WO2023138100A1

WO2023138100A1 - Vehicle following distance calculation method and device, vehicle and storage medium

Info

Publication number: WO2023138100A1
Application number: PCT/CN2022/122773
Authority: WO
Inventors: 赵永正; 张惠康; 黄熠文; 李力耘
Original assignee: 广州小鹏自动驾驶科技有限公司
Priority date: 2022-01-24
Filing date: 2022-09-29
Publication date: 2023-07-27
Also published as: CN114419758A; CN114419758B

Abstract

Disclosed are a vehicle following distance calculation method and device, a vehicle and a storage medium. The method comprises: acquiring a first driving speed of a first vehicle at a first moment and a second driving speed of a second vehicle at the first moment; acquiring a predicted driving speed of the first vehicle indicated by a first planned path within a preset duration after the first moment; when the second driving speed is not greater than a first speed threshold, determining, according to deceleration of the first vehicle at the first moment, a corresponding keeping duration of the first driving speed when a vehicle following distance is calculated; and determining a difference between the keeping duration and the preset duration as a predicted duration, and calculating, according to the first driving speed, the keeping duration and the predicted driving speed within the predicted duration, an expected vehicle following distance between the first vehicle and the second vehicle within the preset duration.

Description

Calculation method, device, vehicle and storage medium of following distance

related application

This application claims the priority of the Chinese patent application with application number 202210079090.2 filed on January 24, 2022, the entire contents of which are incorporated in this application by reference.

technical field

The present application relates to the technical field of vehicle control, and in particular to a method, device, vehicle and storage medium for calculating the following distance.

Background technique

With the continuous development of science and technology, various vehicles in real life have become an indispensable means of transportation for users to travel. It is very important to calculate the following distance of vehicles during driving.

At present, in various vehicles, the vehicle-mounted terminal usually has an automatic driving function. In the route planning of automatic driving, the vehicle-mounted terminal usually needs to determine in real time the following distance between itself and the vehicle in front (referring to another vehicle in the current vehicle's driving direction) to ensure its own driving safety during driving. For example, the vehicle is usually equipped with a camera in front, and the vehicle-mounted terminal controls the camera to take pictures of the vehicle in front, and calculates the distance between the vehicle in front and itself according to the captured image, so as to obtain the following distance. In the above method for calculating the following distance, the parameters used for the following distance obtained from the collected images are relatively simple, and the calculated following distance is less accurate.

technical solution

Embodiments of the present application provide a method, device, server, and storage medium for calculating the following distance, which can improve the accuracy of calculating the following distance for vehicles in front.

In one aspect, an embodiment of the present application provides a method for calculating a following distance, the method is applied to a first vehicle, and the method includes:

Obtaining a first driving speed of the first vehicle at a first moment and a second driving speed of a second vehicle at the first moment, where the second vehicle is another vehicle located in front of the first vehicle on the first planned route;

Acquiring the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment;

When the second driving speed is not greater than the first speed threshold, according to the deceleration of the first vehicle at the first moment, determine the holding time corresponding to the first driving speed when calculating the following distance; the first speed threshold is obtained based on the first driving speed of the first vehicle; the holding time is less than or equal to the preset time;

The difference between the holding time and the preset time is determined as the predicted time, and the expected following distance between the first vehicle and the second vehicle within the preset time is calculated according to the first driving speed, the holding time, and the predicted driving speed within the predicted time.

In an embodiment, the deceleration at the first moment has a negative correlation with the holding time.

In an embodiment, the determining, according to the deceleration of the first vehicle at the first moment, the duration corresponding to the first driving speed when calculating the following distance includes:

If the deceleration of the first vehicle at the first moment is greater than or equal to a first threshold, then the duration corresponding to the first driving speed when calculating the following distance is the same as the preset duration; and/or,

If the deceleration of the first vehicle at the first moment is less than or equal to the second threshold, the corresponding holding time of the first driving speed when calculating the following distance is zero; and/or,

If the deceleration of the first vehicle at the first moment is less than the first threshold and greater than the second threshold, then the first ratio of the maintenance duration corresponding to the first driving speed when calculating the following distance to the preset duration is the same as the second ratio corresponding to the deceleration; the second ratio is the ratio between the deceleration and the threshold range, and the threshold range is the difference between the first threshold and the second threshold.

In an embodiment, the calculating the expected following distance between the first vehicle and the second vehicle within the preset time period according to the first driving speed, the maintaining time length and the predicted driving speed within the predicted time length includes:

At each second moment within the holding time, calculate the expected following distance corresponding to each second moment according to the first driving speed and the preset following time;

At each third moment within the predicted duration, calculate the expected following distance corresponding to each third moment according to the predicted driving speed corresponding to each third moment and the preset follow-up duration;

The expected following distance corresponding to each second moment and the expected following distance corresponding to each third moment are obtained as the expected following distance of the first vehicle between the first vehicle and the second vehicle within the preset time period.

In an embodiment, the predicted driving speed corresponding to each third moment is determined according to the first driving speed, the first deceleration, and the duration between the first moment and each third moment.

