CN117184057A

CN117184057A - Control method and device for safe running of vehicle, electronic equipment and storage medium

Info

Publication number: CN117184057A
Application number: CN202311121342.4A
Authority: CN
Inventors: 于红超; 任薛霖; 包楠; 徐焱均
Original assignee: Chongqing Seres New Energy Automobile Design Institute Co Ltd
Current assignee: Chongqing Seres New Energy Automobile Design Institute Co Ltd
Priority date: 2023-08-31
Filing date: 2023-08-31
Publication date: 2023-12-08

Abstract

The application relates to the technical field of automobiles, and provides a control method and device for safe running of a vehicle, electronic equipment and a storage medium. The method comprises the following steps: under the condition that the visibility is lower than a preset value and the speed of the target vehicle is greater than zero, acquiring sensing data around the target vehicle; obtaining an environmental modeling result of the target vehicle based on the perception data; determining a first distance between the target vehicle and surrounding obstacles and a second distance between the target vehicle and a road edge based on the environmental modeling result; detecting whether the target vehicle meets a preset safe driving distance or not based on the first distance and the second distance; and under the condition that the target vehicle meets the safe driving distance, controlling the target vehicle to drive according to the current driving state. The embodiment of the application solves the problem that the vehicle cannot safely run under severe weather conditions in the related technology.

Description

Control method and device for safe running of vehicle, electronic equipment and storage medium

Technical Field

The present application relates to the field of automotive technologies, and in particular, to a method and apparatus for controlling safe driving of a vehicle, an electronic device, and a storage medium.

Background

With the continuous development of modern automobile technology and the improvement of living standard of people, automobiles become the first choice tool for people to travel daily. However, in extremely severe weather conditions, such as heavy rain, heavy fog, or heavy fog on highways, the driver's field of view is significantly limited while driving the vehicle for travel, posing a serious threat to driving safety.

In severe weather conditions, the driver can usually only deal with this problem by turning on the warning lights and slowing down. However, even if these measures are taken, it is still difficult for the driver to accurately judge the distance between the vehicle and the surrounding obstacle, resulting in a driving hazard.

It is seen that the related art has a problem that the vehicle cannot safely travel under severe weather conditions.

Disclosure of Invention

In view of the above, the embodiments of the present application provide a method, an apparatus, an electronic device, and a storage medium for controlling safe driving of a vehicle, so as to solve the problem that the vehicle cannot perform safe driving under severe weather conditions in the related art.

In a first aspect of an embodiment of the present application, there is provided a control method for safe running of a vehicle, including:

under the condition that the visibility is lower than a preset value and the speed of the target vehicle is greater than zero, acquiring sensing data around the target vehicle;

Obtaining an environmental modeling result of the target vehicle based on the perception data;

determining a first distance between the target vehicle and surrounding obstacles and a second distance between the target vehicle and a road edge based on the environmental modeling result;

detecting whether the target vehicle meets a preset safe driving distance or not based on the first distance and the second distance;

and under the condition that the target vehicle meets the safe driving distance, controlling the target vehicle to drive according to the current driving state.

In a second aspect of the embodiment of the present application, there is provided a control device for safe running of a vehicle, including:

the acquisition module is used for acquiring perception data around the target vehicle under the condition that the visibility is lower than a preset value and the speed of the target vehicle is greater than zero;

the modeling module is used for obtaining an environment modeling result of the target vehicle based on the perception data;

a first determining module, configured to determine a first distance between the target vehicle and surrounding obstacles and a second distance between the target vehicle and a road edge based on the environmental modeling result;

the second determining module is used for detecting whether the target vehicle meets a preset safe driving distance or not based on the first distance and the second distance;

And the control module is used for controlling the target vehicle to run according to the current running state under the condition that the target vehicle is determined to meet the safe running distance.

In a third aspect of the embodiments of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present application, there is provided a storage medium storing a computer program which, when executed by a processor, implements the steps of the above method.

Compared with the prior art, the embodiment of the application has the beneficial effects that:

in the case that the visibility is lower than the preset value, by acquiring the perception data around the target vehicle, important environmental information can be provided even in the case that the visibility is low; modeling the environment of the target vehicle based on the obtained perception data, and accurately determining the position, shape and motion state of surrounding obstacles by analyzing and processing the perception data; based on the environment modeling result, the first distance information of the target vehicle and surrounding obstacles and the second distance information of the target vehicle and the road edge can be accurately calculated, so that the target vehicle is ensured to have enough safe distance from the surrounding obstacles and the road edge, and the target vehicle is controlled to run according to the current running state under the condition that the target vehicle is determined to meet the safe running distance, so that the running safety under severe weather is obviously improved, the possibility of accident occurrence is reduced, and the problem that the vehicle cannot run safely under the severe weather condition in the related art is solved.

