured to determine a safe field target distance according to the first data, where the safe field target distance is used to represent an actual distance between the target obstacle and the vehicle;
a second acquisition module 303, configured to acquire, as second data, a braking parameter of the vehicle, a relative speed of the vehicle with respect to the target obstacle, and a preset driver braking reaction time;
A second determination module 304 for determining a safe field radius based on the second data;
a third determining module 305, configured to determine a security field according to the security field radius;
the judging module 306 is configured to judge the safety of the vehicle according to the safety field target distance and the safety field to obtain a judging result;
and a control module 307 for controlling the vehicle according to the judgment result.
Optionally, the first determining module 302 includes: a first determining unit for determining a track fit equation of a running track of the vehicle based on the lateral position data and the longitudinal position data; a second determining unit for determining a radius of a running track of the vehicle according to a track fitting equation; the first comparison unit is used for comparing the radius of the running track of the vehicle with a preset radius threshold value to obtain a comparison result; and the third determining unit is used for determining the safe field target distance by utilizing a first preset formula in response to the comparison result indicating that the radius of the running track of the vehicle is smaller than or equal to a preset radius threshold value, wherein the parameters of the first preset formula comprise first data, the front-rear axle distance of the vehicle, steering wheel rotation angle and steering transmission coefficient.
Optionally, the first determining module 302 further includes: and a fourth determining unit for determining a safe field target distance using a second preset formula in response to the comparison result indicating that the radius of the running track of the vehicle is greater than the preset radius threshold, wherein the parameters of the second preset formula include the first data.
Optionally, the second determining unit includes: a first determination subunit, configured to determine a curvature equation of a running track of the vehicle according to a track fitting equation; the second determining subunit is used for determining the radius corresponding to each position point in the running track of the vehicle according to the curvature equation and obtaining a plurality of radius data; and a third determination subunit for determining a radius of the running track of the vehicle according to the maximum value and the minimum value in the data.
Optionally, the second determining module 304 includes: a fifth determining unit, configured to determine a safe field collision radius according to the second data by using a third preset formula; and the sixth determining unit is used for determining the early warning radius of the security field by adopting a fourth preset formula according to the second data and the early warning reserved time, wherein the early warning reserved time is determined according to the current speed of the vehicle.
Optionally, the judging module 306 includes: the first construction unit is used for constructing a safe field target distance queue, wherein the safe field target distance queue comprises a plurality of safe field target distances corresponding to a plurality of continuous historical moments; the second construction unit is used for constructing a safe field collision radius cache queue, wherein the safe field collision radius cache queue comprises a plurality of safe field collision radii corresponding to a plurality of continuous historical moments; a seventh determining unit, configured to determine a collision threshold according to the safing field collision radius cache queue, where a ratio of a safing field collision radius greater than the collision threshold in the safing field collision radius cache queue to a safing field collision radius less than the collision threshold is a first preset ratio; the third construction unit is used for constructing a safety field early warning radius cache queue, wherein the safety field early warning radius cache queue comprises a plurality of safety field early warning radii corresponding to a plurality of continuous historical moments; an eighth determining unit, configured to determine an early warning threshold according to a safety field early warning radius cache queue, where a ratio of a safety field early warning radius greater than the early warning threshold to a safety field early warning radius less than the collision threshold in the safety field early warning radius cache queue is a second preset ratio; the second comparison unit is used for respectively comparing each safe field target distance in the safe field target distance queue with a collision threshold value and an early warning threshold value to obtain a comparison result; and the output unit is used for outputting a judging result according to the comparison result.
Optionally, the output unit includes: the first output subunit is used for outputting a vehicle deceleration signal in response to the comparison result indicating that the third preset proportion of the safe field target distance in the safe field target distance queue is smaller than the collision threshold value, wherein the vehicle deceleration signal is used for controlling the vehicle to decelerate; the second output subunit is used for responding to the comparison result to indicate that the third preset proportion of the safe field target distance in the safe field target distance queue is smaller than the early warning threshold value, outputting an early warning prompt signal, and the early warning prompt signal is used for prompting the distance between the vehicle and the target obstacle.
An embodiment of the invention also provides a vehicle comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run said computer program to perform a safety-based vehicle control method.
Alternatively, in the present embodiment, the above-described vehicle may be configured to store a computer program for executing the steps of:
step S102, acquiring historical position information of a vehicle as first data;
step S104, determining a safe field target distance according to the first data, wherein the safe field target distance is used for representing the actual distance between a target obstacle and a vehicle;
Step S106, acquiring a braking parameter of the vehicle, a relative speed of the vehicle relative to the target obstacle and a preset driver braking response time as second data;
step S108, determining the radius of the security field according to the second data;
step S110, determining a security field according to the radius of the security field;
step S112, judging the safety of the vehicle according to the safety field target distance and the safety field to obtain a judging result;
step S114, controlling the vehicle according to the judging result.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In some embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A security-field-based vehicle control method applied to a vehicle, comprising:
acquiring historical position information of the vehicle as first data;
determining a safe field target distance according to the first data, wherein the safe field target distance is used for representing the actual distance between a target obstacle and the vehicle;
acquiring a braking parameter of the vehicle, a relative speed of the vehicle relative to the target obstacle and a preset driver braking response time as second data;
determining a safe field radius from the second data;
determining a security field according to the security field radius;
judging the safety of the vehicle according to the safety field target distance and the safety field to obtain a judging result;
and controlling the vehicle according to the judging result.
