CN110654378B

CN110654378B - Vehicle control method, device and system and vehicle

Info

Publication number: CN110654378B
Application number: CN201810714898.7A
Authority: CN
Inventors: 杨祖煌; 白军明
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2018-06-29
Filing date: 2018-06-29
Publication date: 2021-11-12
Anticipated expiration: 2038-06-29
Also published as: CN110654378A; WO2020001348A1

Abstract

The invention provides a vehicle control method, a device, a system and a vehicle, wherein the method comprises the following steps: acquiring the current speed of a vehicle, the current distance between the vehicle and a front obstacle and the state of a driver; and if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a fatigue driving state, triggering the vehicle to perform automatic emergency braking. According to the vehicle control method, the vehicle control device, the vehicle control system and the vehicle, when the current speed of the vehicle is greater than the set speed, the state of a driver is a fatigue driving state, and the current distance between the vehicle and a front obstacle is equal to the minimum braking distance, the vehicle is triggered to perform automatic emergency braking, the vehicle can be triggered to perform automatic emergency braking at the latest braking point in advance, the sufficient braking distance is ensured, and the automatic emergency braking function is prevented from being triggered by mistake.

Description

Vehicle control method, device and system and vehicle

Technical Field

The invention relates to the technical field of vehicle engineering, in particular to a vehicle control method, device and system and a vehicle.

Background

An existing automatic Emergency braking system (AEB) identifies and detects a front vehicle through a camera or a radar and other sensors in the driving process of the vehicle, and prompts a driver to Brake or change lanes through a warning light or sound under the condition of possible collision so as to avoid collision risk and effectively reduce the occurrence of collision and rear-end collision accidents.

In the related art, an automatic emergency braking system controls a vehicle to perform automatic emergency braking when detecting that a distance between the vehicle and a front vehicle is equal to a safety distance of the automatic emergency braking. Wherein the safety distance of the automatic emergency braking may be set to a minimum braking distance or a minimum steering distance.

However, the related art has at least the following defects: in low vehicle speeds, the latest steering point is earlier than the latest braking point, and as the vehicle speed increases, the latest steering point is gradually later than the latest braking point, as shown in fig. 1. When the minimum braking distance is used as the safety distance for automatic emergency braking, the distance between the vehicle and the front vehicle during braking is greater than the minimum steering distance under the condition of high vehicle speed, so that the automatic emergency braking function is easily triggered by mistake. When the minimum steering distance is used as the safety distance for automatic emergency braking, the distance between the vehicle and the front vehicle during braking is less than the minimum braking distance under the condition of high vehicle speed, so that the problem of insufficient braking distance is easy to occur.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, a first objective of the present invention is to provide a vehicle control method to avoid the problem of false triggering of the automatic emergency braking function or insufficient braking distance in case of high vehicle speed.

A second object of the present invention is to provide a vehicle control apparatus.

A third object of the invention is to propose a vehicle control system.

A fourth object of the invention is to propose a vehicle.

A fifth object of the invention is to propose an electronic device.

A sixth object of the invention is to propose a non-transitory computer-readable storage medium.

To achieve the above object, an embodiment of a first aspect of the present invention provides a vehicle control method, including:

acquiring the current speed of a vehicle, the current distance between the vehicle and a front obstacle and the state of a driver;

and if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a fatigue driving state, triggering the vehicle to perform automatic emergency braking.

According to the vehicle control method provided by the embodiment of the invention, when the current speed of the vehicle is greater than the set speed, the state of the driver is a fatigue driving state, and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the vehicle is triggered to automatically and emergently brake, the vehicle can be triggered to automatically and emergently brake at the latest braking point in advance, the sufficient braking distance is ensured, and the function of mistakenly triggering the automatic emergency brake is avoided.

In order to achieve the above object, a second aspect of the present invention provides a vehicle control apparatus, including:

the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring the current speed of a vehicle, the current distance between the vehicle and a front obstacle and the state of a driver;

and the first triggering module is used for triggering the vehicle to perform automatic emergency braking if the current speed is greater than a set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a fatigue driving state.

According to the vehicle control device provided by the embodiment of the invention, when the current speed of the vehicle is greater than the set speed, the state of the driver is a fatigue driving state, and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the vehicle is triggered to automatically and emergently brake, the vehicle can be triggered to automatically and emergently brake at the latest braking point in advance, the sufficient braking distance is ensured, and the function of mistakenly triggering the automatic emergency brake is avoided.

To achieve the above object, a third aspect of the present invention provides a vehicle control system, including: a speed detection device, a distance detection device, a driver state detection device, an electronic stability system, and a vehicle control device according to an embodiment of the second aspect of the present invention;

the speed detection device is used for detecting the current speed of the vehicle and sending the current speed to an acquisition module in the vehicle control device;

the distance detection device is used for detecting the current distance between the vehicle and a front obstacle and sending the current distance to the acquisition module in the vehicle control device;

the driver state detection device is used for detecting state information of a driver and sending the state information of the driver to the acquisition module in the vehicle control device, so that the acquisition module acquires the state of the driver according to the state information of the driver;

the electronic stability system is used for triggering the vehicle to perform automatic emergency braking under the control of the first triggering module in the vehicle control device.