Drawings

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

Fig. 1 is a schematic flow chart of a control method for safe driving of a vehicle according to an embodiment of the present application;

fig. 2 is a flow chart of another method for controlling safe driving of a vehicle according to an embodiment of the present application;

FIG. 3 is a schematic block diagram of a method for controlling safe driving of a vehicle according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a control device for safe driving of a vehicle according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate, such that embodiments of the application may be practiced otherwise than as specifically illustrated and described herein, and that the objects identified by "first," "second," etc. are generally of the same type and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

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

The following describes in detail a control method, an apparatus, an electronic device, and a storage medium for safe driving of a vehicle according to embodiments of the present application with reference to the accompanying drawings.

Fig. 1 is a flow chart of a control method for safe driving of a vehicle according to an embodiment of the present application.

As shown in fig. 1, the method includes:

and step 101, acquiring perception data around the target vehicle under the condition that the visibility is lower than a preset value and the speed of the target vehicle is greater than zero.

Visibility refers to the degree to which a target object can be clearly seen and recognized under different weather conditions, and in the case of low visibility, such as heavy fog, rain, storm, etc., the driver's field of view will be limited so that it is difficult to see the environment around the target vehicle and the target object.

In detecting the visibility, the visibility may be estimated by a detection device mounted on the target vehicle, determining the visibility by using the degree of scattering and absorption of visible light through particulate matter in the atmosphere, or measuring the concentration of particulate matter in the atmosphere by using a laser sensor by the scattering and absorption characteristics of a laser beam.

The preset value is a reference value set according to a specific condition or standard, and may be the lowest acceptable visibility standard under the safe driving condition, and the magnitude of the preset value may be set according to the actual situation, and the specific value is not specifically limited herein.

The sensing data refers to information about the surrounding environment of the target vehicle acquired from the environment by the sensor, and may include information about the position of an obstacle, road conditions, traffic signs, and the like acquired by the sensor such as a radar, a camera, a lidar, and the like.

In addition, more advanced sensing techniques and algorithms may be used to improve the quality and accuracy of sensed data acquired under low visibility conditions, and methods including image processing and computer vision algorithms may be used to help the driver better perceive the environment surrounding the target vehicle.

The detailed description of the surrounding environment of the target vehicle obtained by analyzing and processing the perception data can also comprise the position, speed, acceleration and geometric information of the road of the target vehicle and other descriptions of the position, speed and driving behavior of the vehicle.

It should be noted that, in the sensing of the environment around the vehicle, various sensors and technologies including radar, ultrasonic sensor, camera and the like are generally used together to obtain more comprehensive sensing data, for example, millimeter wave radar is excellent in low visibility, and can detect and track surrounding vehicles, pedestrians and obstacles through bad weather conditions such as rain, snow and fog, and simultaneously provide information such as object distance, speed and angle, so as to assist decision and control of an automatic driving system. The laser radar can be interfered to a certain extent under the conditions of rain, snow, fog and the like, but can still provide high-precision three-dimensional space sensing data, create a point cloud map of surrounding environment, and detect and identify objects such as vehicles, pedestrians, guardrails, obstacles and the like. The infrared camera may provide additional sensory data by capturing thermal radiation from objects, and in low visibility situations, the infrared camera may assist in detecting heat sources around, including vehicles, pedestrians, and other objects. According to specific application requirements, different perception technologies can be comprehensively utilized to obtain complete information around the vehicle.

As an example, in a weather scene of a large foggy day, for example, the imaging quality of a visible light camera is significantly degraded due to strong light scattering and reflection in the foggy day, the field of view is limited, it is difficult to acquire clear image information, at this time, sensing data can be acquired by measuring intensities of surrounding pedestrians and vehicle thermal radiation using an infrared camera, and remaining sensing data can be measured by transmitting wireless signals and measuring reflection time of the signals using a millimeter wave radar and a laser radar.

Under the weather scenes of heavy rain, snowstorm weather and sand storm, millimeter wave radar and laser radar can be used for providing accurate sensing data measurement through the reflection time of the measurement signals, and the problem that the measurement result is inaccurate due to the fact that the visible light camera is possibly interfered by rainfall, snow and sand is avoided.

