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

Vehicle following distance calculation method and device, vehicle and storage medium Download PDF

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Publication number
WO2023138100A1
WO2023138100A1 PCT/CN2022/122773 CN2022122773W WO2023138100A1 WO 2023138100 A1 WO2023138100 A1 WO 2023138100A1 CN 2022122773 W CN2022122773 W CN 2022122773W WO 2023138100 A1 WO2023138100 A1 WO 2023138100A1
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WIPO (PCT)
Prior art keywords
vehicle
moment
following distance
driving speed
predicted
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PCT/CN2022/122773
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French (fr)
Chinese (zh)
Inventor
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
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Publication of WO2023138100A1 publication Critical patent/WO2023138100A1/en

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    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07CTIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00Registering or indicating the working of vehicles
    • G07C5/08Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time

Definitions

  • 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.
  • the vehicle-mounted terminal usually has an automatic driving function.
  • the vehicle-mounted terminal 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.
  • 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.
  • the parameters used for the following distance obtained from the collected images are relatively simple, and the calculated following distance is less accurate.
  • 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.
  • 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:
  • 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 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 deceleration at the first moment has a negative correlation with the holding time.
  • 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:
  • the duration corresponding to the first driving speed when calculating the following distance is the same as the preset duration
  • the corresponding holding time of the first driving speed when calculating the following distance is zero;
  • 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 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:
  • 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 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 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 shows an example diagram of different driving paths generated by a vehicle according to an exemplary embodiment of the present application.
  • a vehicle includes a current location 101 , other locations 102 , and generated travel routes 103 .
  • the vehicle-mounted terminal can generate various driving routes 103 based on the vehicle's current location 101 and other locations 102 .
  • the vehicle-mounted terminal may also be connected to the server through a communication network during the automatic driving process.
  • the communication network may be a wired network or a wireless network.
  • the wireless network or the wired network uses standard communication technologies and/or protocols.
  • 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.
  • the server is a server provided by the company that produces the vehicle.
  • the vehicle needs to estimate the following distance in real time, so as to ensure the safe driving of the vehicle.
  • 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.
  • 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.
  • this application proposes a solution.
  • 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.
  • FIG. 2 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.
  • 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.
  • 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.
  • the first planned route is generated by the first vehicle through route planning.
  • 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.
  • 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.
  • the first vehicle generates a driving route according to the current location and the destination.
  • 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.
  • 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.
  • 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.
  • 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.
  • the preset duration can be pre-set in the first vehicle by the developer.
  • the first duration is 6 seconds.
  • the vehicle-mounted terminal of the first vehicle can obtain the predicted driving speed of each location within 6 seconds after the first moment.
  • 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.
  • the first speed threshold is obtained based on 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.
  • 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.
  • the vehicle-mounted terminal of the first vehicle may obtain the corresponding holding time by querying the correspondence table.
  • the vehicle-mounted terminal of the first vehicle may also calculate the holding time according to the deceleration and the first driving speed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 3 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the manner of acquiring the first speed threshold may refer to the description in the above step 203, which will not be repeated here.
  • the vehicle-mounted terminal of the first vehicle 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.
  • 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.
  • 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,
  • the corresponding holding time of the first driving speed when calculating the following distance is zero;
  • 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 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.
  • 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.
  • 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.
  • 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.
  • the second moment is each moment within the maintenance duration
  • 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.
  • the preset follow-up time can be regarded as a time distance (here, an empirical value of 1.7 seconds is taken).
  • 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.
  • each moment within the predicted duration is regarded as each third moment.
  • 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.
  • 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.
  • 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.
  • 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.
  • the current moment is T0
  • the first deceleration may be within 6 seconds after T0
  • 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.
  • 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.
  • 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.
  • 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.
  • Step 308 obtaining the predicted following distance between the first vehicle and the second vehicle within a preset time period.
  • 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.
  • 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.
  • 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.
  • every moment within the preset duration is regarded as every fourth moment.
  • 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.
  • 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.
  • 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 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.
  • FIG. 4 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.
  • 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.
  • the deceleration at the first moment has a negative correlation with the holding time.
  • the first determination module 403 is further configured to:
  • the duration corresponding to the first driving speed when calculating the following distance is the same as the preset duration
  • the corresponding holding time of the first driving speed when calculating the following distance is zero;
  • 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 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.
  • 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 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.
  • 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.
  • 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.
  • I/O system Basic input/output system
  • 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.
  • RAM random access memory
  • ROM read only Memory
  • EPROM 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
  • 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.
  • 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.
  • 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.

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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

跟车距离的计算方法、装置、车辆及存储介质Calculation method, device, vehicle and storage medium of following distance
相关申请related application
本申请要求于2022年1月24日申请的、申请号为202210079090.2的中国专利申请的优先权,其全部内容通过引用结合在本申请中。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.
技术领域technical field
本申请涉及车辆控制技术领域,特别涉及一种跟车距离的计算方法、装置、车辆及存储介质。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.
背景技术Background technique
随着科学技术的不断发展,现实生活中各种车辆已经成为用户出行中不可缺少的交通工具,在行车过程中对车辆的跟车距离进行计算是非常重要的。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.
目前,在各种车辆中,车载终端通常都具有自动驾驶功能,在自动驾驶的路线规划中,车载终端通常需要实时确定自身与前车(是指当前车辆在行驶方向上的另一个车辆)之间的跟车距离,保证自身在行驶过程中的行车安全。比如,车辆通常在前方设置有摄像头,车载终端通过控制该摄像头对前方车辆进行拍摄,根据拍摄到的图像计算前车与自身的距离,从而得到跟车距离。在上述计算跟车距离的方式中,通过采集的图像获取的跟车距离采用的参数较为单一,计算的跟车距离准确性较低。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.
技术解决方案technical solution
本申请实施例提供了一种跟车距离的计算方法、装置、服务器及存储介质,能够提高车辆对前车计算跟车距离的准确性。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.