According to the vehicle control system provided by the embodiment of the invention, when the current speed of the vehicle is greater than the set speed, the state of the driver is a fatigue driving state, and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the vehicle is triggered to automatically and emergently brake, the vehicle can be triggered to automatically and emergently brake at the latest braking point in advance, the sufficient braking distance is ensured, and the function of mistakenly triggering the automatic emergency brake is avoided.

To achieve the above object, a fourth aspect of the present invention provides a vehicle including the vehicle control apparatus according to the second aspect of the present invention.

To achieve the above object, a fifth embodiment of the present invention provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a vehicle control method as described in the embodiment of the first aspect of the invention.

To achieve the above object, a sixth aspect of the present invention provides a non-transitory computer-readable storage medium having stored thereon a computer program, which is executed by a processor, for implementing the vehicle control method according to the embodiment of the first aspect of the present invention.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic illustration of a latest steering point later than a latest braking point at higher vehicle speeds;

FIG. 2 is a flow chart illustrating a vehicle control method according to an embodiment of the present invention;

FIG. 3 is a schematic flow diagram of an embodiment of the vehicle control method shown in FIG. 2;

FIG. 4 is a schematic flow chart illustrating a vehicle control method according to another embodiment of the present invention;

FIG. 5 is a schematic flow chart diagram of an embodiment of the vehicle control method shown in FIG. 4;

FIG. 6 is a flow chart illustrating a vehicle control method according to another embodiment of the present invention;

FIG. 7 is a schematic flow chart diagram of an embodiment of the vehicle control method shown in FIG. 6;

fig. 8 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention; and

fig. 10 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A vehicle control method, apparatus, system, and vehicle according to an embodiment of the invention are described below with reference to the drawings.

Fig. 2 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention. As shown in fig. 2, the vehicle control method according to the embodiment of the present invention specifically includes:

s201, acquiring the current speed of the vehicle, the current distance between the vehicle and the front obstacle and the state of the driver.

Specifically, the current speed of the vehicle may be detected by a speed detection device, such as a speed sensor, provided on the vehicle. The current distance between the vehicle and an obstacle in front (e.g., an obstacle in front of the vehicle, a pedestrian, a wall, etc.) can be detected by a distance detection device, such as a range radar, disposed in front of the vehicle. The state information of the driver can be detected by a driver state detection device provided on the vehicle, and the state of the driver can be acquired according to the state information of the driver. Wherein the driver's state includes a fatigue driving state and a normal driving state.

As a possible implementation manner, a camera arranged in front of a driver may be used to collect a face image of the driver, and determine a state of the driver according to the face image, specifically, fatigue features in the face image, that is, image features of a part or a region (for example, eyes, a sight line, or a pupil) in the face image, which can reflect the fatigue state of the driver, are extracted, parameters of the eyes, the sight line, the pupil, and the like are acquired, so as to determine the state of the driver. Specifically, the eye closing time of the driver and/or the number of blinks within the set time may be determined through the acquired parameters of the eyes, the sight line, the pupils, and the like, and if the eye closing time of the driver is greater than a preset eye closing time threshold (for example, 3 seconds), and/or the number of blinks within the set time is greater than a preset blink threshold within the set time (for example, 5 blinks within one minute), the state of the driver is determined to be the fatigue driving state.

As another possible embodiment, whether the driver's hands are separated from the steering wheel may be detected by a steering wheel sensor, such as a mechanical sensor or a capacitive sensor, provided on the steering wheel, and if it is detected that the driver's hands are separated from the steering wheel, the state of the driver is determined to be a fatigue driving state, and if it is detected that the driver's hands are not separated from the steering wheel, the state of the driver is determined to be a normal driving state.

In practical application, the state of the driver can be acquired by adopting the two modes at the same time, and the misjudgment of the state of the driver is avoided. For example, the mode of acquiring the face image of the driver through the camera can judge that the driver is in the fatigue driving state when the driver is in the fatigue driving state but the two hands do not leave the steering wheel, and avoid misjudgment of the state of the driver when only the mode of detecting whether the two hands of the driver leave the steering wheel through the steering wheel sensor is adopted. For example, the mode that whether the two hands of the driver leave the steering wheel is detected through the steering wheel sensor, when the driver is in a fatigue driving state but the face image cannot be acquired by the camera due to head lowering and other actions, the driver can be judged to be in the fatigue driving state, and the condition of the driver can be prevented from being judged mistakenly when the mode that the face image of the driver is acquired only through the camera is adopted.