In addition, can use the infrared camera to be used for perception data measurement under the weather scene of haze day, the infrared camera can provide better visual effect when visible light receives the interference of haze, estimates the distance between the vehicle through detecting the heat of vehicle, simultaneously, can use ultrasonic sensor to measure its perception data through transmitting ultrasonic pulse and monitoring its echo.

It should be noted that, multiple sensors are comprehensively used and processed through a data fusion algorithm, so that accuracy and reliability of distance measurement between vehicles can be improved, driving safety is increased, a specific combination mode is not specifically limited, and in addition, factors such as sensor cost, power consumption, installation position and the like can be considered in practical application to determine a selection and deployment strategy of an optimal sensor.

Thus, by acquiring the perceived data around the target vehicle in the case where the visibility is lower than the preset value and the vehicle speed of the target vehicle is greater than zero, the real-time state of the surrounding environment of the target vehicle can be known, thereby providing more accurate reference data.

And 102, obtaining an environment modeling result of the target vehicle based on the perception data.

The environment modeling refers to a process of modeling and describing objects, terrains, road signs and the like in the surrounding environment of a target vehicle, and through the environment modeling, information such as the structure of surrounding roads, the positions and behaviors of other vehicles, the existence of obstacles and the like can be virtually represented and understood, and objects, roads, vehicles and the like in the actual environment can be virtually and mathematically described.

In this way, the step can transform the actual environment into a form which can be understood and processed by a computer by virtually representing the perception data, so as to perform subsequent behavior prediction, path planning and the like.

Step 103, determining a first distance between the target vehicle and surrounding obstacles and a second distance between the target vehicle and the road edge based on the environmental modeling result.

Surrounding obstacles refer to other vehicles, pedestrians, obstacles, etc. present around the target vehicle, and may affect or create a potential hazard to the traveling of the target vehicle.

The first distance refers to the shortest distance between the target vehicle and surrounding obstacles, and can be calculated through obstacle position information in an environment modeling result, and is used for judging whether the distance between the target vehicle and the obstacles is safe enough or not.

By calculating the first distance between the target vehicle and surrounding obstacles, the relative position and distance of the nearest obstacle to the target vehicle can be determined for avoiding collisions, performing obstacle avoidance or planning the vehicle travel path.

The second distance refers to a horizontal distance between the target vehicle and the road edge, which can be used to measure the position of the target vehicle within the lane and the distance from the road edge, for evaluating the position and the degree of offset of the target vehicle traveling within the lane.

By calculating the second distance between the target vehicle and the road edge, the method can be used for ensuring that the vehicle keeps at a proper lane position, can be used for carrying out lane keeping and lane departure warning, and ensures the comfort and safety of vehicle running.

The first distance and the second distance may be adjusted according to factors such as a vehicle speed, a road condition, and a weather condition, and specific values are not particularly limited herein.

Therefore, by determining the first distance between the target vehicle and surrounding obstacles and the second distance between the target vehicle and the road edge, key information about the safety interval of the vehicle, the avoidance of the obstacles and the lane keeping can be provided for the driver, so that the driving safety is improved, the accident risk is reduced, and the driving comfort and convenience are improved.

Step 104, detecting whether the target vehicle meets the preset safe driving distance or not based on the first distance and the second distance.

Safe driving distance refers to a distance between a target vehicle and surrounding vehicles or obstacles that should be kept safe enough, the magnitude of which affects the driver's reaction time, as well as the ability of the vehicle to avoid collisions.

The preset safe driving distance refers to the lowest distance between the vehicle and the front vehicle or the obstacle set according to road traffic regulations, driving rules or safe driving rules, so that the target vehicle can keep enough safe driving distance to prevent collision or emergency, and the distance can be adjusted according to factors such as vehicle speed, road conditions and weather conditions.

In order to ensure the driving safety, the distance between the vehicle and the vehicle or the obstacle in front can be adjusted timely when needed to ensure the safe driving.

Through detecting first distance and second distance, can judge whether the target vehicle satisfies the safe driving distance of predetermineeing, ensure the safe driving distance between target vehicle and the barrier around, can reduce the risk of collision, improve driving safety, keep sufficient safe driving distance simultaneously can increase driver or autopilot system's reaction time, make it have sufficient time to brake in order to deal with the emergency.

Step 105, controlling the target vehicle to run according to the current running state under the condition that the target vehicle meets the safe driving distance.

Under the condition that the target vehicle meets the preset safe driving distance, the target vehicle is controlled to drive according to the current driving state, and the operation of the target vehicle is adjusted according to the modeling result of the target vehicle and the surrounding environment and the detection of the safe distance, so that the target vehicle can drive according to the current driving state and the requirement.

