CN111452723B - Intelligent vehicle, early warning control method, device and system thereof and storage medium - Google Patents

Abstract

The embodiment of the invention discloses a vehicle early warning control method, a device, a system and a storage medium, wherein the method comprises the following steps: acquiring a detection signal in front of a current road of a vehicle; determining the interval distance corresponding to the adjacent target object in the isolation belt on the current road side based on the detection signal, and identifying the first target position corresponding to the gap when the gap exists in the isolation belt based on the interval distance; identifying a second target position corresponding to the target obstacle based on the detection signal; and generating a vehicle early warning signal when the target obstacle is determined to have the roadblock risk according to the position relation between the first target position and the second target position. The notch in the isolation belt and the first target position corresponding to the notch, the target obstacle and the second target position corresponding to the notch can be effectively identified; when the first target position is close to the second target position, the situation that the notch of the isolation belt is blocked by the target obstacle can be judged, so that a vehicle early warning signal is timely generated, and the safety of intelligent driving is effectively improved.

Description

Intelligent vehicle and its early warning control method, device, system and storage medium

technical field

The invention relates to the field of vehicle control, in particular to an intelligent vehicle and its early warning control method, device, system and storage medium.

Background technique

With the improvement of intelligence, many vehicles are equipped with collision detection devices such as cameras, visual sensors or radars to sense, detect and analyze the surrounding environment during driving, so as to remind the driver in time to avoid collisions or automatically control Slow down to avoid collisions, effectively increasing the safety of vehicle driving. For example, the front collision warning (Front Collision Warning, FCW) system is a set of active driving assistance technology that uses electromagnetic wave radar as the sensing element and the sound and light alarm signal as the output; the automatic emergency braking (Autonomous Emergency Braking, AEB) system is a It is an active safety driving assistance technology that uses electromagnetic wave radar as the sensing element, assists with sound and light alarm signals, and applies brake force as the output.

In the relevant active safety driving assistance technology, when the car is driving at high speed (greater than 60 km/h), it is often impossible to detect static obstacles or low-speed obstacles in the isolation zone (for example, roadside fence) close to the road in time. , There is often a problem of missing inspections, resulting in serious collision accidents and collision losses.

Contents of the invention

In view of this, the embodiment of the present invention provides an intelligent vehicle and its early warning control method, device, system and storage medium, aiming to improve the detection effect of obstacles close to the isolation zone of the road during driving, and reduce vehicle collisions loss.

The technical scheme of the embodiment of the present invention is realized like this:

In the first aspect of the embodiments of the present invention, there is provided a vehicle early warning control method, the method comprising:

Obtain the detection signal ahead of the current road of the vehicle;

Determine the separation distance corresponding to the adjacent target object in the isolation zone on the roadside of the current road based on the detection signal, and identify the first target position corresponding to the gap when it is determined that there is a gap in the isolation zone based on the separation distance ;

identifying a second target position corresponding to the target obstacle based on the detection signal;

A vehicle warning signal is generated when it is determined that the target obstacle has a roadblock risk according to the positional relationship between the first target position and the second target position.

In the second aspect of the embodiment of the present invention, a vehicle early warning control device is provided, the device includes:

An acquisition module, configured to acquire a detection signal ahead of the current road of the vehicle;

A determining module, configured to determine, based on the detection signal, the separation distance corresponding to adjacent target objects in the isolation zone on the roadside of the current road;

The first identification module is configured to identify the first target position corresponding to the gap when it is determined that there is a gap in the isolation zone based on the separation distance;

A second identification module, configured to identify a second target position corresponding to the target obstacle based on the detection signal;

An early warning module, configured to generate a vehicle early warning signal when it is determined that the target obstacle has a roadblock risk according to the positional relationship between the first target position and the second target position.

In the third aspect of the embodiment of the present invention, a vehicle early warning control system is provided, the system includes:

memory for storing executable programs;

The processor is configured to implement the vehicle pre-warning control method as described in any one of the foregoing embodiments when executing the executable program stored in the memory.