一个方面,本申请实施例提供了一种跟车距离的计算方法,所述方法应用于第一车辆,所述方法包括: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:
获取所述第一车辆在第一时刻的第一行驶速度以及第二车辆在所述第一时刻的第二行驶速度,所述第二车辆是所述第一规划路径上位置处于所述第一车辆前方的其他车辆;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;
获取第一规划路径所指示的所述第一车辆在所述第一时刻之后的预设时长内的预测行驶速度;Acquiring the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment;
当所述第二行驶速度不大于第一速度阈值时,根据所述第一车辆在第一时刻的减速度确定所述第一行驶速度在计算跟车距离时对应的保持时长;所述第一速度阈值是基于所述第一车辆的第一行驶速度得到的;所述保持时长小于或等于所述预设时长;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;
将所述保持时长与所述预设时长的差值确定为预测时长,根据所述第一行驶速度、所述保持时长以及所述预测时长内的预测行驶速度计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离。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.
在一实施例中,所述第一时刻的减速度与所述保持时长呈负相关关系。In an embodiment, the deceleration at the first moment has a negative correlation with the holding time.
在一实施例中,所述根据所述第一车辆在第一时刻的减速度确定所述第一行驶速度在计算跟车距离时对应的保持时长,包括: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:
若所述第一车辆在所述第一时刻的减速度大于或等于第一阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长与所述预设时长相同;和/或,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,
若所述第一车辆在所述第一时刻的减速度小于或等于第二阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长为零;和/或,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,
若所述第一车辆在所述第一时刻的减速度小于第一阈值,且大于第二阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长与预设时长的第一比值,与减速度对应的第二比值相同;所述第二比值为所述减速度与阈值范围之间的比值,所述阈值范围为所述第一阈值和所述第二阈值之间的差值。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.
在一实施例中,所述根据所述第一行驶速度、所述保持时长以及所述预测时长内的预测行驶速度计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离,包括: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:
在所述保持时长内的每一第二时刻,根据所述第一行驶速度和预设跟车时长计算每一所述第二时刻对应的期望跟车距离;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;
在所述预测时长内的每一第三时刻,根据每一所述第三时刻对应的预测行驶速度和所述预设跟车时长计算每一所述第三时刻对应的期望跟车距离;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;
将每一所述第二时刻对应的期望跟车距离以及每一所述第三时刻对应的期望跟车距离,获取为所述第一车辆在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离。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.
在一实施例中,每一所述第三时刻对应的预测行驶速度根据所述第一行驶速度、所述第一减速度以及所述第一时刻与每一所述第三时刻之间的时长确定。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.
在一实施例中,在所述计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离之后,还包括: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:
获取所述预设时长内所述第一车辆与所述第二车辆之间的预测跟车距离;Obtaining a predicted following distance between the first vehicle and the second vehicle within the preset time period;
根据所述预设时长内的所述期望跟车距离以及所述预测跟车距离,计算所述第一规划路径的距离评分;所述距离评分用于指示所述第一车辆按照所述第一规划路径的指示行驶时的舒适程度。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.
在一实施例中,所述根据所述预设时长内的所述期望跟车距离以及所述预测跟车距离,计算所述第一规划路径的距离评分,包括: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:
在所述预设时长内的每一第四时刻,根据所述第四时刻对应的所述期望跟车距离和所述预测跟车距离的差值计算与所述第四时刻对应的差值评分;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;
对所述预设时长内的各个第四时刻对应的差值评分进行求和,将和值确定为所述第一规划路径的距离评分。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.
另一个方面,本申请实施例提供了一种跟车距离的计算装置,所述装置应用于第一车辆,所述装置包括: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:
第一获取模块,用于获取所述第一车辆在第一时刻的第一行驶速度以及第二车辆在所述第一时刻的第二行驶速度,所述第二车辆是所述第一规划路径上位置处于所述第一车辆前方的其他车辆;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;
第二获取模块,用于获取第一规划路径所指示的所述第一车辆在所述第一时刻之后的预设时长内的预测行驶速度;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;
第一确定模块,用于当所述第二行驶速度不大于第一速度阈值时,根据所述第一车辆在第一时刻的减速度确定所述第一行驶速度在计算跟车距离时对应的保持时长;所述第一速度阈值是基于所述第一车辆的第一行驶速度得到的;所述保持时长小于或等于所述预设时长;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;
第一计算模块,用于将所述保持时长与所述预设时长的差值确定为预测时长,根据所述第一行驶速度、所述保持时长以及所述预测时长内的预测行驶速度计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离。另一个方面,本申请实施例提供了一种车辆,所述车辆包括车载终端,所述车载终端包括存储器及处理器,所述存储器中存储有计算机程序,所述计算机程序被所述处理器执行时,使得所述处理器实现如上述一个方面及其任一可选实现放方式的跟车距离的计算方法。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.
另一个方面,本申请实施例提供了一种计算机可读存储介质,其上存储有计算机程序,所述计算机程序被处理器执行时实现如上述另一个方面及其可选方式所述的跟车距离的计算方法。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.
有益效果Beneficial effect
本申请实施例提供的技术方案可以至少包含如下有益效果:The technical solutions provided by the embodiments of the present application may at least include the following beneficial effects:
获取第一车辆在第一时刻的第一行驶速度以及第二车辆在第一时刻的第二行驶速度,第二车辆是第一规划路径上位置处于第一车辆前方的其他车辆;获取第一规划路径所指示的第一车辆在第一时刻之后的预设时长内的预测行驶速度;当第二行驶速度不大于第一速度阈值时,根据第一车辆在第一时刻的减速度确定第一行驶速度在计算跟车距离时对应的保持时长;将保持时长与预设时长的差值确定为预测时长,根据第一行驶速度、保持时长以及预测时长内的预测行驶速度计算在预设时长内第一车辆与第二车辆之间的期望跟车距离。本申请基于第一车辆的减速度计算保持时长,进而确定预测时长,可以根据车辆已发生的减速度动作确定期望跟车距离,提高计算跟车距离的准确性,确保了车辆在减速过程中的安全性和舒适性。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.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。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.
图1是本申请一示例性实施例涉及的一种车辆生成的不同行驶路径的示例图;Fig. 1 is an example diagram of different driving paths generated by a vehicle according to an exemplary embodiment of the present application;
图2是本申请一示例性实施例提供的一种跟车距离的计算方法的方法流程图;Fig. 2 is a method flowchart of a method for calculating a following distance provided by an exemplary embodiment of the present application;
图3是本申请一示例性实施例提供的一种跟车距离的计算方法的方法流程图;Fig. 3 is a method flowchart of a method for calculating a following distance provided by an exemplary embodiment of the present application;
图4是本申请一示例性实施例提供的一种跟车距离的计算装置的结构框图;Fig. 4 is a structural block diagram of a device for calculating the following distance provided by an exemplary embodiment of the present application;
图5是本申请一示例性实施例提供的一种车载终端的结构示意图。Fig. 5 is a schematic structural diagram of a vehicle-mounted terminal provided by an exemplary embodiment of the present application.