In an embodiment, after the calculation of the expected following distance between the first vehicle and the second vehicle within the preset time period, further includes:

Obtaining a predicted following distance between the first vehicle and the second vehicle within the preset time period;

Calculating a distance score of the first planned route according to the expected following distance and the predicted following distance within the preset duration; the distance score is used to indicate the comfort level of the first vehicle when driving according to the instruction of the first planned route.

In an embodiment, the calculation of the distance score of the first planned route according to the expected following distance and the predicted following distance within the preset duration includes:

At each fourth moment within the preset duration, calculating a difference score corresponding to the fourth moment according to the difference between the expected following distance and the predicted following distance corresponding to the fourth moment;

The difference scores corresponding to the fourth moments within the preset time length are summed, and the sum is determined as the distance score of the first planned path.

In another aspect, an embodiment of the present application provides a device for calculating a following distance, the device is applied to a first vehicle, and the device includes:

A first obtaining module, configured to obtain a first driving speed of the first vehicle at a first moment and a second driving speed of a second vehicle at the first time, the second vehicle being another vehicle located in front of the first vehicle on the first planned route;

A second acquisition module, configured to acquire the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment;

A first determining module, configured to determine, according to the deceleration of the first vehicle at the first moment, the corresponding holding time of the first driving speed when calculating the following distance when the second driving speed is not greater than the first speed threshold; the first speed threshold is obtained based on the first driving speed of the first vehicle; the holding time is less than or equal to the preset time;

A first calculation module, configured to determine the difference between the holding time and the preset time as a predicted time, and calculate an expected following distance between the first vehicle and the second vehicle within the preset time according to the first driving speed, the holding time, and the predicted driving speed within the predicted time. In another aspect, an embodiment of the present application provides a vehicle, the vehicle includes a vehicle-mounted terminal, the vehicle-mounted terminal includes a memory and a processor, and a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method for calculating the following distance according to the above-mentioned one aspect and any optional implementation method thereof.

In another aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for calculating the following distance as described in the above-mentioned another aspect and its optional modes is implemented.

Beneficial effect

The technical solutions provided by the embodiments of the present application may at least include the following beneficial effects:

Obtain the first traveling speed of the first vehicle at the first moment and the second traveling speed of the second vehicle at the first moment. The second vehicle is another vehicle whose position is in front of the first vehicle on the first planned route; obtain the predicted traveling speed of the first vehicle indicated by the first planned route within the preset time after the first moment; when the second traveling speed is not greater than the first speed threshold, determine the corresponding holding time of the first traveling speed when calculating the following distance according to the deceleration of the first vehicle at the first moment; determine the difference between the holding time and the preset time as the predicted time. The expected following distance between the first vehicle and the second vehicle within the preset time period is calculated based on the predicted travel speed within the predicted time period. The present application calculates the holding time based on the deceleration of the first vehicle, and then determines the predicted time. The expected following distance can be determined according to the deceleration action of the vehicle, which improves the accuracy of calculating the following distance and ensures the safety and comfort of the vehicle during the deceleration process.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings used in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings can also be obtained based on these drawings without creative work.

Fig. 1 is an example diagram of different driving paths generated by a vehicle according to an exemplary embodiment of the present application;

Fig. 2 is a method flowchart of a method for calculating a following distance provided by an exemplary embodiment of the present application;

Fig. 3 is a method flowchart of a method for calculating a following distance provided by an exemplary embodiment of the present application;

Fig. 4 is a structural block diagram of a device for calculating the following distance provided by an exemplary embodiment of the present application;

Fig. 5 is a schematic structural diagram of a vehicle-mounted terminal provided by an exemplary embodiment of the present application.

Embodiments of the present invention

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

The "plurality" mentioned herein means two or more. "And/or" describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B may indicate: A exists alone, A and B exist simultaneously, and B exists independently. The character "/" generally indicates that the contextual objects are an "or" relationship.

It should be noted that the terms "first", "second", "third" and "fourth" in the description and claims of the present application are used to distinguish different objects, rather than to describe a specific order. The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices.

The solution provided by this application can be used in the real scene of viewing some vehicle-related information by using a terminal in daily life. For the sake of understanding, the following briefly introduces the application architecture involved in the embodiment of this application.

In daily life, vehicles have been widely used as an indispensable means of transportation. Among them, the selection of the driving path is essential when the vehicle is running. At present, all kinds of vehicles have the function of automatic driving. In the process of automatic driving, the vehicle needs to plan the driving path by itself and choose the driving path to drive. During the driving process, the vehicle can also detect the distance relationship between the vehicle in front and itself in time to ensure the safety of driving.

For example, please refer to FIG. 1 , which shows an example diagram of different driving paths generated by a vehicle according to an exemplary embodiment of the present application. As shown in FIG. 1 , it includes a current location 101 , other locations 102 , and generated travel routes 103 . In a vehicle with an automatic driving function, the vehicle-mounted terminal can generate various driving routes 103 based on the vehicle's current location 101 and other locations 102 .

In an embodiment, the vehicle-mounted terminal may also be connected to the server through a communication network during the automatic driving process. In an embodiment, the communication network may be a wired network or a wireless network. In an embodiment, the wireless network or the wired network uses standard communication technologies and/or protocols.