In addition, the current running state refers to the running state of the target vehicle under the current running condition and environment, and may include parameters such as speed, acceleration, lane position, traffic condition, and the like.

The step can improve driving safety by controlling the target vehicle to run according to the current running state, ensure that the vehicle runs within a safe distance range, and dynamically adjust according to real-time environmental conditions and vehicle conditions so as to adapt to different traffic scenes and road condition changes.

In this way, in the case that the visibility is lower than the preset value, the distance information between the target vehicle and the sensing data in the driving process can be accurately calculated by acquiring the sensing data around the target vehicle, so that the target vehicle is ensured to have enough safe distance from surrounding obstacles and road edges, and the target vehicle is controlled to drive according to the current driving state under the condition that the target vehicle is ensured to meet the safe driving distance, so that the driving safety under severe weather is obviously improved, the possibility of accident occurrence is reduced, and the problem that the safe driving cannot be carried out due to the fact that the safe driving distance cannot be judged under the severe weather condition in the related technology is solved.

In some embodiments, the perception data includes obstacle information and road information within a preset range of the target vehicle;

after obtaining the perception data around the target vehicle, the method further comprises:

Receiving display preference information input by a user, wherein the display preference information is used for indicating to display all obstacle information and road information within a preset range of a target vehicle or is used for indicating to display only obstacle information and road information with collision risk in perception data;

based on the display preference information, display information indicated by the display preference information is displayed on a center control screen of the target vehicle.

Specifically, the display preference information may be a preference setting input by the user for specifying how the perception data should be displayed on the center control screen of the target vehicle, and may select to display all of the obstacle information and the road information within the preset range of the target vehicle, or only the obstacle information and the road information having a risk of collision.

It should be noted that, the content of the display preference information may be set according to the preference of the user, so as to meet the information requirements of the user in different driving scenarios, which is not limited herein.

The obstacle information and road information in the preset range of the target vehicle refer to information such as the position, the shape, the speed and the like of the obstacles around the target vehicle in the preset range, and information such as the geometric structure of the road, mark marks and the like, and the information can help the target vehicle to carry out path planning, obstacle avoidance and driving decision, wherein the preset range can be set according to requirements.

In addition, the display information refers to content which is determined according to the perception data and the display preference information and needs to be displayed on a central control screen of the target vehicle, and the display information can comprise graphical representations of obstacles and roads, early warning information, navigation instructions and the like so that a driver can observe and decide the surrounding environment in real time.

According to the method and the device for displaying the information, the display preference information input by the user is received and the indicated display information is displayed on the central control screen of the target vehicle, so that a driver can intuitively obtain the obstacle and road information around the target vehicle, the driving perceptibility and consciousness are enhanced, the driving safety is further improved, the potential collision risk of the target vehicle is reduced, meanwhile, related information is flexibly presented according to the display preference of the user, and personalized experience is provided for the user.

Further, in some embodiments, determining a first distance of the target vehicle from surrounding obstacles and a second distance of the target vehicle from the road edge based on the environmental modeling results includes:

determining position information of a target vehicle and an obstacle based on an environmental modeling result, and determining a first distance according to the position information of the target vehicle and the obstacle;

The second distance is determined based on the road boundary information and the position information of the target vehicle in the environmental modeling result.

Specifically, by analyzing the perception data and the environmental modeling results, the position information of the target vehicle and surrounding obstacles may be determined, the position information including the relative positions and distances of the target vehicle and the obstacles with respect to a reference point (for example, a vehicle center or a road center line) may be represented by two-dimensional coordinates or three-dimensional coordinates, which are not limited herein.

The road boundary information refers to modeling and analyzing the boundary of a road in environmental modeling, and may include information identifying edge lines, lane lines, etc. of the road for subsequent safe distance calculation and driving control.

According to the method, the first distance and the second distance are determined, the distance between the target vehicle and surrounding obstacles and the position relation between the target vehicle and a road can be comprehensively evaluated, whether the target vehicle meets the preset safe driving distance requirement or not is further judged, therefore, more accurate safety evaluation is provided, important basis is provided for follow-up driving control and decision, and driving safety and stability are ensured.

In addition, in some embodiments, detecting whether the target vehicle satisfies a preset safe driving distance based on the first distance and the second distance includes:

Firstly, under the condition that the first distance is larger than a first preset threshold value and the second distance is larger than a second preset threshold value, determining that the target vehicle meets the safe driving distance;

specifically, the first preset threshold may be a preset threshold for judging whether the target vehicle meets the safe driving distance, may be set according to the characteristics of the road and the driving conditions, and may consider factors such as the vehicle speed, the road speed limit, and the braking response time of the preceding vehicle during the setting.