本发明的实施方式Embodiments of the present invention
这里将详细地对示例性实施例进行说明,其示例表示在附图中。下面的描述涉及附图时,除非另有表示,不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反,它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。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.
在本文中提及的“多个”是指两个或两个以上。“和/或”,描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。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.
需要说明的是,本申请的说明书和权利要求书中的术语“第一”、“第二”、“第三”和“第四”等是用于区别不同的对象,而不是用于描述特定顺序。本申请实施例的术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。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.
本申请提供的方案,可以用于在日常生活中通过使用终端在查看一些车辆相关信息的现实场景中,为了便于理解,下面首先对本申请实施例涉及的应用架构进行简单介绍。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.
在日常生活中,车辆作为不可或缺的交通工具已经被广泛使用。其中,车辆在行驶过程中,对行驶路径的选择必不可少。目前,各种车辆中都具有自动驾驶功能,在自动驾驶过程中,车辆需要自己规划行驶路径,并且选择行驶路径行驶,并且在行驶过程中,车辆还可以及时检测前车与自身之间的距离关系,确保行车的安全性。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.
例如,请参考图1,其示出了本申请一示例性实施例涉及的一种车辆生成的不同行驶路径的示例图。如图1所示,其中包含了当前位置101,其他位置102,以及生成的各个行驶路径103。在具有自动驾驶功能的车辆中,车载终端可以基于车辆当前位置101以及其他位置102生成各个行驶路径103。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 .
在一实施例中,上述车载终端在自动驾驶过程中还可以与服务器通过通信网络连接。在一实施例中,该通信网路可以是有线网络或无线网络,在一实施例中,无线网络或者有线网络使用标准通信技术和/或协议。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.
在一实施例中,上述服务器可以是为车辆中安装的应用程序提供服务的服务器。服务器可以是一台服务器,或者由若干台服务器,或者是一个虚拟化平台,或者是一个云计算服务中心。或者,该服务器是该生产该车辆的公司提供的服务器。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.
目前,车载终端通过上述方式生成的行驶路径中,在不同路径上车辆前方往往会存在其他车辆,在行驶过程中,车辆需要对跟车距离实时进行估算,从而保证车辆的安全行驶。在一种跟车距离的计算方式中,车辆基于自身前方设置的摄像头,获取前方车辆的图像,根据对图像识别,获取前方车辆与自身之间的距离,从而得到跟车距离。该获取过程采用的参数单一,也未涉及到前方车辆的行驶速度以及自身车辆的加速度、速度等参数,凭借图像识别获取到的跟车距离不能灵活应用,当本车的加速度在不同的情况下,本车与前方车辆的跟车距离会发生变化,因此不能达到预测估计的效果,在自动驾驶领域中,按照上述方式获取车辆的跟车距离的方式不够准确,也不能灵活调整车辆的行车参数。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.
为了提高车辆对前车计算跟车距离的准确性,提高在车辆行驶过程中进行控制的安全性和舒适性,本申请提出了一种解决方案,通过获取前车速度和本车速度,并根据第一车辆的减速度确定在计算跟车距离时对应的保持时长,进而计算两个车辆之间的期望跟车距离,使得获取到的期望跟车距离有参考本车的速度等参数,灵活预测车辆的跟车距离,提高获取车辆的跟车距离的准确性和安全性。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.
请参考图2,其示出了本申请一示例性实施例提供的一种跟车距离的计算方法的方法流程图。该跟车距离的计算方法可以应用于上述图1所示的场景中,由该场景中的第一车辆执行。如图2所示,该跟车距离的计算方法可以包括如下几个步骤。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.
步骤201,获取第一车辆在第一时刻的第一行驶速度以及第二车辆在第一时刻的第二行驶速度,第二车辆是第一规划路径上位置处于第一车辆前方的其他车辆。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.
其中,第一车辆是本申请中的当前车辆,第二车辆是在第一规划路径上处于当前车辆前方的其他车辆。在一实施例中,第一规划路径是第一车辆进行路径规划生成的。比如,第一车辆规划了多条路径,从多个路径中可以确定出一个路径作为第一规划路径,或者,第一车辆也可以对每个规划的路径都执行申请的步骤,那么第一规划路径可以是各个路径中的任意一条路径。例如,各个规划路径是第一车辆在行车过程中对当前行车路线中的任意两个位置点进行规划的路径。比如,在导航系统中,第一车辆根据当前位置以及目的地生成了一个行车路线,在车辆行驶过程中,第一车辆还可以根据行驶过程中自身的当前位置以及即将行驶的某个位置继续生成至少两个规划路径。在一实施例中,即将行驶的某个位置可以是行车路线中第一车辆的当前位置前2千米处的位置,或者,也可以是根据第一车辆当前车速计算的第一车辆即将行驶的10秒内的路段。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.
步骤202,获取第一规划路径所指示的第一车辆在第一时刻之后的预设时长内的预测行驶速度。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.
在一实施例中,第一规划路径的规划结果中,在第一规划路径的每个位置处,都对应有该第一车辆的行驶时刻、预测行驶速度、跟车距离参数,加速度参数,加速度变化量参数等参数。比如,对于第一规划路径来说,预先训练的路径规划模型在该第一规划路径上的每个位置,都规划有行驶时刻参数、预测行驶速度参数等数据,第一车辆的车载终端可以获取每个位置上的参数。该第一规划路径上的各个位置与该第一车辆的车载终端生成的坐标尺度有关,比如,该第一车辆的车载终端生成的坐标系中坐标尺度是1厘米,则该预测行驶路径在坐标系中的各个坐标轴上每隔1厘米是一个位置。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.
例如,在第一位置处对应第一时刻,第一车辆的车载终端可以获取在第一时刻之后的预设时长内各个位置的预测行驶速度。在一实施例中,预设时长可以由开发人员预先在第一车辆中设定,比如,第一时长为6秒,那么,此处第一车辆的车载终端可以获取在第一时刻之后6秒内各个位置的预测行驶速度。其中,各个位置的预测行驶速度可以是第一车辆根据自身当前速度进行预算,得到各个位置处的预测行驶速度,该计算过程也可以由机器学习模型执行,该机器学习模型可以由开发人员预先训练并且设置在第一车辆中,此处不再赘述。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.