As another possible embodiment, the continuous travel time of the driver may be acquired, and the state of the driver is determined to be the fatigue driving state if the continuous travel time of the driver is greater than a set time threshold value, for example, 4 hours, and the state of the driver is determined to be the normal driving state if the continuous travel time of the driver is equal to or less than the set time threshold value, for example, 4 hours. The method and the device avoid misjudgment of the state of the driver when the driver is in the fatigue driving state and the driver is not detected in the two modes.

And S202, if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a fatigue driving state, triggering the vehicle to perform automatic emergency braking.

In particular, automatic emergency braking is used for assisting a driver to brake through an automatic emergency braking system in case of emergency, so that accidents are reduced or avoided. Specifically, the automatic emergency braking system detects and identifies a front obstacle through a camera or a radar, and firstly reminds a driver of braking operation to avoid collision by using sound and a warning lamp under the condition that collision is possible. If the driver still has no braking operation, the system judges that the rear-end collision can not be avoided, and the system automatically brakes to reduce the collision degree.

As shown in table 1, when the current speed of the vehicle is greater than a set speed (e.g., 45 km/h or 50 km/h) and the current distance between the vehicle and the obstacle ahead is greater than the minimum braking distance, the vehicle is not triggered to perform automatic emergency braking regardless of the state of the driver.

When the current speed of the vehicle is greater than a set speed (for example, 45 kilometers per hour and 50 kilometers per hour) and the current distance between the vehicle and a front obstacle is equal to the minimum braking distance, if the state of a driver is a fatigue driving state, a brake wheel cylinder is controlled through an Electronic Stability Program (ESP) to trigger the vehicle to perform automatic emergency braking, so that a sufficient braking distance can be ensured when the vehicle is triggered to perform automatic emergency braking at the latest braking point.

When the current speed of the vehicle is greater than the set speed (for example, 45 kilometers per hour and 50 kilometers per hour), and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, if the state of the driver is a normal driving state, the vehicle is not triggered to perform automatic emergency braking, and the automatic emergency braking function of the vehicle is prevented from being triggered by mistake at the latest braking point.

When the current speed of the vehicle is greater than the set speed (for example, 45 kilometers per hour and 50 kilometers per hour), and the current distance between the vehicle and the front obstacle is less than the minimum braking distance, no matter the state of the driver is in a fatigue driving state or a normal driving state, the vehicle is not triggered to perform automatic emergency braking, and the shortage of the braking distance is avoided.

TABLE 1 control strategy for vehicle control method one

The minimum braking distance is the distance between the vehicle and the front obstacle when the vehicle runs at the current speed and is located at the latest braking point. The minimum steering distance is the distance from the obstacle ahead when the vehicle is traveling at the current speed at the latest steering point. The set speed may specifically be set equal to or greater than the speed of the vehicle at which the minimum braking distance equals the minimum steering distance. In practical applications, the set speed is generally set to be the speed of the vehicle when the minimum braking distance is equal to the minimum steering distance, that is, when the speed of the vehicle is equal to the set speed, the latest braking point is equal to the latest steering point, and the minimum braking distance is equal to the minimum steering distance; when the speed of the vehicle is lower than the set speed, the latest braking point is later than the latest steering point, and the minimum braking distance is smaller than the minimum steering distance; when the speed of the vehicle is higher than the set speed, the latest braking point is earlier than the latest steering point, and the minimum braking distance is larger than the minimum steering distance.

According to the vehicle control method provided by the embodiment of the invention, when the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the detection of the state of the driver is combined, and if the state of the driver is a fatigue driving state, the vehicle is triggered to automatically and emergently brake, so that the vehicle can be triggered to automatically and emergently brake at the latest braking point in advance when the driver drives in a fatigue state, the sufficient braking distance is ensured, the occurrence of collision accidents is avoided, and the safety performance of vehicle running is improved. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, if the state of the driver is the normal driving state, the vehicle is not triggered to perform automatic emergency braking, the vehicle can continuously run, the automatic emergency braking function of the vehicle is prevented from being triggered by mistake at the latest braking point when the driver drives normally, and the user experience is improved.

In order to more clearly illustrate the vehicle control method according to the embodiment of the present invention, a detailed description will be given below of a specific implementation of the vehicle control method according to the embodiment of the present invention with reference to fig. 3. As shown in fig. 3, the method comprises the following steps:

and S301, the vehicle is electrified to run.

S302, judging whether the current speed of the vehicle is greater than the set speed.

If yes, go on to step S303. If not, the process returns to step S302.

S303, the current distance between the vehicle and the front obstacle is compared with the minimum braking distance.

If the current distance between the vehicle and the front obstacle is greater than the minimum braking distance, the step S304 is continuously executed. If the current distance between the vehicle and the obstacle in front is equal to the minimum braking distance, the process continues to step S305. If the current distance between the vehicle and the obstacle in front is less than the minimum braking distance, the step S307 is continuously executed.

And S304, the vehicle is not triggered to automatically and emergently brake.