The fourth aspect of the embodiments of the present invention provides a smart vehicle, including a millimeter-wave radar for generating a detection signal and the vehicle early warning control system described in any one of the foregoing embodiments.

According to the fifth aspect of the embodiments of the present invention, there is provided a computer storage medium, which stores an executable program. When the executable program is executed by a processor, the vehicle pre-warning control method described in any one of the foregoing embodiments is implemented.

In the technical solution provided by the embodiment of the present invention, the separation distance corresponding to the adjacent target object in the isolation zone on the roadside of the current road is determined based on the detection signal, and when it is determined that there is a gap in the isolation zone based on the separation distance, the identification Identifying the first target position corresponding to the gap can effectively identify the gap in the isolation zone and the first target position corresponding to the gap; identifying the second target position corresponding to the target obstacle based on the detection signal can effectively identify The target obstacle on the road and the corresponding second target position; when the first target position is close to the second target position, it can be determined that the gap in the isolation zone is caused by the target obstacle, thereby generating a vehicle early warning signal in time, Effectively improve the safety of intelligent driving.

Description of drawings

1 is a schematic flow chart of a vehicle early warning control method according to an embodiment of the present invention;

2 is a schematic flow chart of a vehicle early warning control method according to another embodiment of the present invention;

3 is a schematic structural diagram of a vehicle early warning control device according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a vehicle early warning control system according to an embodiment of the present invention.

Detailed ways

The technical solutions of the present invention will be further described in detail below in conjunction with the drawings and specific embodiments of the description. It should be understood that the examples provided here are only used to explain the present invention, not to limit the present invention. In addition, the examples provided below are some examples for implementing the present invention, rather than providing all the examples for implementing the present invention. In the case of no conflict, the technical solutions recorded in the embodiments of the present invention can be combined in any manner implement.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

An embodiment of the present invention provides a vehicle early warning control method, please refer to Figure 1, the vehicle early warning control method includes:

Step 101, acquiring the detection signal ahead of the current road of the vehicle;

A millimeter-wave radar and a processor for processing signals are installed on the vehicle. In one example, a 2-transmission and 4-receiver FMCW (Frequency Modulated Continuous Wave, Frequency Modulated Continuous Wave) millimeter-wave radar is installed on the vehicle, and the receiving antenna receives 4 echo signal. The processor receives the echo signal of the millimeter wave radar to generate the detection signal. Optionally, the processor uses a MIMO (Multiple-Input Multiple-Output, Multiple-Input Multiple-Output) algorithm to map to 8 echo signals of 1 sending and 8 receiving, which can improve resolution performance. Optionally, perform one-dimensional Fourier transform, two-dimensional Fourier transform, CFAR constant false alarm filtering, and angle information calculation on the 8-way echo signals to obtain a detection signal corresponding to the current road, and the detection signal includes: the serial number of the target , position coordinates (such as X, Y, Z coordinate values), speed, reflection intensity. In another example, the millimeter-wave radar converts the received echo signal through a built-in processor to generate the detection signal, and the processor for processing the signal obtains the detection signal.

Step 102: Determine the separation distance corresponding to adjacent target objects in the separation zone on the side of the current road based on the detection signal, and when it is determined based on the separation distance that there is a gap in the separation zone, identify the first object corresponding to the gap. a target position;

In an embodiment, the determining the separation distance corresponding to adjacent target objects in the isolation zone on the roadside of the current road based on the detection signal includes: based on the detection signal, selecting a relative ground static and reflection intensity A plurality of first targets whose difference meets the setting requirements; select a second target whose difference between adjacent distances meets the setting requirements from the plurality of first targets; determine the selected target based on the position of the second target The above separation distance.