步骤203,当第二行驶速度不大于第一速度阈值时,根据第一车辆在第一时刻的减速度确定第一行驶速度在计算跟车距离时对应的保持时长;第一速度阈值是基于第一车辆的第一行驶速度得到的;保持时长小于或等于预设时长。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.
其中,第一速度阈值是基于第一车辆的第一行驶速度得到的。在一实施例中,第一车辆在获取到上述第一车辆的第一行驶速度之后,可以根据预先设定的第一公式计算第一速度阈值,从而在本步骤中通过第一速度阈值对第二行驶速度进行检测。例如,预设的第一公式如下:V2+k,其中,V2是第二行驶速度,k为常数(比如取经验值2等),如果V2是3米每秒(m/s),k=2,那么,得到的第一速度阈值是5m/s。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.
在一实施例中,第一车辆的车载终端将获取到的第二行驶速度与第一速度阈值进行比较,当第二行驶速度不大于第一速度阈值时,根据第一车辆在第一时刻的减速度确定第一行驶速度在计算跟车距离时对应的保持时长。即,第一车辆在判断第二行驶速度不大于第一速度阈值时,说明第二车辆的速度相对第一车辆的速度较慢,第一车辆需要减速,此时获取第一车辆在第一时刻下的减速度,根据该减速度,确定基于第一行驶速度计算跟车距离时对应的保持时长。在一实施例中,减速度与该保持时长可以有对应关系表,第一车辆的车载终端可以通过查询该对应关系表,获取到对应的保持时长。或者,第一车辆的车载终端也可以根据该减速度以及第一行驶速度,计算保持时长。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.
需要说明的是,本步骤得到的保持时长小于或等于预设时长,可以将保持时长保证在预设时长内,在预测预设时长内第一车辆的跟车距离时,将保持时长控制在预设时长内,在预设时长内计算的跟车距离更大,使得第一车辆行车过程更加安全。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.
步骤204,将保持时长与预设时长的差值确定为预测时长,根据第一行驶速度、保持时长以及预测时长内的预测行驶速度计算在预设时长内第一车辆与第二车辆之间的期望跟车距离。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.
其中,第一车辆的车载终端利用预设时长减去保持时长,获取到两者的差值,将该差值确定为预测时长。并根据上述获取到的第一行驶速度、该保持时长以及在预测时长内的预测行驶速度计算在预设时长内第一车辆与第二车辆之间的期望跟车距离。其中,预测时长内的预测行驶速度可以由上述获取到的预设时长内的预测行驶速度得到,在该保持时长内按照第一行驶速度计算跟车距离,在预测时长内,按照上述减速度以及该第一行驶速度计算跟车距离,将保持时长和预测时长各自的得到的跟车距离进行求和,获取到该第一车辆与第二车辆在预设时长内的期望跟车距离。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.
综上所述,获取第一车辆在第一时刻的第一行驶速度以及第二车辆在第一时刻的第二行驶速度,第二车辆是第一规划路径上位置处于第一车辆前方的其他车辆;获取第一规划路径所指示的第一车辆在第一时刻之后的预设时长内的预测行驶速度;当第二行驶速度不大于第一速度阈值时,根据第一车辆在第一时刻的减速度确定第一行驶速度在计算跟车距离时对应的保持时长;将保持时长与预设时长的差值确定为预测时长,根据第一行驶速度、保持时长以及预测时长内的预测行驶速度计算在预设时长内第一车辆与第二车辆之间的期望跟车距离。本申请基于第一车辆的减速度计算保持时长,进而确定预测时长,可以根据车辆已发生的减速度动作确定期望跟车距离,提高计算跟车距离的准确性,确保了车辆在减速过程中的安全性和舒适性。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.
在一种可能实现的方式中,在上述获取第一车辆与第二车辆之间的期望跟车距离之后,本方案还可以应用于利用跟车距离对规划的路径进行评分的综合系统中,利用跟车距离的评分对规划的路径进行评分,从而进行路径筛选、路径确定等过程,提高路径规划的准确性。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.
请参考图3,其示出了本申请一示例性实施例提供的一种跟车距离的计算方法的方法流程图。该跟车距离的计算方法可以应用于上述图1所示的场景中,由该场景中的第一车辆执行。如图3所示,该跟车距离的计算方法可以包括如下几个步骤。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.
步骤301,获取第一车辆在第一时刻的第一行驶速度以及第二车辆在第一时刻的第二行驶速度,第二车辆是第一规划路径上位置处于第一车辆前方的其他车辆。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.
步骤302,获取第一规划路径所指示的第一车辆在第一时刻之后的预设时长内的预测行驶速度。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.
其中,步骤301至步骤302的实施细节可以参照上述图2实施例中的步骤201至202的描述,此处不再赘述。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.
步骤303,当第二行驶速度不大于第一速度阈值时,根据第一车辆在第一时刻的减速度确定第一行驶速度在计算跟车距离时对应的保持时长;第一速度阈值是基于第一车辆的第一行驶速度得到的;保持时长小于或等于预设时长。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.
在一实施例中,第一车辆的车载终端通过判断上述获取到的第二行驶速度与第一速度阈值之间的大小关系,在第二行驶速度不大于第一速度阈值时,获取第一车辆在第一时刻的减速度,并根据第一车辆在第一时刻的减速度确定第一行驶速度在计算跟车距离时对应的保持时长。当第二行驶速度大于第一速度阈值时,说明第二车辆的第二行驶速度比第一车辆的第一行驶速度更大,此时第一车辆跟车不需要考虑会与第二车辆发生碰撞,不需要执行后续步骤。当二行驶速度不大于第一速度阈值时,说明第二车辆的第二行驶速度比第一车辆的第一行驶速度更小,此时第一车辆跟车可能会与第二车辆发生碰撞,需要保证第一车辆与第二车辆之间的跟车距离,进而计算两者之间的跟车距离。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.
在一实施例中,第一速度阈值的获取方式可以参考上述步骤203中的描述,此处不再赘述。当第一车辆的车载终端获取第一车辆在第一时刻的减速度后,根据获取到的减速度确定基于第一行驶速度在计算跟车距离时对应的保持时长。其中,第一时刻的减速度与保持时长呈负相关关系。即,第一车辆的车载终端获取到的减速度越大,保持时长越短,或者,第一车辆的车载终端获取到的减速度越小,保持时长越长。在一实施例中,第一车辆的车载终端获取保持时长的方式也可以参考上述步骤203中的描述。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.