In an embodiment, the above-mentioned server may be a server that provides services for application programs installed in the vehicle. The server can be one server, or several servers, or a virtualization platform, or a cloud computing service center. Alternatively, the server is a server provided by the company that produces the vehicle.

At present, in the driving paths generated by the vehicle-mounted terminal through the above method, there are often other vehicles in front of the vehicle on different paths. During the driving process, the vehicle needs to estimate the following distance in real time, so as to ensure the safe driving of the vehicle. In a method for calculating the following distance, the vehicle obtains the image of the vehicle in front based on the camera installed in front of the vehicle, and obtains the distance between the vehicle in front and itself based on the image recognition, thereby obtaining the following distance. The acquisition process uses a single parameter, and does not involve the driving speed of the vehicle in front and the acceleration and speed of the own vehicle. The following distance acquired by image recognition cannot be flexibly applied. When the acceleration of the vehicle is different, the following distance between the vehicle and the vehicle in front will change, so the effect of prediction and estimation cannot be achieved.

In order to improve the accuracy of calculating the following distance from the vehicle in front and improve the safety and comfort of controlling the vehicle while the vehicle is running, this application proposes a solution. By obtaining the speed of the preceding vehicle and the speed of the own vehicle, and determining the corresponding holding time when calculating the following distance according to the deceleration of the first vehicle, and then calculating the expected following distance between the two vehicles, so that the obtained expected following distance can refer to parameters such as the speed of the own vehicle, flexibly predict the following distance of the vehicle, and improve the accuracy and safety of obtaining the following distance of the vehicle.

Please refer to FIG. 2 , which shows a flow chart of a method for calculating the following distance provided by an exemplary embodiment of the present application. The method for calculating the following distance can be applied to the scene shown in FIG. 1 above, and is executed by the first vehicle in the scene. As shown in FIG. 2 , the method for calculating the following distance may include the following steps.

Step 201 , acquiring a first driving speed of a first vehicle at a first moment and a second driving speed of a second vehicle at a first time, where the second vehicle is another vehicle ahead of the first vehicle on a first planned route.

Wherein, the first vehicle is the current vehicle in this application, and the second vehicle is other vehicles in front of the current vehicle on the first planned route. In an embodiment, the first planned route is generated by the first vehicle through route planning. For example, the first vehicle has planned a plurality of paths, and a path can be determined from the plurality of paths as the first planned path, or the first vehicle can also perform the steps of applying for each planned path, so the first planned path can be any path in each path. For example, each planned route is a route planned by the first vehicle for any two position points in the current driving route during the driving process. For example, in the navigation system, the first vehicle generates a driving route according to the current location and the destination. During the driving of the vehicle, the first vehicle can also continue to generate at least two planned routes according to its current location during driving and a certain location to be driven. In an embodiment, a certain location to be driven may be a location 2 kilometers ahead of the current location of the first vehicle in the driving route, or may also be a road segment within 10 seconds before the first vehicle is about to travel calculated based on the current speed of the first vehicle.

Step 202, acquiring the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment.

In one embodiment, in the planning results of the first planned route, at each position of the first planned route, there are parameters such as the driving time, predicted driving speed, following distance parameter, acceleration parameter, and acceleration variation parameter of the first vehicle. For example, for the first planned route, the pre-trained route planning model is planned with data such as driving time parameters and predicted driving speed parameters at each position on the first planned route, and the vehicle-mounted terminal of the first vehicle can obtain the parameters at each position. Each position on the first planned route is related to the coordinate scale generated by the vehicle-mounted terminal of the first vehicle. For example, if the coordinate scale in the coordinate system generated by the vehicle-mounted terminal of the first vehicle is 1 centimeter, then the predicted driving route is a position every 1 centimeter on each coordinate axis in the coordinate system.

For example, corresponding to the first moment at the first location, the vehicle-mounted terminal of the first vehicle may obtain the predicted driving speed of each location within a preset time period after the first moment. In one embodiment, the preset duration can be pre-set in the first vehicle by the developer. For example, the first duration is 6 seconds. Then, the vehicle-mounted terminal of the first vehicle can obtain the predicted driving speed of each location within 6 seconds after the first moment. Wherein, the predicted driving speed at each location may be calculated by the first vehicle according to its own current speed to obtain the predicted driving speed at each location. This calculation process may also be performed by a machine learning model, which may be pre-trained by a developer and set in the first vehicle, and details will not be described here.

Step 203, when the second driving speed is not greater than the first speed threshold, determine the holding time corresponding to the first driving speed when calculating the following distance according to the deceleration of the first vehicle at the first moment; the first speed threshold is obtained based on the first driving speed of the first vehicle; the holding time is less than or equal to the preset time length.

Wherein, the first speed threshold is obtained based on the first driving speed of the first vehicle. In an embodiment, after the first vehicle obtains the first driving speed of the first vehicle, it may calculate the first speed threshold according to a preset first formula, so that in this step, the second driving speed is detected through the first speed threshold. For example, the preset first formula is as follows: V2+k, wherein, V2 is the second driving speed, k is a constant (such as an empirical value of 2, etc.), if V2 is 3 meters per second (m/s), k=2, then the obtained first speed threshold is 5m/s.