Since the barriers (such as roadside guardrails) are relatively stationary on the ground, they can be considered to have the same speed as the ground. According to the speed of the target in the detection signal, in addition, due to the uniformity of the reflection intensity of each target object in the barrier Well, according to the speed and reflection intensity of the target in the detection signal, multiple targets in the detection signal that are stationary relative to the ground and whose reflection intensity difference is within the set threshold can be selected as the first target. And because the isolation zone generally has an equidistant property, further selecting a second target object whose adjacent spacing difference is smaller than a set threshold from multiple first targets can be determined as a target object arranged at an equal interval in the isolation zone, The separation distance is determined according to the distance between two adjacent target objects. In one embodiment, when the vehicle is in the high-speed cruising state, since the target objects in the isolation zone closer to the vehicle (such as a plurality of fence posts in front of the driving direction) are not blocked, it can be determined according to the set number ( Such as 4) the spacing between columns, calculate the average spacing, and determine the average spacing as the spacing distance.

In another embodiment, in order to more accurately determine the separation distance corresponding to adjacent target objects in the isolation zone on the roadside and avoid the interference of other obstacles, the determination of the roadside distance of the current road based on the detection signal The separation distance corresponding to adjacent target objects in the isolation zone includes: based on the detection signal, selecting a plurality of third target objects whose difference with respect to the ground static and reflection intensity meets the setting requirements; from the plurality of third target objects Select the fourth target object whose adjacent spacing difference meets the setting requirements; perform linear fitting on the position of the fourth target object to detect whether it conforms to the set linear feature; according to the fourth target that meets the linear feature The position of the object determines the separation distance. By comprehensively considering the uniformity, equidistantness and good linearity of the reflection intensity, the interference of other obstacles can be reduced, and the accuracy of determining the separation distance can be improved.

For example, on an empty highway, the millimeter-wave radar on the vehicle detects the posts of the metal guardrail. According to the reflection intensity of the target in the detection signal, if the variance value of the reflection intensity of each target is less than the set threshold, it can be considered that their reflection intensity is uniform, and the target with uniform reflection intensity is selected as an independent target. Four targets can be selected and respectively Located at (x1,y1), (x2,y2), (x3,y3), (x4,y4), if satisfy

It means that they have the characteristics of equal intervals.

Then, for these targets, enter the linear fit program (linear fit program) in the form of points,

A fitting straight line can be obtained according to the linear fitting procedure.

Take the point corresponding to the target on the fitting line, find the variance, and take the point (xi, fi) on the line, where i is the footmark, that is, the abscissa and ordinate of the i-th point are xi, fi respectively, beg:

Among them, n=4, the vehicle speed is 60 to 90 kilometers per hour, and the variance e1<0.3 can be considered as "good linearity".

The separation distance is determined according to the position of the target object conforming to the linear feature, so that the separation distance of the isolation zone is accurate, the influence of interference factors is avoided, and the probability of false alarm is reduced.

In an embodiment, when determining that there is a gap in the isolation zone based on the separation distance, identifying the first target position corresponding to the gap includes: selecting an adjacent distance as the separation distance according to the detection signal The first target position is determined according to the positions of at least two fifth target objects that are multiples of the at least two fifth target objects. If there is an adjacent interval in the detection signal that is an integer or approximately an integer multiple of the separation distance, the first target position is determined according to the detection signal of the corresponding target. For example, if y_n-y_(n-1)=kd and k is an integer greater than or equal to 2 or an approximate integer, then the target object in the isolation zone, such as a metal guardrail post signal, is missing here, and the average value m1 of the missing position is calculated =0.5*(y_n+y_(n-1)), that is, m1 is the ordinate of the position to be output that should have a pillar signal but does not have a pillar signal.

Step 103, identifying a second target position corresponding to the target obstacle based on the detection signal;

In an embodiment, the identifying the second target position corresponding to the target obstacle based on the detection signal includes: selecting an obstacle whose speed meets the set threshold based on the detection signal; confidence level, determining that the obstacle corresponding to the abscissa confidence level that meets the requirements is the target obstacle; and determining the second target position according to the position of the target obstacle.