在一种可能实现的方式中,第一车辆的车载终端可以将获取到的减速度与预设的第一阈值和预设的第二阈值进行比较,若第一车辆在第一时刻的减速度大于或等于第一阈值,则第一行驶速度在计算跟车距离时对应的保持时长与预设时长相同;和/或,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,
若第一车辆在第一时刻的减速度小于或等于第二阈值,则第一行驶速度在计算跟车距离时对应的保持时长为零;和/或,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,
若第一车辆在第一时刻的减速度小于第一阈值,且大于第二阈值,则第一行驶速度在计算跟车距离时对应的保持时长与预设时长的第一比值,与减速度对应的第二比值相同;第二比值为减速度与阈值范围之间的比值,阈值范围为第一阈值和第二阈值之间的差值。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.
即,第一车辆的车载终端通过判断获取到的第一时刻下的减速度是否处于第二阈值至第一阈值所处的范围区间内,如果第一时刻下的减速度处于第二阈值至第一阈值所处的范围区间内,则按照第一比值等于第二比值的方式计算该保持时长,其中,第一比值是保持时长与预设时长之间的比值,第二比值是减速度与阈值范围之间的比值。如果第一时刻下的减速度小于或等于第二阈值,则确定的保持时长为零。如果第一时刻下的减速度大于或等于第一阈值,则确定的的保持时长与预设时长相同。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.
例如,第一阈值是0,第二阈值是-1,上述的阈值范围是(-1,0)之间,第一车辆获取到的减速度如果处于(-1,0)之间,则按照第一比值等于第二比值的方式计算该保持时长。比如,减速度是-0.5,那么,减速度-0.5与阈值范围(-1,0)之间的第二比值为0.5,那么,保持时长所占预设时长的第一比值也是0.5,如果预设时长是6秒,那么保持时长是3秒。类似的,如果减速度是0.2,那么保持时长是1.2秒,依次类推,此处不再赘述。如果第一时刻下的减速度小于或等于第二阈值(即,减速度小于等于-1),相应的,第一车辆的车载终端获取到的保持时长为零。如果第一时刻下的减速度大于或等于第一阈值(即,减速度大于0,说明此时第一车辆是加速行驶),则获取的保持时长与预设时长相同,预设时长是6秒,那么保持时长也是6秒。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.
步骤304,将保持时长与预设时长的差值确定为预测时长。Step 304: Determine the difference between the holding time and the preset time as the predicted time.
在一实施例中,第一车辆的车载终端将获取到的保持时长与预设时长之间的差值确定为预测时长,即,在后续进行预测跟车距离的时长。比如,上述预设时长为6秒,保持时长是0时,此时预测时长是6秒,如果上述获取的保持时长是3秒,那么预测时长是3秒,如果上述获取的保持时长是6秒,那么预测时长是0秒。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.
步骤305,在保持时长内的每一第二时刻,根据第一行驶速度和预设跟车时长计算每一第二时刻对应的期望跟车距离。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.
其中,第二时刻是保持时长内的各个时刻,预设跟车时长是开发人员预先根据经验获取的。即,在保持时长内,根据第一行驶速度和预设跟车时长计算每个时刻对应的期望跟车距离。在一实施例中,预设跟车时长可以看做是时距(此处取经验值1.7秒),在一种可能实现的方式中,在保持时长内,第一车辆的车载终端将第一行驶速度与该预设跟车时长相乘,得到该保持时长内各个第二时刻对应的期望跟车距离。比如,第一行驶速度是2m/s,那么,此处获取到的保持时长内各个第二时刻对应的期望跟车距离均为3.4m。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.
步骤306,在预测时长内的每一第三时刻,根据每一第三时刻对应的预测行驶速度和预设跟车时长计算每一第三时刻对应的期望跟车距离。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.
类似的,预测时长内的每个时刻看做是每一第三时刻,在本步骤中,第一车辆的车载终端根据每一第三时刻对应的预测行驶速度和上述预设跟车时长计算每一第三时刻对应的期望跟车距离。在一实施例中,该计算过程可以参考上述每一第二时刻对应的期望跟车距离的计算方式,即,第一车辆的车载终端通过每个第三时刻对应的预测行驶速度乘以该预设跟车时长,从而获取到每个第三时刻对应的期望跟车距离。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.
其中,每一第三时刻对应的预测行驶速度根据第一行驶速度、第一减速度以及第一时刻与每一第三时刻之间的时长确定。第一减速度是第一车辆的车载终端在规划第一规划路径的过程中,规划模型对第一时刻规划的减速度,该第一减速度与第一车辆实际的减速度可能相同也可能不同。该第一减速度的规划过程本申请并不限定。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.
例如,第一车辆的车载终端对第一时刻规划的减速度(第一减速度)与第一车辆当前的减速度不同,即上述步骤303中获取第一时刻的减速度与此处第一减速度不同。比如,当前时刻为T0,第一车辆当前以a=-0.5的减速度减速行驶,但第一减速度可以是在T0之后的6s内,第一车辆以a=-0.7的减速度减速行驶,此时规划的减速度为a=-0.7,此处预测时长内的每一第三时刻对应的期望跟车距离,基于该第一减速度a=-0.7以及预设跟车时长获取。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.
步骤307,将每一第二时刻对应的期望跟车距离以及每一第三时刻对应的期望跟车距离,获取为第一车辆在预设时长内第一车辆与第二车辆之间的期望跟车距离。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.
在一实施例中,上述保持时长内的每一第二时刻对应的期望跟车距离,以及,预测时长内的每一第三时刻对应的期望跟车距离,均为预设时长内第一车辆与第二车辆之间的期望跟车距离。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.
例如,以上述步骤303中第一阈值以及第二阈值分别为0和-1举例,若第一车辆的加速度a=0,通过上述步骤,获取到保持时长为6,预测时长为0秒,则第一时刻之后的6s内,都以第一车辆在第一时刻的第一行驶速度(也是第一车辆的当前速度,假设为20m/s)计算期望跟车距离,例如,期望跟车距离=速度*时距(即,预设跟车时长,典型值是1.7s)。则每一第二时刻对应的期望跟车距离为0,每一第三时刻对应的期望跟车距离为34m。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.