S305, it is determined whether the state of the driver is a fatigue driving state.

If yes, go on to step S306. If not, the process continues to step S307.

And S306, triggering the vehicle to automatically and emergently brake.

And S307, the vehicle is not triggered to automatically and emergently brake.

In the embodiment, when the current speed of the vehicle is greater than the set speed, the state of the driver is a fatigue driving state, and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the vehicle is triggered to perform automatic emergency braking, the vehicle can be triggered to perform automatic emergency braking at the latest braking point in advance, the sufficient braking distance is ensured, and the automatic emergency braking function is prevented from being triggered by mistake.

In order to clearly illustrate the previous embodiment, another vehicle control method is further provided in the embodiment of the present invention, which is a specific implementation manner of the vehicle control method in the previous embodiment. Fig. 4 is a flowchart illustrating a vehicle control method according to another embodiment of the present invention. As shown in fig. 4, on the basis of the previous embodiment, the vehicle control method according to the embodiment of the present invention specifically includes:

s401, acquiring the current speed of the vehicle, the current distance between the vehicle and the front obstacle and the state of the driver.

Specifically, the step S401 is the same as the step S201 in the previous embodiment, and is not repeated here.

S402, if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a fatigue driving state, triggering the vehicle to perform automatic emergency braking.

Specifically, the step S402 is the same as the step S202 in the previous embodiment.

After step S201 of the previous embodiment, the vehicle control method of the embodiment of the invention may further include the following step S403.

And S403, if the current speed is greater than the set speed and the current distance is equal to the minimum steering distance, triggering the vehicle to steer.

Specifically, as shown in table 2, when the current speed of the vehicle is greater than a set speed (e.g., 45 km/h and 50 km/h) and the current distance between the vehicle and the obstacle in front is greater than the minimum braking distance, the control strategy of the vehicle control method according to the embodiment of the present invention does not trigger the vehicle to perform automatic emergency braking or to perform automatic steering, regardless of the state of the driver.

When the current speed of the vehicle is greater than a set speed (for example, 45 kilometers per hour and 50 kilometers per hour) and the current distance between the vehicle and a front obstacle is equal to the minimum braking distance, if the state of a driver is a fatigue driving state, the electronic stability system controls the brake wheel cylinders to trigger the vehicle to perform automatic emergency braking, and a sufficient braking distance can be ensured when the vehicle is triggered to perform automatic emergency braking at the latest braking point.

When the current speed of the vehicle is greater than the set speed (for example, 45 kilometers per hour and 50 kilometers per hour), and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, if the state of the driver is a normal driving state, the vehicle is not triggered to perform automatic emergency braking, the automatic emergency braking function of the vehicle is prevented from being triggered by mistake at the latest braking point, and the vehicle is not triggered to perform automatic steering.

When the current speed of the vehicle is greater than the set speed (for example, 45 kilometers per hour and 50 kilometers per hour), and the current distance between the vehicle and the front obstacle is smaller than the minimum braking distance but greater than the minimum steering distance, no matter whether the state of the driver is a fatigue driving state or a normal driving state, the vehicle is not triggered to perform automatic emergency braking, the situation that the braking distance is insufficient is avoided, and the vehicle is not triggered to perform automatic steering.

When the current speed of the vehicle is greater than a set speed (for example, 45 km/h and 50 km/h) and the current distance between the vehicle and a front obstacle is equal to the minimum Steering distance, regardless of whether the state of a driver is a fatigue driving state or a normal driving state, a Steering motor is controlled by an Electric Power Steering (EPS) system to trigger the vehicle to perform automatic Steering, so that a sufficient Steering distance can be ensured when the vehicle is triggered to perform automatic Steering at the latest Steering point.

TABLE 2 control strategy two for vehicle control method

The minimum braking distance is the distance between the vehicle and the front obstacle when the vehicle runs at the current speed and is located at the latest braking point. The minimum steering distance is the distance from the obstacle ahead when the vehicle is traveling at the current speed at the latest steering point. The set speed may specifically be set equal to or greater than the speed of the vehicle at which the minimum braking distance equals the minimum steering distance. In practice, the set speed is generally set to the speed of the vehicle when the minimum braking distance is equal to the minimum steering distance, i.e. when the speed of the vehicle is equal to the set speed, the latest braking point is equal to the latest steering point, and the minimum braking distance is equal to the minimum steering distance. And when the speed of the vehicle is lower than the set speed, the latest braking point is later than the latest steering point, and the minimum braking distance is smaller than the minimum steering distance. When the speed of the vehicle is higher than the set speed, the latest braking point is earlier than the latest steering point, and the minimum braking distance is larger than the minimum steering distance.