If the first distance (distance between the target vehicle and the nearest obstacle) is greater than a first preset threshold and the second distance (distance between the target vehicle and the road edge) is greater than a second preset threshold, then it may be determined that the target vehicle meets a preset safe driving distance, indicating that the target vehicle remains a sufficient distance from surrounding obstacles and is in a suitable location on the road.

And secondly, under the condition that the first distance is smaller than at least one of a first preset threshold value and the second distance is smaller than a second preset threshold value, determining that the target vehicle does not meet the safe driving distance.

The second preset threshold may be another preset threshold for judging whether the target vehicle satisfies the safe driving distance, and in addition to the distance from the preceding vehicle, the target vehicle should be kept at a sufficient distance from the road edge to avoid deviating from the driving road, and the second preset threshold may be determined according to the size and the driving speed of the vehicle.

If the first distance is less than at least one of the first preset threshold or the second distance is less than the second preset threshold, it may be determined that the target vehicle does not meet the preset safe driving distance, indicating that the target vehicle is too close to the surrounding obstacle or road edge, may be at risk of collision or not properly held in place on the road.

It should be noted that, determining that the target vehicle does not meet the safe driving distance can control the start target early warning mode to early warn the driver, so as to avoid the occurrence of safety accidents in the driving process under the low visibility condition.

According to the method, the safety of the target vehicle and the surrounding environment is evaluated according to comparison of the first distance and the second distance with the preset first preset threshold value and the preset second preset threshold value, reliable safety judgment is provided for running of the target vehicle, and a driver or an automatic driving system is helped to take appropriate measures such as speed reduction, lane changing or avoidance, so that running safety is ensured.

In some embodiments, further comprising: acquiring the current running speed of a target vehicle; if the driving distance is greater than the interval distance between the target vehicle and the adjacent driving vehicle of the same lane, determining that the target vehicle is unsafe driving, and controlling the target vehicle to start a target early warning mode; wherein the travel distance is a distance when the target vehicle travels at the current travel speed for a preset period of time.

Specifically, the current running speed of the target vehicle refers to the speed of the target vehicle at the current moment, and the current running speed can be obtained through a sensor or a navigation system of the vehicle, and a specific speed measuring method can comprise a speed sensor based on the vehicle or a GPS positioning technology.

The distance refers to the distance between the target vehicle and the adjacent driving vehicle on the same lane, and in order to ensure driving safety, the target vehicle should always keep a safe distance from the adjacent vehicle, and the determination of the distance can be calculated based on the length, speed and other factors of the vehicle.

The driving distance refers to a distance covered by the target vehicle driving at the current driving speed in a preset period, the driving distance can be calculated according to the speed of the target vehicle and the length of the preset period, and a specific value of the preset period can be set according to actual conditions, and is not particularly limited herein.

When the driving distance of the target vehicle is greater than the distance between the target vehicle and the adjacent vehicle, it may be determined that the driving state of the target vehicle is unsafe, in which case, an early warning measure needs to be triggered to warn the driver or other road users of potential danger, and specific early warning modes may include visual prompt, acoustic warning, vibration feedback, and the like, which are not limited specifically herein.

According to the method and the device for determining the safe driving state of the target vehicle, the current driving speed of the target vehicle is obtained, the distance relation between the driving distance and the distance between the target vehicle and the adjacent vehicles is judged, the safe driving state of the target vehicle can be accurately determined, a driver can be reminded of safety through an early warning mode when the vehicle is not in safe driving, safety of road driving is improved, and safe driving environments are provided for the driver and other traffic participants.

In addition, in some embodiments, the method for controlling the target vehicle to start the target early warning mode includes:

controlling the target vehicle to decelerate to a preset vehicle speed; the method comprises the steps of,

the seat of the target vehicle is controlled to send out a vibration warning, and the voice system is controlled to send out a voice prompt message to the driver, wherein the vibration warning and the prompt message are used for prompting that the distance between the target vehicle and surrounding obstacles or the road edge is smaller than a preset distance.

Specifically, controlling the target vehicle to decelerate to the preset vehicle speed means that when the distance between the target vehicle and the surrounding obstacle or the road edge is smaller than the preset distance, the target vehicle can be controlled to decelerate by the control system of the vehicle to ensure the recovery of the safe distance, and specifically, the control system can be realized by adjusting the throttle, using the brake system or controlling the power system.