若第一车辆的加速度a=-0.5,通过上述步骤,获取到保持时长为3s,预测时长为3秒,则第一时刻之后的前3s内,以第一车辆在第一时刻的第一行驶速度(也是第一车辆的当前速度,假设为20m/s)计算期望跟车距离,在预测时长内,对每一第三时刻用20+(-0.5*t),t为每个第三时刻,获取每个第三时刻的速度,并根据每个第三时刻的速度计算期望跟车距离,即在保持时长内,对每个第二时刻用20m/s计算期望跟车距离,在预测时长内,用20+(-0.5*t)=18.5m/s的速度计算期望跟车距离。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.
若第一车辆的加速度a-1,通过上述步骤,获取到保持时长为0s,预测时长为6秒,则第一时刻之后的6s内都为预测时长,第一车辆的车载终端在预测时长内,对每一第三时刻用20+(-0.5*t),t为每个第三时刻,获取每个第三时刻的速度,并根据每个第三时刻的速度计算期望跟车距离,即在保持时长内,对每个第二时刻用20m/s计算期望跟车距离,在保持时长内,第二时刻的期望跟车距离为0,在预测时长内,用20+(-0.5*t)=18.5m/s的速度计算各个第三时刻对应的期望跟车距离。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.
步骤308,获取预设时长内第一车辆与第二车辆之间的预测跟车距离。Step 308, obtaining the predicted following distance between the first vehicle and the second vehicle within a preset time period.
在一实施例中,第一车辆的车载终端还可以获取预设时长内第一车辆与第二车辆之间的预测跟车距离,该预测跟车距离也是基于上述第一规划路径的规划模型得到的,此处并不限定。例如,在预设时长内,第一车辆的车载终端基于上述第一行驶速度以及第二行驶速度计算出的第一车辆与第二车辆之间的预测跟车距离是S1。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.
步骤309,根据预设时长内的期望跟车距离以及预测跟车距离,计算第一规划路径的距离评分;距离评分用于指示第一车辆按照第一规划路径的指示行驶时的舒适程度。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.
在一实施例中,第一车辆的车载终端可以根据预设时长内的期望跟车距离以及预测跟车距离计算两者之间的差值,根据该差值计算第一规划路径的距离评分。比如,在一种可能实现的方式中,第一车辆的车载终端可以在预设时长内的每一第四时刻,根据第四时刻对应的期望跟车距离和预测跟车距离的差值计算与第四时刻对应的差值评分;对预设时长内的各个第四时刻对应的差值评分进行求和,将和值确定为第一规划路径的距离评分。类似的,预设时长内的每个时刻看做是每一第四时刻。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.
例如,请参考表1,第一车辆的车载终端预先设置有差值与第一规划路径的距离评分之间的对应关系表。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
…… ... …… ...
表1Table 1
如上述表1所示,当第一车辆的车载终端计算出该差值之后,确定该差值的差值范围,并结合上述表1确定出该差值对应的距离评分。比如,如果上述某个第四时刻对应的差值在差值范围二中,那个该第四时刻对应的距离评分是距离评分二,第一车辆的车载终端获取到该第四时刻对应的距离评分。类似的,第一车辆的车载终端按照上述方式获取预设时长内各个第四时刻对应的距离评分,并进行求和,作为该第一规划路径的距离评分。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.
在一种可能实现的方式中,第一车辆的车载终端也可以根据如下第二公式计算计算与第四时刻对应的差值评分。该第二公式如下:cost=(S1-S2)/S1,其中,S1表示期望跟车距离,S2表示预测跟车距离,从而确定各个第四时刻对应的距离评分,并进行求和,作为该第一规划路径的距离评分。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.
综上所述,获取第一车辆在第一时刻的第一行驶速度以及第二车辆在第一时刻的第二行驶速度,第二车辆是第一规划路径上位置处于第一车辆前方的其他车辆;获取第一规划路径所指示的第一车辆在第一时刻之后的预设时长内的预测行驶速度;当第二行驶速度不大于第一速度阈值时,根据第一车辆在第一时刻的减速度确定第一行驶速度在计算跟车距离时对应的保持时长;将保持时长与预设时长的差值确定为预测时长,根据第一行驶速度、保持时长以及预测时长内的预测行驶速度计算在预设时长内第一车辆与第二车辆之间的期望跟车距离。本申请基于第一车辆的减速度计算保持时长,进而确定预测时长,可以根据车辆已发生的减速度动作确定期望跟车距离,提高计算跟车距离的准确性,确保了车辆在减速过程中的安全性和舒适性。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.
下述为本申请装置实施例,可以用于执行本申请方法实施例。对于本申请装置实施例中未披露的细节,请参照本申请方法实施例。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.
请参考图4,其示出了本申请一示例性实施例提供的一种跟车距离的计算装置的结构框图,该跟车距离的计算装置400可以应用于第一车辆,所述跟车距离的计算装置400包括: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:
第一获取模块401,用于获取所述第一车辆在第一时刻的第一行驶速度以及第二车辆在所述第一时刻的第二行驶速度,所述第二车辆是所述第一规划路径上位置处于所述第一车辆前方的其他车辆;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;
第二获取模块402,用于获取第一规划路径所指示的所述第一车辆在所述第一时刻之后的预设时长内的预测行驶速度;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;
第一确定模块403,用于当所述第二行驶速度不大于第一速度阈值时,根据所述第一车辆在第一时刻的减速度确定所述第一行驶速度在计算跟车距离时对应的保持时长;所述第一速度阈值是基于所述第一车辆的第一行驶速度得到的;所述保持时长小于或等于所述预设时长;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;
第一计算模块404,用于将所述保持时长与所述预设时长的差值确定为预测时长,根据所述第一行驶速度、所述保持时长以及所述预测时长内的预测行驶速度计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离。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.
综上所述,获取第一车辆在第一时刻的第一行驶速度以及第二车辆在第一时刻的第二行驶速度,第二车辆是第一规划路径上位置处于第一车辆前方的其他车辆;获取第一规划路径所指示的第一车辆在第一时刻之后的预设时长内的预测行驶速度;当第二行驶速度不大于第一速度阈值时,根据第一车辆在第一时刻的减速度确定第一行驶速度在计算跟车距离时对应的保持时长;将保持时长与预设时长的差值确定为预测时长,根据第一行驶速度、保持时长以及预测时长内的预测行驶速度计算在预设时长内第一车辆与第二车辆之间的期望跟车距离。本申请基于第一车辆的减速度计算保持时长,进而确定预测时长,可以根据车辆已发生的减速度动作确定期望跟车距离,提高计算跟车距离的准确性,确保了车辆在减速过程中的安全性和舒适性。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.