In an embodiment, the vehicle-mounted terminal of the first vehicle compares the obtained second driving speed with the first speed threshold, and when the second driving speed is not greater than the first speed threshold, the corresponding holding time of the first driving speed when calculating the following distance is determined according to the deceleration of the first vehicle at the first moment. That is, when the first vehicle judges that the second driving speed is not greater than the first speed threshold, it means that the speed of the second vehicle is slower than that of the first vehicle, and the first vehicle needs to decelerate. At this time, the deceleration of the first vehicle at the first moment is obtained, and according to the deceleration, the corresponding holding time for calculating the following distance based on the first driving speed is determined. In an embodiment, there may be a correspondence table between the deceleration and the holding time, and the vehicle-mounted terminal of the first vehicle may obtain the corresponding holding time by querying the correspondence table. Alternatively, the vehicle-mounted terminal of the first vehicle may also calculate the holding time according to the deceleration and the first driving speed.

It should be noted that the hold time obtained in this step is less than or equal to the preset time, and the hold time can be guaranteed within the preset time. When predicting the following distance of the first vehicle within the preset time, the hold time is controlled within the preset time. The following distance calculated within the preset time is larger, making the driving process of the first vehicle safer.

Step 204: Determine the difference between the holding time and the preset time as the predicted time, and calculate the expected following distance between the first vehicle and the second vehicle within the preset time according to the first driving speed, the holding time, and the predicted driving speed within the predicted time.

Wherein, the vehicle-mounted terminal of the first vehicle subtracts the holding time from the preset time to obtain a difference between the two, and determines the difference as the predicted time. And calculate the expected following distance between the first vehicle and the second vehicle within the preset time period according to the obtained first driving speed, the maintaining time period and the predicted driving speed within the predicted time period. Wherein, the predicted driving speed within the predicted duration can be obtained from the obtained predicted driving speed within the preset duration, the following distance is calculated according to the first driving speed within the maintaining duration, and the following distance is calculated according to the above-mentioned deceleration and the first traveling speed within the predicted duration, and the following distances obtained respectively during the maintaining duration and the predicted duration are summed to obtain the expected following distance of the first vehicle and the second vehicle within the preset duration.

To sum up, the first driving speed of the first vehicle at the first moment and the second driving speed of the second vehicle at the first moment are obtained. The second vehicle is another vehicle located in front of the first vehicle on the first planned route; the predicted driving speed of the first vehicle indicated by the first planned route within the preset time after the first time is obtained; The speed, the maintaining duration and the predicted driving speed within the predicted duration calculate the expected following distance between the first vehicle and the second vehicle within the preset duration. The present application calculates the holding time based on the deceleration of the first vehicle, and then determines the predicted time. The expected following distance can be determined according to the deceleration action of the vehicle, which improves the accuracy of calculating the following distance and ensures the safety and comfort of the vehicle during the deceleration process.

In a possible implementation manner, after the above-mentioned expected following distance between the first vehicle and the second vehicle is obtained, this solution can also be applied to a comprehensive system for scoring planned routes by using the following distance, and use the scoring of the following distance to score the planned path, thereby performing path screening, path determination and other processes to improve the accuracy of path planning.

Please refer to FIG. 3 , which shows a flow chart of a method for calculating the following distance provided by an exemplary embodiment of the present application. The method for calculating the following distance can be applied to the scene shown in FIG. 1 above, and is executed by the first vehicle in the scene. As shown in FIG. 3 , the method for calculating the following distance may include the following steps.

Step 301 , acquiring a first driving speed of a first vehicle at a first moment and a second driving speed of a second vehicle at a first time, where the second vehicle is another vehicle ahead of the first vehicle on a first planned route.

Step 302, acquiring the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment.

Wherein, for implementation details of steps 301 to 302, reference may be made to the description of steps 201 to 202 in the embodiment of FIG. 2 above, and details are not repeated here.

Step 303, when the second driving speed is not greater than the first speed threshold, determine the holding time corresponding to the first driving speed when calculating the following distance according to the deceleration of the first vehicle at the first moment; the first speed threshold is obtained based on the first driving speed of the first vehicle; the holding time is less than or equal to the preset time.

In an embodiment, the vehicle-mounted terminal of the first vehicle judges the magnitude relationship between the obtained second driving speed and the first speed threshold, and when the second driving speed is not greater than the first speed threshold, obtains the deceleration of the first vehicle at the first moment, and determines the corresponding holding time of the first driving speed when calculating the following distance according to the deceleration of the first vehicle at the first moment. When the second driving speed is greater than the first speed threshold, it means that the second driving speed of the second vehicle is greater than the first driving speed of the first vehicle. At this time, the first vehicle does not need to consider colliding with the second vehicle when following the vehicle, and does not need to perform subsequent steps. When the second traveling speed is not greater than the first speed threshold, it means that the second traveling speed of the second vehicle is smaller than the first traveling speed of the first vehicle. At this time, the following vehicle of the first vehicle may collide with the second vehicle. It is necessary to ensure the following distance between the first vehicle and the second vehicle, and then calculate the following distance between the two vehicles.