Wherein, based on the detection signal, obstacles whose speed meets the set threshold are selected for screening low-speed or stationary obstacles, and those skilled in the art determine the set threshold according to the fault type.

Wherein, according to the abscissa confidence degree corresponding to the obstacle, determining that the obstacle corresponding to the abscissa confidence degree that meets the requirements is the target obstacle includes:

Within the set time period, the abscissa x of the obstacle is sampled for a predetermined number of times, and if the variance is greater than se1, the abscissa is considered to be a target obstacle with low confidence.

For example, in an example, if the vehicle speed is 90kmph, the predetermined number is 10, and the set duration t1 is 2s, if se1 is greater than 4, it is considered that the abscissa confidence is low, and the ordinate oy1 of the target obstacle is recorded as is the second target position.

Step 104, generating a vehicle warning signal when it is determined that the target obstacle has a roadblock risk according to the positional relationship between the first target position and the second target position.

Comparing the first target position m1 with the second target position oy1,

(m1-oy1)∧2≤1

If the above formula is satisfied, it means that the gap in the isolation zone has the same ordinate as the target obstacle, and it can be determined that the target obstacle blocks a part of the isolation zone and the pillar signal is missing, thereby generating a vehicle warning signal to avoid the target in time Obstacles to avoid collision losses. In this embodiment, the vehicle early warning signal can be voice information and/or screen output information used to remind the driver, it can also be control information used to control the automatic braking of the vehicle, or it can be a message used to control the automatic braking of the vehicle. Control messages and voice messages and/or screen output messages to alert the driver.

When there are multiple gap positions in the isolation belt and multiple target obstacles on the road, and according to the positional relationship between the first target position and the second target position, it is determined that the target obstacle has a roadblock risk, Generating a vehicle early warning signal includes: calculating the distance between the first target position closest to the vehicle and the second target position closest to the vehicle; when it is determined that the distance is less than a set distance, generating a reminder for reminding the driver information and/or control information for automatic braking of the vehicle. In this embodiment, it is only necessary to compare the positional relationship between the first target position and the second target position closest to the vehicle to determine whether the nearest gap is blocked by the target obstacle, thereby generating a vehicle warning signal in time.

In an embodiment, generating control information for automatic braking of the vehicle includes: detecting the lane where the vehicle is currently located, and generating the control information if the vehicle is located in the lane where the target obstacle is located, the control information for applying a first braking force to a wheel of the vehicle on a side close to the target obstacle and a second braking force to a wheel on a side away from the target obstacle, the first braking force being smaller than the second braking force power.

The vehicle locates the current lane through visual detection. If the current lane is the middle lane, the obstacles blocking the isolation zone will not pose a roadblock risk to the vehicle. There is no need to generate a vehicle warning signal here; if the current lane is If the lane is the innermost lane, the outer adjacent lane is the direction away from the obstacle, and the control information controls the vehicle to slow down and turn to the outer adjacent lane; if the current lane is the outermost lane, the inner adjacent lane The lane is a direction away from obstacles, and the control information controls the vehicle to slow down and turn to an inner adjacent lane. This embodiment detects the lane where the vehicle is currently located, and outputs a corresponding vehicle warning signal according to the lane where the vehicle is currently located, which reduces the probability of false alarms, and performs intelligent braking and steering control on the vehicle, further improving driving safety. Safety, help reduce collision loss.

Referring to Fig. 2, the vehicle early warning control method provided by another embodiment of the present invention includes the following steps:

Step 201, judging whether the driving state of the vehicle meets the setting requirements;

Here, judging whether the driving state of the vehicle meets the setting requirements includes: judging whether the vehicle is driving on a highway, judging whether automatic driving is turned on, judging whether the speed of the vehicle is greater than or equal to at least one of a set speed value, in an example, The processor executes step 202 under the condition that the vehicle is driving on the expressway, the automatic driving is turned on, and the vehicle speed is greater than 60KM/hour.