在一实施例中,所述第一时刻的减速度与所述保持时长呈负相关关系。In an embodiment, the deceleration at the first moment has a negative correlation with the holding time.
在一实施例中,所述第一确定模块403,还用于,In an embodiment, the first determination module 403 is further configured to:
若所述第一车辆在所述第一时刻的减速度大于或等于第一阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长与所述预设时长相同;和/或,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,
若所述第一车辆在所述第一时刻的减速度小于或等于第二阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长为零;和/或,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,
若所述第一车辆在所述第一时刻的减速度小于第一阈值,且大于第二阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长与预设时长的第一比值,与减速度对应的第二比值相同;所述第二比值为所述减速度与阈值范围之间的比值,所述阈值范围为所述第一阈值和所述第二阈值之间的差值。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.
在一实施例中,所述第一计算模块404,包括:第一计算单元,第二计算单元以及第一获取单元;In an embodiment, the first calculation module 404 includes: a first calculation unit, a second calculation unit and a first acquisition unit;
所述第一计算单元,用于在所述保持时长内的每一第二时刻,根据所述第一行驶速度和预设跟车时长计算每一所述第二时刻对应的期望跟车距离;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;
所述第二计算单元,用于在所述预测时长内的每一第三时刻,根据每一所述第三时刻对应的预测行驶速度和所述预设跟车时长计算每一所述第三时刻对应的期望跟车距离;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;
所述第一获取单元,用于将每一所述第二时刻对应的期望跟车距离以及每一所述第三时刻对应的期望跟车距离,获取为所述第一车辆在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离。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.
在一实施例中,每一所述第三时刻对应的预测行驶速度根据所述第一行驶速度、第一减速度以及所述第一时刻与每一所述第三时刻之间的时长确定。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.
在一实施例中,所述装置还包括:In one embodiment, the device also includes:
第三获取模块,用于在所述计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离之后,获取所述预设时长内所述第一车辆与所述第二车辆之间的预测跟车距离;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;
第二计算模块,用于根据所述预设时长内的所述期望跟车距离以及所述预测跟车距离,计算所述第一规划路径的距离评分;所述距离评分用于指示所述第一车辆按照所述第一规划路径的指示行驶时的舒适程度。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.
在一实施例中,所述第二计算模块,包括:第二计算单元和第一确定单元;In an embodiment, the second calculation module includes: a second calculation unit and a first determination unit;
所述第二确定单元,用于在所述预设时长内的每一第四时刻,根据所述第四时刻对应的所述期望跟车距离和所述预测跟车距离的差值计算与所述第四时刻对应的差值评分;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;
所述第一确定单元,用于对所述预设时长内的各个第四时刻对应的差值评分进行求和,将和值确定为所述第一规划路径的距离评分。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.
图5是本申请一示例性实施例提供的一种车载终端的结构示意图。如图5所示,车载终端500包括中央处理单元(Central Processing Unit,CPU)501、包括随机存取存储器(Random Access Memory,RAM)502和只读存储器(Read Only Memory,ROM)503的系统存储器504,以及连接系统存储器504和中央处理单元501的系统总线505。所述车载终端500还包括帮助计算机内的各个器件之间传输信息的基本输入/输出系统(Input/Output System,I/O系统)508,和用于存储操作系统512、应用程序513和其他程序模块514的大容量存储设备507。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.
所述基本输入/输出系统506包括有用于显示信息的显示器508和用于用户输入信息的诸如鼠标、键盘之类的输入设备509。其中所述显示器508和输入设备509都通过连接到系统总线505的输入输出控制器510连接到中央处理单元501。所述基本输入/输出系统506还可以包括输入输出控制器510以用于接收和处理来自键盘、鼠标、或电子触控笔等多个其他设备的输入。类似地,输入输出控制器510还提供输出到显示屏、打印机或其他类型的输出设备。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.
所述大容量存储设备507通过连接到系统总线505的大容量存储控制器(未示出)连接到中央处理单元501。所述大容量存储设备507及其相关联的计算机可读介质为车载终端500提供非易失性存储。也就是说,所述大容量存储设备507可以包括诸如硬盘或者CD-ROM(Compact Disc Read-Only Memory,只读光盘)驱动器之类的计算机可读介质(未示出)。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).
所述计算机可读介质可以包括计算机存储介质和通信介质。计算机存储介质包括以用于存储诸如计算机可读指令、数据结构、程序模块或其他数据等信息的任何方法或技术实现的易失性和非易失性、可移动和不可移动介质。计算机存储介质包括RAM、ROM、EPROM(Erasable Programmable Read Only Memory,可擦除可编程只读存储器)、EEPROM(Electrically Erasable Programmable Read-Only Memory,带电可擦可编程只读存储器)、闪存或其他固态存储其技术,CD-ROM、DVD(Digital Video Disc,高密度数字视频光盘)或其他光学存储、磁带盒、磁带、磁盘存储或其他磁性存储设备。当然,本领域技术人员可知所述计算机存储介质不局限于上述几种。上述的系统存储器504和大容量存储设备507可以统称为存储器。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.
车载终端500可以通过连接在所述系统总线505上的网络接口单元511连接到互联网或者其它网络设备。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 .
所述存储器还包括一个或者一个以上的程序,所述一个或者一个以上程序存储于存储器中,中央处理单元501通过执行该一个或一个以上程序来实现本申请上述各个实施例提供的方法中,由车载终端执行的全部或者部分步骤。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.
本申请实施例还公开了一种车辆,该车辆包括车载终端,车载终端包括存储器及处理器,所述存储器中存储有计算机程序,所述计算机程序被所述处理器执行时,使得所述处理器实现如上述方法实施例中的跟车距离的计算方法。在一实施例中,上述终端可以是本实施例中的车载终端。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.
本申请实施例还公开了一种计算机可读存储介质,其存储计算机程序,其中,该计算机程序被处理器执行时实现上述方法实施例中的方法。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.
应理解,说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本申请的至少一个实施例中。因此,在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外,这些特定特征、结构或特性可以以任意适合的方式结合在一个或多个实施例中。本领域技术人员也应该知悉,说明书中所描述的实施例均属于可选实施例,所涉及的动作和模块并不一定是本申请所必须的。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.