In addition, in order to further remind the driver, by installing a vibration device on the seat of the target vehicle, when the distance between the target vehicle and the surrounding obstacle or the road edge is too close, a seat vibration warning is triggered, and the voice system is controlled to send out a prompt message, when the distance between the target vehicle and the surrounding obstacle or the road edge is smaller than a preset distance, the voice system sends out a prompt message to the driver, and the prompt message can comprise a voice warning, a voice indication for reminding the driver to keep a safe distance, and the like, for example, the voice warning is that the distance between the target vehicle and the surrounding obstacle or the road edge is too close, the target vehicle has a collision hidden trouble, and the like.

According to the method, the target vehicle is monitored and judged in real time, and when the distance between the target vehicle and surrounding obstacles or the road edge is smaller than the preset distance, the target vehicle can be controlled to be decelerated to the preset speed, so that the safety distance can be kept. Meanwhile, the seat vibration warning and voice prompt message can be controlled to remind the driver that the distance between the target vehicle and surrounding obstacles or the road edge is smaller than the preset distance so as to avoid collision with the surrounding obstacles, and meanwhile, through combining various warning modes, the alertness and the cognition of safe driving of the driver can be improved, the driving safety can be improved, the accident risk can be reduced, and a more reliable driving environment can be provided for the driver.

In addition, in some embodiments, before detecting whether the target vehicle meets the preset safe driving distance based on the first distance and the second distance, the method further includes:

acquiring a real-time weather tag, and determining a safe driving distance corresponding to the real-time weather tag based on a corresponding relation between the preset weather tag and the safe driving distance; or,

and acquiring the running speed of the target vehicle and the type of the running road, and determining the running speed and the safe running distance corresponding to the type of the road based on the corresponding relation between the running speed and the type of the road and the safe running distance.

Specifically, the real-time weather tag refers to a tag obtained according to the current weather conditions, and the real-time weather tag may include different weather conditions such as rainy days, snowy days, foggy days, sunny days, and the like, and these weather conditions may affect the driving safety, such as reducing the traction force of the vehicle, reducing the visibility, and the like, so weather factors need to be considered in calculating the driving safety distance.

The corresponding relation between the safe driving distance and the real-time weather tag is preset in the target vehicle, in the preset safe driving distance, adjustment can be carried out according to different real-time weather tags, and different weather conditions can cause conditions such as road wet and slippery and poor visibility, so that determination of the safe driving distance is affected, and the corresponding relation can be realized by establishing a safe driving distance adjustment model based on the weather tags.

For example, in the case of rainy, snowy, or foggy days, the corresponding safe driving distance may be greater than that in the case of sunny days.

In addition, the safe driving distance can be determined according to the driving speed of the target vehicle and the type of the road to be driven, because the braking distance of the vehicle becomes large when the vehicle is driven at a high speed, more time and space are required to stop or avoid collision, and the safe distance is affected when the vehicle is driven on a different type of road. For example, vehicles on highways travel faster, with greater traffic volumes, and thus require greater safety distances to accommodate higher speeds and traffic conditions, while vehicles on urban or urban roads travel slower, with less traffic volumes, and thus relatively smaller safety distances may be more suitable.

As one example, for example, the target vehicle travels on an urban road at a travel speed of 30km/h, and according to a preset correspondence, the safe travel distance of the target vehicle may be 30 meters at this time, and if the target vehicle travels on an urban road at a travel speed of 50km/h, the safe travel distance of the target vehicle may be 50 meters at this time. If the target vehicle travels on the expressway at a travel speed of 80km/h, at which time the safe travel distance of the target vehicle may be 100 meters, the specific value of the present example may be set according to actual requirements, and is not particularly limited herein.

According to the embodiment, the real-time weather tag is acquired, the corresponding relation is established between the real-time weather tag and the preset safe driving distance, the safe driving distance can be adjusted according to different weather conditions, and meanwhile, the safe driving distance can be determined according to actual conditions in consideration of the driving speed of the target vehicle and the type of the driving road. The comprehensive consideration of the factors can help to improve the driving safety, so that the determination of the safe driving distance is more intelligent and is closer to the actual driving condition of the road and the vehicle condition of the target vehicle.