In an embodiment, the manner of acquiring the first speed threshold may refer to the description in the above step 203, which will not be repeated here. After the vehicle-mounted terminal of the first vehicle obtains the deceleration of the first vehicle at the first moment, it determines the corresponding holding time when calculating the following distance based on the first driving speed according to the obtained deceleration. Among them, the deceleration at the first moment is negatively correlated with the holding time. That is, the greater the deceleration obtained by the vehicle-mounted terminal of the first vehicle, the shorter the holding time, or the smaller the deceleration obtained by the vehicle-mounted terminal of the first vehicle, the longer the holding time. In an embodiment, the manner in which the on-vehicle terminal of the first vehicle obtains the holding time can also refer to the description in step 203 above.

In a possible implementation manner, the vehicle-mounted terminal of the first vehicle may compare the acquired deceleration with a preset first threshold and a preset second threshold, and if the deceleration of the first vehicle at the first moment is greater than or equal to the first threshold, then the first driving speed is maintained for the same duration as the preset duration when calculating the following distance; and/or,

That is, the on-board terminal of the first vehicle judges whether the obtained deceleration at the first moment is within the range from the second threshold to the first threshold, and if the deceleration at the first moment is within the range from the second threshold to the first threshold, then calculate the holding time according to the first ratio equal to the second ratio, wherein the first ratio is the ratio between the holding time and the preset time length, and the second ratio is the ratio between the deceleration and the threshold range. If the deceleration at the first moment is less than or equal to the second threshold, the determined holding time is zero. If the deceleration at the first moment is greater than or equal to the first threshold, the determined holding time is the same as the preset time.

For example, the first threshold is 0, the second threshold is -1, and the above-mentioned threshold range is between (-1, 0). If the deceleration obtained by the first vehicle is between (-1, 0), the holding time is calculated in such a way that the first ratio is equal to the second ratio. For example, if the deceleration is -0.5, then the second ratio between the deceleration -0.5 and the threshold range (-1, 0) is 0.5, then the first ratio of the hold time to the preset time is also 0.5, if the preset time is 6 seconds, then the hold time is 3 seconds. Similarly, if the deceleration is 0.2, then the holding time is 1.2 seconds, and so on, which will not be repeated here. If the deceleration at the first moment is less than or equal to the second threshold (that is, the deceleration is less than or equal to -1), correspondingly, the holding time acquired by the vehicle-mounted terminal of the first vehicle is zero. If the deceleration at the first moment is greater than or equal to the first threshold (that is, the deceleration is greater than 0, indicating that the first vehicle is accelerating at this time), the obtained holding time is the same as the preset time, and the preset time is 6 seconds, so the holding time is also 6 seconds.

Step 304: Determine the difference between the holding time and the preset time as the predicted time.

In an embodiment, the vehicle-mounted terminal of the first vehicle determines the difference between the acquired holding time and the preset time as the predicted time, that is, the time for subsequent prediction of the following distance. For example, if the above preset duration is 6 seconds and the hold duration is 0, then the predicted duration is 6 seconds. If the above obtained hold duration is 3 seconds, then the predicted duration is 3 seconds. If the above obtained hold duration is 6 seconds, then the predicted duration is 0 seconds.

Step 305 , at each second moment within the holding time, calculate the expected following distance corresponding to each second moment according to the first driving speed and the preset car following duration.

Among them, the second moment is each moment within the maintenance duration, and the preset follow-up duration is obtained by the developer in advance based on experience. That is, within the maintenance period, the expected following distance corresponding to each moment is calculated according to the first driving speed and the preset following period. In an embodiment, the preset follow-up time can be regarded as a time distance (here, an empirical value of 1.7 seconds is taken). In a possible implementation mode, within the hold time, the vehicle-mounted terminal of the first vehicle multiplies the first driving speed by the preset follow-up time to obtain the expected follow-up distance corresponding to each second moment within the hold time. For example, if the first driving speed is 2m/s, then, the expected following distance corresponding to each second moment in the holding time obtained here is 3.4m.

Step 306 , at each third moment within the predicted duration, calculate the expected following distance corresponding to each third moment according to the predicted driving speed corresponding to each third moment and the preset follow-up duration.

Similarly, each moment within the predicted duration is regarded as each third moment. In this step, the vehicle-mounted terminal of the first vehicle calculates the expected following distance corresponding to each third moment according to the predicted driving speed corresponding to each third moment and the above-mentioned preset follow-up duration. In an embodiment, the calculation process may refer to the above-mentioned calculation method of the expected following distance corresponding to each second moment, that is, the vehicle-mounted terminal of the first vehicle multiplies the predicted driving speed corresponding to each third moment by the preset follow-up duration, thereby obtaining the expected following distance corresponding to each third moment.

Wherein, the predicted driving speed corresponding to each third moment is determined according to the first driving speed, the first deceleration, and the time length between the first moment and each third moment. The first deceleration is the deceleration planned by the planning model for the first moment when the vehicle-mounted terminal of the first vehicle is planning the first planned route, and the first deceleration may be the same as or different from the actual deceleration of the first vehicle. The planning process of the first deceleration is not limited in this application.