在本申请的各种实施例中,应理解,上述各过程的序号的大小并不意味着执行顺序的必然先后,各过程的执行顺序应以其功能和内在逻辑确定,而不应对本申请实施例的实施过程构成任何限定。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.
以上对本申请实施例公开的一种跟车距离的计算方法、装置、车辆及存储介质进行了举例介绍,本文中应用了个例对本申请的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本申请的方法及其核心思想;同时,对于本领域的一般技术人员,依据本申请的思想,在实施方式及应用范围上均会有改变之处,综上所述,本说明书内容不应理解为对本申请的限制。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 (10)

  1. 一种跟车距离的计算方法,其中,所述方法应用于第一车辆,所述方法包括:A method for calculating a following distance, wherein the method is applied to a first vehicle, and the method includes:
    获取所述第一车辆在第一时刻的第一行驶速度以及第二车辆在所述第一时刻的第二行驶速度,所述第二车辆是第一规划路径上位置处于所述第一车辆前方的其他车辆;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;
    获取第一规划路径所指示的所述第一车辆在所述第一时刻之后的预设时长内的预测行驶速度;Acquiring the predicted driving speed of the first vehicle indicated by the first planned route within a preset time period after the first moment;
    当所述第二行驶速度不大于第一速度阈值时,根据所述第一车辆在第一时刻的减速度确定所述第一行驶速度在计算跟车距离时对应的保持时长;所述第一速度阈值是基于所述第一车辆的第一行驶速度得到的;所述保持时长小于或等于所述预设时长;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;
    将所述保持时长与所述预设时长的差值确定为预测时长,根据所述第一行驶速度、所述保持时长以及所述预测时长内的预测行驶速度计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离。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.
  2. 根据权利要求1所述的方法,其中,所述第一时刻的减速度与所述保持时长呈负相关关系。The method according to claim 1, wherein the deceleration at the first moment is negatively correlated with the holding time.
  3. 根据权利要求2所述的方法,其中,所述根据所述第一车辆在第一时刻的减速度确定所述第一行驶速度在计算跟车距离时对应的保持时长,包括: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:
    若所述第一车辆在所述第一时刻的减速度大于或等于第一阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长与所述预设时长相同;和/或,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,
    若所述第一车辆在所述第一时刻的减速度小于或等于第二阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长为零;和/或,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,
    若所述第一车辆在所述第一时刻的减速度小于第一阈值,且大于第二阈值,则所述第一行驶速度在计算跟车距离时对应的保持时长与预设时长的第一比值,与减速度对应的第二比值相同;所述第二比值为所述减速度与阈值范围之间的比值,所述阈值范围为所述第一阈值和所述第二阈值之间的差值。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.
  4. 根据权利要求1所述的方法,其中,所述根据所述第一行驶速度、所述保持时长以及所述预测时长内的预测行驶速度计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离,包括: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:
    在所述保持时长内的每一第二时刻,根据所述第一行驶速度和预设跟车时长计算每一所述第二时刻对应的期望跟车距离;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;
    在所述预测时长内的每一第三时刻,根据每一所述第三时刻对应的预测行驶速度和所述预设跟车时长计算每一所述第三时刻对应的期望跟车距离;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;
    将每一所述第二时刻对应的期望跟车距离以及每一所述第三时刻对应的期望跟车距离,获取为所述第一车辆在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离。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.
  5. 根据权利要求4所述的方法,其中,每一所述第三时刻对应的预测行驶速度根据所述第一行驶速度、第一减速度以及所述第一时刻与每一所述第三时刻之间的时长确定。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.
  6. 根据权利要求1至5任一所述的方法,其中,在所述计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离之后,还包括: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:
    获取所述预设时长内所述第一车辆与所述第二车辆之间的预测跟车距离;Obtaining a predicted following distance between the first vehicle and the second vehicle within the preset time period;
    根据所述预设时长内的所述期望跟车距离以及所述预测跟车距离,计算所述第一规划路径的距离评分;所述距离评分用于指示所述第一车辆按照所述第一规划路径的指示行驶时的舒适程度。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.
  7. 根据权利要求6所述的方法,其中,所述根据所述预设时长内的所述期望跟车距离以及所述预测跟车距离,计算所述第一规划路径的距离评分,包括: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:
    在所述预设时长内的每一第四时刻,根据所述第四时刻对应的所述期望跟车距离和所述预测跟车距离的差值计算与所述第四时刻对应的差值评分;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;
    对所述预设时长内的各个第四时刻对应的差值评分进行求和,将和值确定为所述第一规划路径的距离评分。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.
  8. 一种跟车距离的计算装置,其中,所述装置应用于第一车辆,所述装置包括:A device for calculating a following distance, wherein the device is applied to a first vehicle, and the device includes:
    第一获取模块,用于获取所述第一车辆在第一时刻的第一行驶速度以及第二车辆在所述第一时刻的第二行驶速度,所述第二车辆是所述第一规划路径上位置处于所述第一车辆前方的其他车辆;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;
    第二获取模块,用于获取第一规划路径所指示的所述第一车辆在所述第一时刻之后的预设时长内的预测行驶速度;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;
    第一确定模块,用于当所述第二行驶速度不大于第一速度阈值时,根据所述第一车辆在第一时刻的减速度确定所述第一行驶速度在计算跟车距离时对应的保持时长;所述第一速度阈值是基于所述第一车辆的第一行驶速度得到的;所述保持时长小于或等于所述预设时长;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;
    第一计算模块,用于将所述保持时长与所述预设时长的差值确定为预测时长,根据所述第一行驶速度、所述保持时长以及所述预测时长内的预测行驶速度计算在所述预设时长内所述第一车辆与所述第二车辆之间的期望跟车距离。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.
  9. 一种车辆,其中,所述车辆包括车载终端,所述车载终端包括存储器及处理器,所述存储器中存储有计算机程序,所述计算机程序被所述处理器执行时,使得所述处理器实现如权利要求1至7任一所述的跟车距离的计算方法。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.
  10. 一种计算机可读存储介质,其上存储有计算机程序,其中,所述计算机程序被处理器执行时实现如权利要求1至7任一所述的跟车距离的计算方法。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.
PCT/CN2022/122773 2022-01-24 2022-09-29 Vehicle following distance calculation method and device, vehicle and storage medium WO2023138100A1 (en)

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