Another method for controlling safe driving of a vehicle according to an embodiment of the present application will be described with reference to fig. 2, and as shown in fig. 2, the method includes:

first, in a case where the visibility is lower than a preset value and the speed of the target vehicle is greater than zero, sensing data around the target vehicle is acquired, for example, in a weather condition such as heavy fog, rain, storm, etc., the driver's field of view will be limited so that it is difficult to see the environment around the target vehicle and the target object, at which time a camera may be installed on the target vehicle, the visibility may be determined by using the scattering and absorption degree of visible light through particulate matters in the atmosphere, or the concentration of particulate matters in the atmosphere may be measured by using the scattering and absorption characteristics of laser beams by using a laser sensor, thereby estimating the visibility.

Then, modeling and describing objects, terrains, road marks and the like in the surrounding environment of the target vehicle through information about the surrounding environment of the target vehicle, which is acquired by sensors such as a radar, a camera and a laser radar, wherein a specific acquisition mode is not limited herein, virtual representation and understanding can be performed on the information about the structure of the surrounding road, the position and the behavior of other vehicles, the existence of obstacles and the like through environmental modeling, the objects, the roads, the vehicles and the like in the actual environment are subjected to imaging or mathematical description in a virtual form, and the information is used for determining a first distance between the target vehicle and the surrounding obstacles and a second distance between the target vehicle and the road edge, and providing key information about vehicle safety interval, obstacle avoidance and lane keeping for a driver, wherein the safety driving distance is not met by the target vehicle when the first distance is determined to be greater than a first preset threshold value and the second distance is determined to be greater than a second preset threshold value and the safety driving distance is determined to be not met when the first distance is determined to be less than the first preset threshold value and the second distance to be less than the second preset threshold value.

And finally, after the target vehicle is determined to meet the safe driving distance, controlling the target vehicle to drive according to the current driving state, and after the target vehicle is determined to be unsafe to drive, controlling the target vehicle to start a target early warning mode to perform early warning.

The following describes a module operation procedure of a control method for safe running of a vehicle according to an embodiment of the present application with reference to fig. 3, as shown in fig. 3:

firstly, the visibility recognition module determines the visibility of the environment where the target vehicle is located in real time, and obtains the perception data around the target vehicle and sends the perception data to the modeling module under the condition that the visibility is lower than a preset value and the speed of the target vehicle is greater than zero.

Then, after the modeling module receives the signals, the modeling module models objects, terrains, road signs and the like in the surrounding environment of the target vehicle based on the perception data, and sends the environment modeling results to the distance determining module and the system driving module.

And finally, the distance determining module detects whether the target vehicle meets the preset safe driving distance, and can control the starting target early warning mode to early warn the driver under the condition that the target vehicle does not meet the safe driving distance, and control the target vehicle to drive according to the current driving state under the condition that the target vehicle meets the safe driving distance.

Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein.

It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution sequence, and the execution sequence of each process should be determined by the function and the internal logic of each process, and should not be construed as limiting the process in the embodiment of the present application.

The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.

Fig. 4 is a control device for safe driving of a vehicle according to an embodiment of the present application, as shown in fig. 2, the device includes:

an obtaining module 401, configured to obtain perceived data around a target vehicle when visibility is lower than a preset value and a vehicle speed of the target vehicle is greater than zero;

a modeling module 402, configured to obtain an environmental modeling result of the target vehicle based on the perception data;

a first determining module 403, configured to determine a first distance between the target vehicle and the surrounding obstacle and a second distance between the target vehicle and the road edge based on the environmental modeling result;

a second determining module 404, configured to detect whether the target vehicle meets a preset safe driving distance based on the first distance and the second distance;

and the control module 405 is configured to control the target vehicle to run according to the current running state if it is determined that the target vehicle meets the safe driving distance.

In some embodiments, the perception data includes obstacle information and road information within a preset range of the target vehicle, and the acquisition module is further configured to receive display preference information input by a user, where the display preference information is used to indicate to display all the obstacle information and road information within the preset range of the target vehicle, or to indicate to display only the obstacle information and road information with collision risk in the perception data;

In some embodiments, the first determining module is specifically configured to determine location information of the target vehicle and the obstacle based on the environmental modeling result, and determine the first distance according to the location information of the target vehicle and the obstacle; the second distance is determined based on the road boundary information and the position information of the target vehicle in the environmental modeling result.

In some embodiments, the second determining module is specifically configured to determine that the target vehicle satisfies the safe driving distance when it is determined that the first distance is greater than a first preset threshold and the second distance is greater than a second preset threshold; and determining that the target vehicle does not meet the safe driving distance under the condition that the first distance is smaller than at least one of a first preset threshold value and the second distance is smaller than a second preset threshold value.