For example, the deceleration (first deceleration) planned by the vehicle-mounted terminal of the first vehicle for the first moment is different from the current deceleration of the first vehicle, that is, the deceleration acquired at the first moment in the above step 303 is different from the first deceleration here. For example, the current moment is T0, and the first vehicle is currently decelerating at a deceleration of a=-0.5, but the first deceleration may be within 6 seconds after T0, the first vehicle is decelerating at a=-0.7, and the planned deceleration at this time is a=-0.7, and the expected following distance corresponding to each third moment within the predicted duration is obtained based on the first deceleration a=-0.7 and the preset following duration.

In step 307, the expected following distance corresponding to each second moment and the expected following distance corresponding to each third moment are obtained as the expected following distance between the first vehicle and the second vehicle within a preset time period of the first vehicle.

In an embodiment, the expected following distance corresponding to each second moment in the above-mentioned maintenance duration, and the expected following distance corresponding to each third moment in the predicted duration are the expected following distances between the first vehicle and the second vehicle within the preset duration.

For example, taking the first threshold and the second threshold in the above step 303 as 0 and -1 respectively, if the acceleration of the first vehicle a=0, through the above steps, it is obtained that the holding time is 6 and the predicted time is 0 seconds, then within 6 seconds after the first moment, the expected following distance is calculated based on the first driving speed of the first vehicle at the first moment (also the current speed of the first vehicle, assuming 20m/s). . Then the expected following distance corresponding to every second moment is 0, and the expected following distance corresponding to every third moment is 34m.

If the acceleration of the first vehicle is a=-0.5, through the above steps, the holding time is obtained to be 3s, and the predicted time is 3 seconds. Then within the first 3s after the first moment, calculate the expected following distance based on the first driving speed of the first vehicle at the first moment (also the current speed of the first vehicle, assuming 20m/s). , that is, within the holding time, calculate the expected following distance at each second moment by 20m/s, and calculate the expected following distance at the speed of 20+(-0.5*t)=18.5m/s within the predicted time.

If the acceleration a-1 of the first vehicle, through the above steps, the holding duration is 0s and the predicted duration is 6 seconds, then the 6s after the first moment is the predicted duration. The vehicle-mounted terminal of the first vehicle uses 20+(-0.5*t) for each third moment within the predicted duration, and t is the speed at each third moment, and calculates the expected following distance according to the speed at each third moment. Within the duration, the expected following distance at the second moment is 0, and within the predicted duration, use the speed of 20+(-0.5*t)=18.5m/s to calculate the expected following distance corresponding to each third moment.

Step 308, obtaining the predicted following distance between the first vehicle and the second vehicle within a preset time period.

In an embodiment, the vehicle-mounted terminal of the first vehicle can also obtain the predicted following distance between the first vehicle and the second vehicle within a preset time period, and the predicted following distance is also obtained based on the planning model of the above-mentioned first planned route, which is not limited here. For example, within a preset time period, the predicted following distance between the first vehicle and the second vehicle calculated by the vehicle-mounted terminal of the first vehicle based on the above-mentioned first driving speed and the second driving speed is S1.

Step 309, calculate the distance score of the first planned route according to the expected following distance and the predicted following distance within the preset time; the distance score is used to indicate the comfort level of the first vehicle when driving according to the first planned route.

In an embodiment, the vehicle-mounted terminal of the first vehicle may calculate the difference between the expected following distance and the predicted following distance within a preset time period, and calculate the distance score of the first planned route according to the difference. For example, in a possible implementation manner, the vehicle-mounted terminal of the first vehicle can calculate the difference score corresponding to the fourth moment according to the difference between the expected following distance and the predicted following distance corresponding to the fourth moment at every fourth moment within the preset time length; sum the difference scores corresponding to each fourth moment within the preset time length, and determine the sum value as the distance score of the first planned route. Similarly, every moment within the preset duration is regarded as every fourth moment.

For example, referring to Table 1, the vehicle-mounted terminal of the first vehicle is preset with a correspondence table between the difference and the distance score of the first planned route.

差值 difference	距离评分 distance score
差值范围一 Difference range one	距离评分一 distance score one
差值范围二 Difference range two	距离评分二 distance score two
差值范围三 range three	距离评分三 distance score three
…… ...	…… ...

Table 1

As shown in the above Table 1, after the vehicle-mounted terminal of the first vehicle calculates the difference, the difference range of the difference is determined, and the distance score corresponding to the difference is determined in combination with the above Table 1. For example, if the difference corresponding to the above-mentioned fourth moment is in the difference range two, the distance score corresponding to that fourth moment is distance score two, and the vehicle-mounted terminal of the first vehicle obtains the distance score corresponding to the fourth moment. Similarly, the vehicle-mounted terminal of the first vehicle obtains the distance scores corresponding to each fourth moment in the preset time period according to the above method, and sums them up as the distance scores of the first planned route.

In a possible implementation manner, the vehicle-mounted terminal of the first vehicle may also calculate and calculate the difference score corresponding to the fourth moment according to the following second formula. The second formula is as follows: cost=(S1-S2)/S1, wherein S1 represents the expected following distance, and S2 represents the predicted following distance, so as to determine the distance scores corresponding to each fourth moment and sum them up as the distance scores of the first planned route.