Step 202, start receiving and initially processing radar signals;

The processor receives and initially processes the echo signal of the millimeter wave radar on the vehicle. Optionally, the processor uses a MIMO (Multiple-Input Multiple-Output, Multiple-Input Multiple-Output) algorithm to map to 8 echo signals of 1 sending and 8 receiving, which can improve resolution performance. Optionally, a 2-transmit and 4-receive FMCW (Frequency Modulated Continuous Wave) millimeter-wave radar is installed on the vehicle to receive 4 echo signals received by the antenna. The processor uses the MIMO (Multiple-Input Multiple-Output) algorithm to map the received 4-way echo signals to 8-way echo signals of 1 transmission and 8 reception, and performs one-dimensional Fusion calculation on the 8-way echo signals. Fourier transform, two-dimensional Fourier transform, CFAR constant false alarm filter, angle information calculation to obtain the detection signal corresponding to the current road, the detection signal includes: the serial number of the target, position coordinates (such as X, Y, Z coordinate values), Speed, reflection strength.

Step 203, determining the separation distance corresponding to adjacent target objects in the isolation zone;

In an embodiment, the processor selects, based on the detection signal, a plurality of first targets whose differences with respect to ground stationary and reflection intensity meet the setting requirements. Selecting a second target object whose adjacent spacing difference meets the setting requirements from the plurality of first target objects; determining the separation distance based on the position of the second target object.

In another embodiment, based on the detection signal, the processor selects a plurality of third targets whose difference with respect to the ground static and reflection intensity meets the setting requirements; selects the adjacent distance from the plurality of third targets The difference of the difference meets the setting requirements of the fourth target object; linear fitting is performed on the position of the fourth target object to detect whether the isolation zone conforms to the set linear characteristics; according to the fourth target object that meets the linear characteristics The location determines the separation distance.

Step 204, identifying the gap in the isolation zone and the first target position;

Selecting at least two fifth targets whose adjacent spacing is a multiple of the separation distance according to the detection signal corresponding to the separation zone, and determining the first target position according to the positions of the at least two fifth targets. If there is an adjacent interval in the detection signal corresponding to the isolation zone that is an integer or an approximate integer multiple of the separation distance, the first target position is determined according to the position of the corresponding detection signal. For example, if y_n-y_(n-1)=kd and k is an integer greater than or equal to 2 or an approximate integer, then the pillar signal is missing here, and the average value of the missing position m1=0.5*(y_n+y_(n -1)), that is, m1 is the ordinate of the position that should have a pillar signal but not have a pillar signal that needs to be output.

Step 205, identifying the target obstacle and the second target position;

The processor selects an obstacle whose speed meets the set threshold based on the detection signal; according to the abscissa confidence degree corresponding to the obstacle, determines that the obstacle corresponding to the abscissa confidence degree that meets the requirements is the target obstacle; according to The position of the target obstacle determines the second target position.

Wherein, based on the detection signal, obstacles whose speed meets the set threshold are selected for screening low-speed or stationary obstacles, and those skilled in the art determine the set threshold according to the fault type. Due to the low recognition accuracy of millimeter-wave radar for low-speed and stationary obstacles, related technologies generally increase the number of radar receiving antennas to improve recognition accuracy, but as the number of receiving antennas doubles, hardware costs and processors will be greatly increased. In this embodiment, the low-speed or stationary obstacles are first screened, and the target obstacle is further determined according to the confidence level of the abscissa, which saves hardware costs, effectively identifies risks in advance, and improves the safety of intelligent driving.

Wherein, according to the abscissa confidence degree corresponding to the obstacle, determining that the obstacle corresponding to the abscissa confidence degree that meets the requirements is the target obstacle includes:

Within the set time period, the abscissa x of the obstacle is sampled for a predetermined number of times, and if the variance is greater than se1, the abscissa is considered to be a target obstacle with low confidence.