In some embodiments, the control module is further configured to obtain a current travel speed of the target vehicle;

if the driving distance is greater than the interval distance between the target vehicle and the adjacent driving vehicle of the same lane, determining that the target vehicle is unsafe driving, and controlling the target vehicle to start a target early warning mode; wherein the travel distance is a distance when the target vehicle travels at the current travel speed for a preset period of time.

In some embodiments, the control module is specifically configured to control the target vehicle to decelerate to a preset vehicle speed; and controlling the seat of the target vehicle to send out a vibration warning, and controlling the voice system to send out a voice prompt message to the driver, wherein the vibration warning and the prompt message are used for prompting that the distance between the target vehicle and surrounding obstacles or the road edge is smaller than a preset distance.

In some embodiments, the second determining module is further configured to obtain a real-time weather tag, and determine a safe driving distance corresponding to the real-time weather tag based on a correspondence between a preset weather tag and the safe driving distance; or, acquiring the running speed of the target vehicle and the type of the road, and determining the safe driving distance corresponding to the running speed and the type of the road based on the corresponding relation between the running speed and the type of the road and the safe driving distance.

The device provided by the embodiment of the application can realize all the method steps of the method embodiment and achieve the same technical effects, and is not described herein.

Fig. 5 is a schematic diagram of an electronic device 5 according to an embodiment of the present application. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a processor 501, a memory 502 and a computer program 503 stored in the memory 502 and executable on the processor 501. The steps of the various method embodiments described above are implemented by processor 501 when executing computer program 503. Alternatively, the processor 501, when executing the computer program 503, performs the functions of the modules/units in the above-described apparatus embodiments.

The electronic device 5 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the electronic device 5 and is not limiting of the electronic device 5 and may include more or fewer components than shown, or different components.

The processor 501 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.

The memory 502 may be an internal storage unit of the electronic device 5, for example, a hard disk or a memory of the electronic device 5. The memory 502 may also be an external storage device of the electronic device 5, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 5. Memory 502 may also include both internal storage units and external storage devices of electronic device 5. The memory 502 is used to store computer programs and other programs and data required by the electronic device.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.

The integrated modules/units may be stored in a readable storage medium if implemented in the form of software functional units and sold or used as stand-alone products. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a readable storage medium, where the computer program may implement the steps of the method embodiments described above when executed by a processor. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A control method for safe running of a vehicle, characterized by comprising:

2. The control method for safe running of a vehicle according to claim 1, wherein the perception data includes obstacle information and road information within the target vehicle preset range;

after the sensing data around the target vehicle is acquired, the method further comprises the following steps:

receiving display preference information input by a user, wherein the display preference information is used for indicating to display all obstacle information and road information within a preset range of the target vehicle or is used for indicating to display only obstacle information and road information with collision risk in the perception data;

And displaying the display information indicated by the display preference information on a central control screen of the target vehicle based on the display preference information.

3. The control method for safe running of a vehicle according to claim 1, wherein the determining a first distance of the target vehicle from surrounding obstacles and a second distance of the target vehicle from a road edge based on the environmental modeling result includes:

determining position information of the target vehicle and the obstacle based on an environmental modeling result, and determining the first distance according to the position information of the target vehicle and the obstacle;

and determining the second distance based on the road boundary information in the environment modeling result and the position information of the target vehicle.

4. The control method for safe running of a vehicle according to claim 1, wherein the detecting whether the target vehicle satisfies a preset safe running distance based on the first distance and the second distance includes:

determining that the target vehicle meets the safe driving distance under the condition that the first distance is larger than a first preset threshold value and the second distance is larger than a second preset threshold value;

And determining that the target vehicle does not meet the safe driving distance under the condition that the first distance is smaller than at least one of the first preset threshold value and the second distance is smaller than the second preset threshold value.

5. The control method for safe running of a vehicle according to claim 1, characterized by further comprising:

acquiring the current running speed of a target vehicle;

6. The method for controlling safe driving of a vehicle according to claim 5, wherein the controlling the target vehicle to start a target early warning mode includes:

and controlling the seat of the target vehicle to send out a vibration warning, and controlling the voice system to send out a voice prompt message to a driver, wherein the vibration warning and the prompt message are used for prompting that the distance between the target vehicle and surrounding obstacles or road edges is smaller than a preset distance.

7. The control method for safe driving of a vehicle according to claim 1, before detecting whether the target vehicle satisfies a preset safe driving distance based on the first distance and the second distance, further comprising:

8. A control device for safe running of a vehicle, comprising:

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.

10. A readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.