The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Please refer to FIG. 4 , which shows a structural block diagram of a device for calculating the following distance provided by an exemplary embodiment of the present application. The device for calculating the following distance 400 can be applied to a first vehicle, and the device for calculating the following distance 400 includes:

The first acquiring module 401 is configured to acquire the first driving speed of the first vehicle at the first moment and the second driving speed of the second vehicle at the first moment, the second vehicle being another vehicle located in front of the first vehicle on the first planned route;

The second acquiring module 402 is configured to acquire the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment;

The first determining module 403 is configured to determine, according to the deceleration of the first vehicle at the first moment, the corresponding holding time of the first driving speed when calculating the following distance when the second driving speed is not greater than the first speed threshold; the first speed threshold is obtained based on the first driving speed of the first vehicle; the holding time is less than or equal to the preset time;

The first calculation module 404 is configured to determine the difference between the holding time and the preset time as a predicted time, and calculate an expected following distance between the first vehicle and the second vehicle within the preset time according to the first driving speed, the holding time, and the predicted driving speed within the predicted time.

In an embodiment, the first determination module 403 is further configured to:

In an embodiment, the first calculation module 404 includes: a first calculation unit, a second calculation unit and a first acquisition unit;

The first calculation unit is configured to calculate the expected following distance corresponding to each second moment according to the first driving speed and the preset follow-up duration at each second moment within the holding duration;

The second calculation unit is configured to calculate the expected following distance corresponding to each third moment according to the predicted driving speed corresponding to each third moment and the preset car following duration at each third moment within the predicted duration;

The first acquiring unit is configured to acquire the expected vehicle following distance corresponding to each second moment and the expected vehicle following distance corresponding to each third moment as the expected vehicle following distance between the first vehicle and the second vehicle within the preset time period of the first vehicle.

In one embodiment, the device also includes:

A third acquiring module, configured to acquire a predicted following distance between the first vehicle and the second vehicle within the preset time period after the calculation of the expected following distance between the first vehicle and the second vehicle within the preset time period;

A second calculation module, configured to calculate a distance score of the first planned path according to the expected following distance and the predicted following distance within the preset time period; the distance score is used to indicate the comfort level of the first vehicle when driving according to the instruction of the first planned path.

In an embodiment, the second calculation module includes: a second calculation unit and a first determination unit;

The second determining unit is configured to calculate a difference score corresponding to the fourth moment according to the difference between the expected following distance and the predicted following distance corresponding to the fourth moment at each fourth moment within the preset duration;

The first determination unit is configured to sum the difference scores corresponding to each fourth moment within the preset time length, and determine the sum value as the distance score of the first planned path.

Fig. 5 is a schematic structural diagram of a vehicle-mounted terminal provided by an exemplary embodiment of the present application. As shown in FIG. 5 , the vehicle-mounted terminal 500 includes a central processing unit (Central Processing Unit, CPU) 501, a system memory 504 including a random access memory (Random Access Memory, RAM) 502 and a read only memory (Read Only Memory, ROM) 503, and a system bus 505 connecting the system memory 504 and the central processing unit 501. The vehicle-mounted terminal 500 also includes a basic input/output system (Input/Output System, I/O system) 508 that helps to transmit information between various devices in the computer, and a mass storage device 507 for storing an operating system 512, application programs 513 and other program modules 514.

The basic input/output system 506 includes a display 508 for displaying information and an input device 509 such as a mouse and a keyboard for a user to input information. Both the display 508 and the input device 509 are connected to the central processing unit 501 through the input and output controller 510 connected to the system bus 505 . The basic input/output system 506 may also include an input-output controller 510 for receiving and processing input from keyboards, mice, or electronic stylus and other devices. Similarly, input output controller 510 also provides output to a display screen, printer, or other type of output device.

The mass storage device 507 is connected to the central processing unit 501 through a mass storage controller (not shown) connected to the system bus 505 . The mass storage device 507 and its associated computer-readable media provide non-volatile storage for the vehicle terminal 500 . That is to say, the mass storage device 507 may include such as hard disk or CD-ROM (Compact Disc Read-Only Memory, read-only CD) drive or other computer-readable media (not shown).

The computer readable media may include computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media include RAM, ROM, EPROM (Erasable Programmable Read Only Memory, Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, flash memory or other solid-state storage technologies, CD-ROM, DVD (Digital Video Disc, high-density digital video disc) or other optical storage, tape cartridges, tapes, magnetic disk storage or other magnetic storage devices. Certainly, those skilled in the art know that the computer storage medium is not limited to the above-mentioned ones. The aforementioned system memory 504 and mass storage device 507 may be collectively referred to as memory.

The vehicle terminal 500 can be connected to the Internet or other network devices through the network interface unit 511 connected to the system bus 505 .

The memory also includes one or more programs, the one or more programs are stored in the memory, and the central processing unit 501 realizes all or part of the steps performed by the vehicle-mounted terminal in the methods provided by the above-mentioned embodiments of the present application by executing the one or more programs.

The embodiment of the present application also discloses a vehicle, the vehicle includes a vehicle-mounted terminal, the vehicle-mounted terminal includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor implements the method for calculating the following distance as in the method embodiment above. In an embodiment, the foregoing terminal may be the vehicle-mounted terminal in this embodiment.