Step 206, judging whether the first target position coincides with the second target position;

Comparing the first target position with the second target position, if the difference between the two positions meets the setting conditions, it is determined that the positions of the two coincide, and it is determined that the gap in the isolation zone is caused by the target obstacle, and step 207 is executed , otherwise, it means that the gap in the isolation zone is caused by other reasons, and return to step 201 without outputting.

Step 207, generating a vehicle warning signal.

In this embodiment, the vehicle early warning signal can be voice information and/or screen output information used to remind the driver, it can also be control information used to control the automatic braking of the vehicle, or it can be a message used to control the automatic braking of the vehicle. Control messages and voice messages and/or screen output messages to alert the driver.

In this embodiment, the target obstacle can be a low-speed obstacle vehicle close to the isolation zone or a sweeper used to clean the roadside guardrail. In traditional radar detection, when the target obstacle is encountered, the radar will compare it with the isolation zone. Considered as a whole, collisions cannot be avoided. The vehicle early warning control method provided in this embodiment can effectively identify target obstacles near the isolation zone without changing the radar hardware, thereby realizing early warning, reducing collision losses, and improving the safety of intelligent driving.

Please refer to Fig. 3, the embodiment of the present invention also provides a vehicle early warning control device, the vehicle early warning control device includes:

An acquisition module 301, configured to acquire a detection signal ahead of the current road of the vehicle;

A determining module 302, configured to determine, based on the detection signal, the separation distance corresponding to adjacent target objects in the isolation zone on the roadside of the current road;

The first identification module 303 is configured to identify the first target position corresponding to the gap when it is determined that there is a gap in the isolation zone based on the separation distance;

The second identification module 304 is configured to identify a second target position corresponding to the target obstacle based on the detection signal;

The early warning module 305 is configured to generate a vehicle early warning signal when it is determined that the target obstacle has a roadblock risk according to the positional relationship between the first target position and the second target position.

In an embodiment, the determination module 302 is configured to: based on the detection signal, select a plurality of first targets whose differences with respect to the ground stationary and reflection intensity meet the setting requirements; from the plurality of first targets Selecting a second target whose difference between adjacent distances meets the setting requirements; determining the separation distance based on the position of the second target.

In another embodiment, the determining module 302 is configured to: based on the detection signal, select a plurality of third targets whose differences with respect to the ground stationary and reflection intensity meet the setting requirements; from the plurality of third targets Select the fourth target whose difference between adjacent distances meets the setting requirements; perform linear fitting on the position of the fourth target to detect whether the isolation zone conforms to the set linear feature; The position of the fourth target determines the separation distance.

In an embodiment, the first identification module 303 is configured to: select at least two fifth targets whose adjacent distance is a multiple of the separation distance according to the detection signal, and according to the at least two fifth targets The location of determines the first target location. If there is an adjacent interval in the detection signal corresponding to the isolation zone that is an integer or an approximate integer multiple of the separation distance, the first target position is determined according to the position of the corresponding detection signal.

In an embodiment, the second identification module 304 is configured to: select an obstacle whose speed meets the set threshold based on the detection signal; determine the abscissa confidence degree that meets the requirements according to the abscissa confidence degree corresponding to the obstacle The corresponding obstacle is the target obstacle; the second target position is determined according to the position of the target obstacle.

In one embodiment, the early warning module 305 is configured to: calculate the distance between the first target position closest to the vehicle and the second target position closest to the vehicle; when it is determined that the distance is less than a set distance, generate a Reminder messages to alert the driver and/or control messages for automatic braking of the vehicle.

In one embodiment, the early warning module 305 is configured to: detect the lane where the vehicle is currently located, and generate the control information if the vehicle is located in the lane where the target obstacle is located Applying a first braking force to the wheels on the side of the target obstacle and applying a second braking force to the wheels on the side away from the target obstacle, the first braking force is smaller than the second braking force.

It should be noted that: when the vehicle pre-warning control device provided by the above-mentioned embodiments implements the pre-warning control method, it only uses the division of the above-mentioned program modules as an example. In practical applications, the above-mentioned processing can be assigned to different programs according to needs. Module completion means that the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the vehicle early warning control device provided in the above embodiments and the vehicle early warning control method embodiments belong to the same concept, and its specific implementation process is detailed in the method embodiments, and will not be repeated here.