2. The security-field-based vehicle control method according to claim 1, wherein the historical position information includes lateral position data and longitudinal position data;
The determining a security field target distance from the first data includes:
determining a track fitting equation of the running track of the vehicle according to the transverse position data and the longitudinal position data;
determining the radius of the running track of the vehicle according to the track fitting equation;
comparing the radius of the running track of the vehicle with a preset radius threshold value to obtain a comparison result;
and responding to the comparison result to indicate that the radius of the running track of the vehicle is smaller than or equal to a preset radius threshold value, and determining the safe field target distance by utilizing a first preset formula, wherein parameters of the first preset formula comprise the first data, the front and rear axle distance of the vehicle, the steering wheel angle and the steering transmission coefficient.
3. The security-field-based vehicle control method according to claim 2, characterized by further comprising:
and determining the safe field target distance by using a second preset formula in response to the comparison result indicating that the radius of the running track of the vehicle is larger than a preset radius threshold, wherein the parameters of the second preset formula comprise the first data.
4. The security-field-based vehicle control method of claim 2, wherein the determining a radius of a travel track of the vehicle according to the track fit equation comprises:
Determining a curvature equation of the running track of the vehicle according to the track fitting equation;
determining a radius corresponding to each position point in a running track of the vehicle according to the curvature equation to obtain a plurality of radius data;
and determining the radius of the running track of the vehicle according to the maximum value and the minimum value in the plurality of radius data.
5. The safety-based vehicle control method according to claim 1, wherein the safety-field radius includes a safety-field collision radius and a safety-field early-warning radius;
said determining a security field radius from said second data comprises:
according to the second data, a third preset formula is adopted to determine the collision radius of the safety field;
and determining a safety field early warning radius by adopting a fourth preset formula according to the second data and the early warning reserved time, wherein the early warning reserved time is determined according to the current speed of the vehicle.
6. The security-based vehicle control method according to claim 5, wherein the determining the security of the vehicle according to the security-field target distance and the security field includes:
constructing a safe field target distance queue, wherein the safe field target distance queue comprises a plurality of safe field target distances corresponding to a plurality of continuous historical moments;
Constructing a safety field collision radius cache queue, wherein the safety field collision radius cache queue comprises a plurality of safety field collision radii corresponding to the continuous historical moments;
determining a collision threshold according to the safety field collision radius cache queue, wherein the ratio of the safety field collision radius larger than the collision threshold to the safety field collision radius smaller than the collision threshold in the safety field collision radius cache queue is a first preset ratio;
constructing a safety field early warning radius cache queue, wherein the safety field early warning radius cache queue comprises a plurality of safety field early warning radii corresponding to the continuous historical moments;
determining an early warning threshold according to the safety field early warning radius cache queue, wherein the ratio of the safety field early warning radius larger than the early warning threshold to the safety field early warning radius smaller than the collision threshold in the safety field early warning radius cache queue is a second preset ratio;
comparing each safe field target distance in the safe field target distance queue with the collision threshold value and the early warning threshold value respectively to obtain a comparison result;
and outputting the judging result according to the comparison result.
7. The security-field-based vehicle control method according to claim 6, wherein the outputting the determination result according to the comparison result includes;
responding to the comparison result to indicate that the safe field target distance of a third preset proportion in the safe field target distance array is smaller than the collision threshold value, and outputting a vehicle deceleration signal, wherein the vehicle deceleration signal is used for controlling the vehicle to decelerate;
and responding to the comparison result to indicate that the third preset proportion of the safe field target distance in the safe field target distance queue is smaller than the early warning threshold value, and outputting an early warning prompt signal, wherein the early warning prompt signal is used for prompting the distance between the vehicle and the target obstacle.
8. A security-field-based vehicle control apparatus for a vehicle, comprising:
a first acquisition module configured to acquire, as first data, historical position information of the vehicle;
a first determining module for determining a safe field target distance according to the first data, wherein the safe field target distance is used for representing an actual distance between a target obstacle and the vehicle;
a second acquisition module for acquiring a braking parameter of the vehicle, a relative speed of the vehicle with respect to the target obstacle, and a preset driver braking reaction time as second data;
A second determination module for determining a safe field radius from the second data;
the third determining module is used for determining the safety field according to the radius of the safety field;
the judging module is used for judging the safety of the vehicle according to the safety field target distance and the safety field to obtain a judging result;
and the control module is used for controlling the vehicle according to the judging result.
9. A vehicle comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the safety-based vehicle control method as claimed in any one of the preceding claims 1 to 7.
10. A non-volatile storage medium, characterized in that it has stored therein a computer program, wherein the computer program is arranged to perform the safety-field-based vehicle control method as claimed in any one of the preceding claims 1 to 7 when run on a computer or processor.
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| CN116483096B (en) * | 2023-06-25 | 2023-09-22 | 中国第一汽车股份有限公司 | Vehicle formation control method, system, cloud platform and storage medium |
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