According to the vehicle control method provided by the embodiment of the invention, when the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the detection of the state of the driver is combined, and if the state of the driver is a fatigue driving state, the vehicle is triggered to automatically and emergently brake, so that the vehicle can be triggered to automatically and emergently brake at the latest braking point in advance when the driver drives in a fatigue state, the sufficient braking distance is ensured, the occurrence of collision accidents is avoided, and the safety performance of vehicle running is improved. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, if the state of the driver is the normal driving state, the vehicle is not triggered to perform automatic emergency braking, the vehicle can continuously run, the automatic emergency braking function of the vehicle is prevented from being triggered by mistake at the latest braking point when the driver drives normally, and the user experience is improved. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is less than the minimum braking distance, the vehicle is not triggered to automatically and emergently brake no matter whether the state of the driver is a fatigue driving state or not, and the problem of insufficient braking distance is avoided. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum steering distance, the vehicle is triggered to automatically steer, and the sufficient steering distance can be ensured when the vehicle is triggered to automatically steer at the latest steering point. In the embodiment, when the vehicle runs at a speed higher than the set speed, the latest braking point is earlier than the latest steering point, and when the current distance between the vehicle and the front obstacle is less than the minimum braking distance, the braking distance is insufficient, the vehicle does not carry out emergency braking, so that the problem of driving safety caused by false triggering of the operation of the automatic emergency braking function is avoided; when the current distance between the vehicle and the front obstacle is greater than the minimum steering distance and less than the minimum braking distance, the vehicle does not trigger automatic emergency braking and automatic steering operation, and during the automatic emergency braking and the automatic steering operation, if the driver does not take steering or other emergency operation, the vehicle can trigger automatic steering of the vehicle at the minimum steering distance, namely the vehicle automatically steers at the latest steering point, and the steering distance is enough to ensure driving safety. To more clearly illustrate the vehicle control method according to the embodiment of the present invention, a detailed description will be given below of a specific embodiment of the vehicle control method according to the embodiment of the present invention with reference to fig. 5. As shown in fig. 5, the method comprises the following steps:

and S501, the vehicle is electrified to run.

And S502, judging whether the current speed of the vehicle is greater than the set speed.

If yes, go on to step S503. If not, the process returns to step S502.

S503, the current distance between the vehicle and the front obstacle is compared with the minimum braking distance.

If the current distance between the vehicle and the front obstacle is greater than the minimum braking distance, the step S504 is continuously executed. If the current distance between the vehicle and the obstacle in front is equal to the minimum braking distance, the step S505 is continuously executed. If the current distance between the vehicle and the front obstacle is less than the minimum braking distance, the step S508 is continuously executed.

And S504, the vehicle is not triggered to automatically and emergently brake, and the vehicle is not triggered to automatically steer.

S505 determines whether the state of the driver is a fatigue driving state.

If yes, go on to step S506. If not, the process continues to step S507.

And S506, triggering the vehicle to automatically and emergently brake.

And S507, the vehicle is not triggered to automatically and emergently brake, and the vehicle is not triggered to automatically steer.

And S508, comparing the current distance between the vehicle and the front obstacle with the minimum steering distance.

If the current distance between the vehicle and the obstacle ahead is greater than the minimum steering distance, the process continues to step S509. If the current distance between the vehicle and the obstacle in front is equal to the minimum steering distance, the process continues to step S510.

And S509, the vehicle is not triggered to automatically and emergently brake, and the vehicle is not triggered to automatically steer.

And S510, triggering the vehicle to automatically steer.

In the embodiment, when the current speed of the vehicle is greater than the set speed, the state of the driver is a fatigue driving state, and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the vehicle is triggered to perform automatic emergency braking, so that the vehicle can be triggered to perform automatic emergency braking at the latest braking point in advance, the sufficient braking distance is ensured, and the automatic emergency braking function is prevented from being triggered by mistake. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum steering distance, the automatic steering of the vehicle is triggered no matter whether the state of the driver is a fatigue driving state or not, the automatic steering of the vehicle can be triggered at the latest steering point, and the sufficient steering distance is ensured.

In order to clearly illustrate the previous embodiment, another vehicle control method is further provided in the embodiment of the present invention, which is a specific implementation manner of the vehicle control method in the previous embodiment. Fig. 6 is a flowchart illustrating a vehicle control method according to another embodiment of the present invention. As shown in fig. 6, on the basis of the previous embodiment, the vehicle control method according to the embodiment of the present invention specifically includes:

s601, acquiring the current speed of the vehicle, the current distance between the vehicle and the front obstacle and the state of the driver.

Specifically, the step S601 is the same as the step S401 in the previous embodiment, and is not repeated here.

And S602, if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a fatigue driving state, triggering the vehicle to perform automatic emergency braking.

Specifically, the step S602 is the same as the step S402 in the previous embodiment.

And S603, if the current speed is greater than the set speed and the current distance is equal to the minimum steering distance, triggering the vehicle to steer.

Specifically, the step S603 is the same as the step S403 in the previous embodiment.

After step S401 of the previous embodiment, the vehicle control method of the embodiment of the invention may further include the following step S604.