The embodiment of the present invention also provides a vehicle early warning control system. Fig. 4 only shows an exemplary structure of the early warning control system but not the whole structure, and part or all of the structures shown in Fig. 4 can be implemented as required.

The early warning control system 400 provided by the embodiment of the present invention includes: at least one processor 401 , a memory 402 , a user interface 403 and at least one network interface 404 . Various components in the early warning control system 400 are coupled together through the bus system 405 . It can be understood that the bus system 405 is used to realize connection and communication between these components. In addition to the data bus, the bus system 405 also includes a power bus, a control bus and a status signal bus. However, for clarity of illustration, the various buses are labeled as bus system 405 in FIG. 4 .

Wherein, the user interface 403 may include a display, a keyboard, a mouse, a trackball, a click wheel, keys, buttons, a touch panel or a touch screen, and the like.

It can be understood that the memory 402 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories.

The memory 402 in the embodiment of the present invention is used to store various types of data to support the execution of the vehicle early warning control method. Examples of these data include: any executable program for running on the mobile device 400 , such as the executable program 4021 , and the program for implementing the vehicle early warning control method of the embodiment of the present invention may be included in the executable program 4021 .

The vehicle early warning control method disclosed in the embodiment of the present invention may be applied to the processor 401 or implemented by the processor 401 . The processor 401 may be an integrated circuit chip and has signal processing capabilities. In the implementation process, each step of the vehicle pre-warning control method can be completed by an integrated logic circuit of hardware in the processor 401 or instructions in the form of software. The aforementioned processor 401 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The processor 401 may implement or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present invention can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in the storage medium, the storage medium is located in the memory 402, the processor 401 reads the information in the memory 402, and combines its hardware to complete the steps of the vehicle early warning control method provided by the embodiment of the present invention.

An embodiment of the present invention also provides an intelligent vehicle, which is characterized in that it includes a millimeter-wave radar for generating detection signals and the vehicle early warning control system described in the foregoing embodiments, wherein the millimeter-wave radar and the processor in the early warning control system communication connection. In one embodiment, the millimeter-wave radar has a built-in processor, which converts the received echo signal into a detection signal and sends it to the processor of the early warning control system. In another embodiment, the processing of the early warning control system The detector obtains the echo signal received by the millimeter-wave radar and generates the detection signal after conversion and processing.

The embodiment of the present invention also provides a readable storage medium, and the storage medium may include: a removable storage device, a random access memory (RAM, Random Access Memory), a read-only memory (ROM, Read-Only Memory), a magnetic disk or CDs and other media that can store program codes. The readable storage medium stores an executable program; the executable program is used to implement the vehicle pre-warning control method described in any embodiment of the present invention when executed by a processor.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, embodiments of the invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of another programmable data processing system to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing system produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing system to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing system, causing a series of operational steps to be performed on the computer or other programmable system to produce a computer-implemented process, whereby the The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (11)