The embodiment of the present application also discloses a computer-readable storage medium, which stores a computer program, wherein, when the computer program is executed by a processor, the methods in the foregoing method embodiments are implemented.

It should be understood that reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Thus, appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

In various embodiments of the present application, it should be understood that the sequence numbers of the above-mentioned processes do not necessarily mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

The above describes a method, device, vehicle and storage medium for calculating the following distance disclosed in the embodiments of the present application. In this paper, individual examples are used to illustrate the principles and implementation methods of the application. The descriptions of the above embodiments are only used to help understand the method and core ideas of the application. At the same time, for those of ordinary skill in the art, according to the ideas of the application, there will be changes in the implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the application.

Claims

A method for calculating a following distance, wherein the method is applied to a first vehicle, and the method includes:

Obtaining the first driving speed of the first vehicle at the first moment and the second driving speed of the second vehicle at the first moment, where the second vehicle is another vehicle located in front of the first vehicle on the first planned route;

Acquiring the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment;

When the second driving speed is not greater than the first speed threshold, according to the deceleration of the first vehicle at the first moment, determine the holding time corresponding to the first driving speed when calculating the following distance; the first speed threshold is obtained based on the first driving speed of the first vehicle; the holding time is less than or equal to the preset time;

The difference between the holding time and the preset time is determined as the predicted time, and the expected following distance between the first vehicle and the second vehicle within the preset time is calculated according to the first driving speed, the holding time, and the predicted driving speed within the predicted time.
The method according to claim 1, wherein the deceleration at the first moment is negatively correlated with the holding time.
The method according to claim 2, wherein said determining the corresponding holding time of the first driving speed when calculating the following distance according to the deceleration of the first vehicle at the first moment comprises:

If the deceleration of the first vehicle at the first moment is greater than or equal to a first threshold, then the duration corresponding to the first driving speed when calculating the following distance is the same as the preset duration; and/or,

If the deceleration of the first vehicle at the first moment is less than or equal to the second threshold, the corresponding holding time of the first driving speed when calculating the following distance is zero; and/or,

If the deceleration of the first vehicle at the first moment is less than the first threshold and greater than the second threshold, then the first ratio of the maintenance duration corresponding to the first driving speed when calculating the following distance to the preset duration is the same as the second ratio corresponding to the deceleration; the second ratio is the ratio between the deceleration and the threshold range, and the threshold range is the difference between the first threshold and the second threshold.
The method according to claim 1, wherein the calculating the expected following distance between the first vehicle and the second vehicle within the preset time period according to the first driving speed, the maintaining duration and the predicted driving speed within the predicted duration includes:

At each second moment within the holding time, calculate the expected following distance corresponding to each second moment according to the first driving speed and the preset following time;

At each third moment within the predicted duration, calculate the expected following distance corresponding to each third moment according to the predicted driving speed corresponding to each third moment and the preset follow-up duration;

The expected following distance corresponding to each second moment and the expected following distance corresponding to each third moment are obtained as the expected following distance of the first vehicle between the first vehicle and the second vehicle within the preset time period.
The method according to claim 4, wherein the predicted driving speed corresponding to each third moment is determined according to the first driving speed, the first deceleration, and the duration between the first moment and each third moment.
The method according to any one of claims 1 to 5, wherein, after calculating the expected following distance between the first vehicle and the second vehicle within the preset time period, further comprising:

Obtaining a predicted following distance between the first vehicle and the second vehicle within the preset time period;

Calculating a distance score of the first planned route according to the expected following distance and the predicted following distance within the preset duration; the distance score is used to indicate the comfort level of the first vehicle when driving according to the instruction of the first planned route.
The method according to claim 6, wherein the calculating the distance score of the first planned route according to the expected following distance and the predicted following distance within the preset duration includes:

At each fourth moment within the preset duration, calculating a difference score corresponding to the fourth moment according to the difference between the expected following distance and the predicted following distance corresponding to the fourth moment;

The difference scores corresponding to the fourth moments within the preset time length are summed, and the sum is determined as the distance score of the first planned path.
A device for calculating a following distance, wherein the device is applied to a first vehicle, and the device includes:

A first obtaining module, configured to obtain a first driving speed of the first vehicle at a first moment and a second driving speed of a second vehicle at the first time, the second vehicle being another vehicle located in front of the first vehicle on the first planned route;

A second acquisition module, configured to acquire the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment;

A first determining module, configured to determine, according to the deceleration of the first vehicle at the first moment, the corresponding holding time of the first driving speed when calculating the following distance when the second driving speed is not greater than the first speed threshold; the first speed threshold is obtained based on the first driving speed of the first vehicle; the holding time is less than or equal to the preset time;

A first calculation module, configured to determine the difference between the holding time and the preset time as a predicted time, and calculate an expected following distance between the first vehicle and the second vehicle within the preset time according to the first driving speed, the holding time, and the predicted driving speed within the predicted time.
A vehicle, wherein the vehicle includes a vehicle-mounted terminal, the vehicle-mounted terminal includes a memory and a processor, and a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method for calculating the following distance according to any one of claims 1 to 7.
A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the method for calculating the following distance according to any one of claims 1 to 7 is implemented.