And S604, if the current speed is equal to or less than the set speed and the current distance is equal to the minimum braking distance, triggering the vehicle to perform automatic emergency braking.

Specifically, as shown in table 3, when the current speed of the vehicle is equal to or less than a set speed (e.g., 45 km/h and 50 km/h) and the current distance between the vehicle and the obstacle ahead is greater than the minimum braking distance, the control strategy of the vehicle control method according to the embodiment of the present invention does not trigger the vehicle to perform automatic emergency braking and does not trigger the vehicle to perform automatic steering regardless of the state of the driver.

When the current speed of the vehicle is equal to or less than a set speed (for example, 45 kilometers per hour and 50 kilometers per hour) and the current distance between the vehicle and a front obstacle is equal to the minimum braking distance, the state of a driver is not considered, the electronic stability system controls the brake wheel cylinders to trigger the vehicle to perform automatic emergency braking, and sufficient braking distance is ensured when the vehicle is triggered to perform automatic emergency braking at the latest braking point.

When the current speed of the vehicle is greater than the set speed (for example, 45 kilometers per hour and 50 kilometers per hour) and the current distance between the vehicle and the obstacle in front is greater than the minimum braking distance, the vehicle is not triggered to perform automatic emergency braking and is not triggered to perform automatic steering regardless of the state of the driver.

When the current speed of the vehicle is greater than a set speed (for example, 45 kilometers per hour and 50 kilometers per hour) and the current distance between the vehicle and a front obstacle is equal to the minimum braking distance, if the state of a driver is a fatigue driving state, the electronic stability system controls a brake wheel cylinder to trigger the vehicle to perform automatic emergency braking. The brake device ensures that the vehicle can have enough braking distance when the vehicle is triggered to automatically and emergently brake at the latest braking point.

TABLE 3 control strategy III for vehicle control method

According to the vehicle control method provided by the embodiment of the invention, when the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the detection of the state of the driver is combined, and if the state of the driver is a fatigue driving state, the vehicle is triggered to automatically and emergently brake, so that the vehicle can be triggered to automatically and emergently brake at the latest braking point in advance when the driver drives in a fatigue state, the sufficient braking distance is ensured, the occurrence of collision accidents is avoided, and the safety performance of vehicle running is improved. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, if the state of the driver is the normal driving state, the vehicle is not triggered to perform automatic emergency braking, the vehicle can continuously run, the automatic emergency braking function of the vehicle is prevented from being triggered by mistake at the latest braking point when the driver drives normally, and the user experience is improved. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is less than the minimum braking distance, the vehicle is not triggered to automatically and emergently brake no matter whether the state of the driver is a fatigue driving state or not, and the shortage of the braking distance is avoided. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum steering distance, the vehicle is triggered to automatically steer, and the sufficient steering distance can be ensured when the vehicle is triggered to automatically steer at the latest steering point. When the current speed of the vehicle is equal to or less than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the vehicle is triggered to perform automatic emergency braking, and the sufficient braking distance can be ensured when the vehicle is triggered to perform automatic emergency braking at the latest braking point.

To more clearly illustrate the vehicle control method according to the embodiment of the present invention, a detailed description will be given below of a specific embodiment of the vehicle control method according to the embodiment of the present invention with reference to fig. 7. As shown in fig. 7, the method comprises the following steps:

and S701, the vehicle is electrified to run.

S702, judging whether the current speed of the vehicle is greater than the set speed.

If yes, go on to step S703. If not, the process continues to step S711.

And S703, comparing the current distance between the vehicle and the front obstacle with the minimum braking distance.

If the current distance between the vehicle and the obstacle in front is greater than the minimum braking distance, the process continues to step S704. If the current distance between the vehicle and the obstacle in front is equal to the minimum braking distance, the process continues to step S705. If the current distance between the vehicle and the obstacle in front is less than the minimum braking distance, the process continues to step S708.

And S704, the vehicle is not triggered to automatically and emergently brake, and the vehicle is not triggered to automatically steer.

S705, it is determined whether the state of the driver is a fatigue driving state.

If yes, go on to step S706. If not, the process continues to step S707.

And S706, triggering the vehicle to automatically and emergently brake.

And S707, the vehicle is not triggered to automatically and emergently brake, and the vehicle is not triggered to automatically steer.

S708, the current distance between the vehicle and the obstacle ahead is compared with the minimum steering distance.

If the current distance between the vehicle and the obstacle in front is greater than the minimum steering distance, the process continues to step S709. If the current distance between the vehicle and the obstacle in front is equal to the minimum steering distance, the process continues to step S710.

And S709, the vehicle is not triggered to automatically and emergently brake, and the vehicle is not triggered to automatically steer.

And S710, triggering the vehicle to automatically steer.

S711 compares the current distance between the vehicle and the front obstacle with the minimum braking distance.

If the current distance between the vehicle and the obstacle in front is greater than the minimum braking distance, the process continues to step S712. If the current distance between the vehicle and the obstacle in front is equal to the minimum braking distance, the process continues to step S713.