1. A vehicle early warning control method, characterized in that, comprising: Obtain the detection signal ahead of the current road of the vehicle; Determine the separation distance corresponding to the adjacent target object in the isolation zone on the roadside of the current road based on the detection signal, and identify the first target position corresponding to the gap when it is determined that there is a gap in the isolation zone based on the separation distance ; The target object is an object that is stationary relative to the ground and has uniform reflection intensity; the gap indicates that there is an adjacent interval in the detection signal that is an integer or an approximate integer multiple of the interval distance; Identifying a second target position corresponding to the target obstacle based on the detection signal; the target obstacle is an obstacle whose speed selected based on the detection signal meets a set threshold and whose corresponding abscissa confidence meets requirements; If it is determined based on the positional relationship between the first target position and the second target position that the gap has the same ordinate as the target obstacle, then a vehicle warning signal is generated. 2. The vehicle early warning control method according to claim 1, wherein the detection signal comprises: the position information of the target, the reflection intensity and speed; The separation distance corresponding to adjacent target objects in the isolation zone, including: Based on the detection signal, selecting a plurality of first targets whose difference with respect to ground rest and reflection intensity meets the setting requirements; Selecting a second target whose difference between adjacent distances meets the setting requirements from the plurality of first targets; The separation distance is determined based on the position of the second target. 3. The vehicle early warning control method according to claim 1, wherein said determining the interval distance corresponding to the adjacent target object in the isolation zone on the side of the current road based on the detection signal comprises: Based on the detection signal, selecting a plurality of third targets whose difference with respect to the ground static and reflection intensity meets the setting requirements; Selecting a fourth target whose difference between adjacent distances meets the setting requirements from the plurality of third targets; performing linear fitting on the position of the fourth target to detect whether it conforms to the set linear characteristic; The separation distance is determined according to the position of the fourth target conforming to the linear feature. 4. The vehicle early warning control method according to claim 2 or 3, wherein, when determining that there is a gap in the isolation zone based on the separation distance, identifying the first target position corresponding to the gap includes: Selecting at least two fifth targets whose adjacent spacing is a multiple of the separation distance according to the detection signal, and determining the first target position according to the positions of the at least two fifth targets. 5. The vehicle pre-warning control method according to claim 1, wherein the identifying the second target position corresponding to the target obstacle based on the detection signal comprises: selecting an obstacle whose speed meets a set threshold based on the detection signal; And according to the abscissa confidence degree corresponding to the obstacle, determine that the obstacle corresponding to the abscissa confidence degree that meets the requirements is the target obstacle; The second target position is determined according to the position of the target obstacle. 6. The vehicle early warning control method according to claim 1, characterized in that, if based on the positional relationship between the first target position and the second target position, it is determined that the gap and the target obstacle have The same ordinate, then generate vehicle early warning signals, including: calculating the distance between the first target position closest to the vehicle and the second target position closest to the vehicle; When it is determined that the distance is smaller than the set distance, generating reminder information for reminding the driver and/or control information for automatic braking of the vehicle. 7. The vehicle early warning control method according to claim 6, wherein generating control information for automatic braking of the vehicle comprises: Detecting the lane where the vehicle is currently located, if the vehicle is located in the lane where the target obstacle is located, generating the control information, the control information is used to apply the first brake to the wheel of the vehicle on the side close to the target obstacle. power and apply a second braking force to the wheel on the side away from the target obstacle, the first braking force being smaller than the second braking force. 8. A vehicle early warning control device, characterized in that it comprises: The acquisition module is used for the detection signal in front of the current road of the vehicle; A determining module, configured to determine, based on the detection signal, the interval distance corresponding to adjacent target objects in the isolation zone on the roadside of the current road; the target object is an object that is stationary relative to the ground and has uniform reflection intensity; the first identification module , used to identify the first target position corresponding to the gap when determining that there is a gap in the isolation zone based on the separation distance; Approximate integer multiple; The second identification module is configured to identify the second target position corresponding to the target obstacle based on the detection signal; the target obstacle is that the speed selected based on the detection signal meets the set threshold and the corresponding abscissa confidence meets the requirements obstacles; An early warning module, configured to generate a vehicle early warning signal if it is determined that the gap has the same ordinate as the target obstacle based on the positional relationship between the first target position and the second target position. 9. A vehicle early warning control system, characterized in that it comprises: memory for storing executable programs; The processor is configured to implement the vehicle pre-warning control method according to any one of claims 1 to 7 when executing the executable program stored in the memory. 10. An intelligent vehicle, characterized in that it comprises a millimeter-wave radar for generating detection signals and the vehicle early warning control system according to claim 9. 11. A computer storage medium, characterized in that an executable program is stored, and when the executable program is executed by a processor, the vehicle early warning control method according to any one of claims 1 to 7 is implemented.

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