And S712, the vehicle is not triggered to automatically and emergently brake, and the vehicle is not triggered to automatically steer.

And S713, triggering the vehicle to perform automatic emergency braking.

In the embodiment, when the current speed of the vehicle is greater than the set speed, the state of the driver is a fatigue driving state, and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the vehicle is triggered to perform automatic emergency braking, so that the vehicle can be triggered to perform automatic emergency braking at the latest braking point in advance, the sufficient braking distance is ensured, and the automatic emergency braking function is prevented from being triggered by mistake. When the current speed of the vehicle is greater than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum steering distance, the automatic steering of the vehicle is triggered no matter whether the state of the driver is a fatigue driving state or not, the automatic steering of the vehicle can be triggered at the latest steering point, and the sufficient steering distance is ensured. When the current speed of the vehicle is equal to or less than the set speed and the current distance between the vehicle and the front obstacle is equal to the minimum braking distance, the vehicle is triggered to perform automatic emergency braking, and the sufficient braking distance can be ensured when the vehicle is triggered to perform automatic emergency braking at the latest braking point.

In order to realize the above embodiment, the embodiment of the invention also provides a vehicle control device. The vehicle control apparatus of the embodiment of the invention may be used to execute the vehicle control method of the above-described embodiment. Fig. 8 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention. As shown in fig. 8, the vehicle control apparatus according to the embodiment of the present invention may specifically include: an acquisition module 81 and a first triggering module 82.

The obtaining module 81 is configured to obtain a current speed of the vehicle, a current distance between the vehicle and a front obstacle, and a state of the driver.

The first triggering module 82 is configured to trigger the vehicle to perform automatic emergency braking if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a fatigue driving state.

Further, in a possible implementation manner of the embodiment of the present invention, the speed is set to the speed of the vehicle at which the minimum braking distance is equal to the minimum steering distance.

Further, in a possible implementation manner of the embodiment of the present invention, the first triggering module 82 may further be configured to: and if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a normal driving state, the vehicle is not triggered to carry out automatic emergency braking.

Further, in a possible implementation manner of the embodiment of the present invention, the vehicle control apparatus according to the embodiment of the present invention may further include: and the second triggering module 83 is configured to trigger the vehicle to steer if the current speed is greater than the set speed and the current distance is equal to the minimum steering distance.

Further, in a possible implementation manner of the embodiment of the present invention, the obtaining module 81 may be specifically configured to: collecting a face image of a driver; extracting fatigue features in the face image; based on the fatigue characteristics, the state of the driver is determined.

Further, in a possible implementation manner of the embodiment of the present invention, the obtaining module 81 may be specifically configured to: detecting whether the hands of the driver leave the steering wheel; if so, determining that the state of the driver is a fatigue driving state; if not, determining that the state of the driver is a normal driving state.

Further, in a possible implementation manner of the embodiment of the present invention, the vehicle control apparatus according to the embodiment of the present invention may further include: and the third triggering module is used for triggering the vehicle to automatically and emergently brake if the current speed is equal to or less than the set speed and the current distance is equal to the minimum braking distance.

It should be noted that the foregoing explanation of the embodiment of the vehicle control method is also applicable to the vehicle control device of the embodiment, and is not repeated here.

Based on the above embodiment, the embodiment of the invention further provides a vehicle control system. Fig. 9 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention. As shown in fig. 9, the vehicle control system according to the embodiment of the present invention may specifically include: the speed detection device 91, the distance detection device 92, the driver state detection device 93, and the electronic stability system 95 are the vehicle control device 96 according to the above embodiment.

The speed detection device 91 is used for detecting the current speed of the vehicle and sending the current speed to the acquisition module 81 in the vehicle control device 91.

And the distance detection device 92 is used for detecting the current distance between the vehicle and the front obstacle and sending the current distance to the acquisition module 81 in the vehicle control device 96.

The driver state detection device 93 is configured to detect state information of the driver, and send the state information of the driver to the acquisition module 81 in the vehicle control device 96, so that the acquisition module 81 acquires the state of the driver according to the state information of the driver.

And an electronic stability system 95 for triggering automatic emergency braking of the vehicle under the control of the first triggering module 82 in the vehicle control device 96.

Further, in a possible implementation manner of the embodiment of the present invention, the vehicle control system according to the embodiment of the present invention may further include: and an electric power steering system 94 for triggering the vehicle to steer under the control of the second triggering module 83 in the vehicle control device 96.

Further, in a possible implementation manner of the embodiment of the present invention, the driver state detection device 93 is a camera; the camera is used for collecting a face image of the driver and sending the face image to an acquisition module in the vehicle control device so that the acquisition module can acquire the state of the driver according to the face image.

Further, in a possible implementation manner of the embodiment of the present invention, the driver state detection device 93 is a steering wheel sensor; and the steering wheel sensor is used for detecting whether the hands of the driver leave the steering wheel or not and sending the detection result to an acquisition module in the vehicle control device so that the acquisition module can acquire the state of the driver according to the detection result.

Further, in a possible implementation manner of the embodiment of the present invention, the steering wheel sensor may specifically include, but is not limited to, a mechanical sensor and/or a capacitive sensor.

It should be noted that the foregoing explanation of the embodiment of the vehicle control method is also applicable to the vehicle control system of the embodiment, and is not repeated here.

Based on the embodiment, the embodiment of the invention further provides a vehicle. Fig. 10 is a schematic structural diagram of a vehicle according to an embodiment of the present invention. As shown in fig. 10, a vehicle 11 of the embodiment of the invention includes a vehicle control device 96 according to the embodiment described above.

In order to implement the foregoing embodiments, the present invention further provides an electronic device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program for implementing the vehicle control method proposed in the foregoing embodiments.

In order to achieve the above-mentioned embodiments, the present invention also proposes a non-transitory computer-readable storage medium having stored thereon a computer program, which is executed by a processor, for implementing the vehicle control method proposed by the foregoing embodiments.

In order to implement the above embodiments, the present invention also proposes a computer program product, which when the instructions in the computer program product are executed by a processor, executes the vehicle control method proposed by the foregoing embodiments.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A vehicle control method characterized by comprising the steps of:

if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a fatigue driving state, triggering the vehicle to perform automatic emergency braking, and further comprising:

if the current speed is greater than the set speed and the current distance is equal to a minimum steering distance, triggering the vehicle to steer, wherein the minimum steering distance is less than the minimum braking distance; and if the current speed is equal to or less than the set speed and the current distance is equal to the minimum braking distance, triggering the vehicle to perform automatic emergency braking, wherein the set speed is the speed of the vehicle when the minimum braking distance is equal to the minimum steering distance.

2. The vehicle control method according to claim 1, characterized by further comprising:

and if the current speed is greater than the set speed, the current distance is equal to the minimum braking distance, and the state of the driver is a normal driving state, the vehicle is not triggered to carry out automatic emergency braking.

3. The vehicle control method according to claim 1, characterized in that acquiring the state of the driver includes:

acquiring a face image of the driver;

extracting fatigue features in the face image;

determining the state of the driver according to the fatigue characteristics; and/or, the obtaining the state of the driver comprises:

detecting whether the hands of the driver leave a steering wheel;

if so, determining that the state of the driver is the fatigue driving state;

if not, determining that the state of the driver is a normal driving state.

4. A vehicle control apparatus characterized by comprising:

the first triggering module is configured to trigger the vehicle to perform automatic emergency braking if the current speed is greater than a set speed, the current distance is equal to a minimum braking distance, and the state of the driver is a fatigue driving state, and further includes:

the second triggering module is used for triggering the vehicle to steer if the current speed is greater than the set speed and the current distance is equal to a minimum steering distance, wherein the minimum steering distance is less than the minimum braking distance; and the third triggering module is used for triggering the vehicle to perform automatic emergency braking if the current speed is equal to or less than the set speed and the current distance is equal to the minimum braking distance, wherein the set speed is the speed of the vehicle when the minimum braking distance is equal to the minimum steering distance.

5. The vehicle control apparatus of claim 4, wherein the first triggering module is further configured to:

6. The vehicle control apparatus of claim 4, wherein the obtaining module is specifically configured to:

acquiring a face image of the driver;

extracting fatigue features in the face image;

determining the state of the driver according to the fatigue characteristics; and/or the presence of a gas in the gas,

the acquisition module is specifically configured to:

detecting whether the hands of the driver leave a steering wheel;

if so, determining that the state of the driver is the fatigue driving state;

if not, determining that the state of the driver is a normal driving state.

7. A vehicle control system, characterized by comprising: speed detection means, distance detection means, driver state detection means, electronic stability system and vehicle control means according to any one of claims 4 to 6;

the electronic stability system is used for triggering the vehicle to perform automatic emergency braking under the control of a first triggering module in the vehicle control device.

8. The vehicle control system according to claim 7, characterized in that the driver state detection means includes a camera and/or a steering wheel sensor;

the camera is used for acquiring a face image of the driver and sending the face image to the acquisition module in the vehicle control device, so that the acquisition module can acquire the state of the driver according to the face image;

the steering wheel sensor is used for detecting whether the hands of the driver leave the steering wheel or not and sending a detection result to the acquisition module in the vehicle control device, so that the acquisition module acquires the state of the driver according to the detection result.

9. The vehicle control system of claim 8, wherein the steering wheel sensor comprises a mechanical sensor and/or a capacitive sensor.

10. A vehicle characterized by comprising the vehicle control apparatus according to any one of claims 4 to 6.

11. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle control method according to any one of claims 1 to 3.

12. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for implementing the vehicle control method according to any one of claims 1 to 3.