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

Abstract

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

Description

Control methods, devices, electronic equipment and storage media for safe driving of vehicles

Technical field

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

Background technique

With the continuous development of modern automobile technology and the improvement of people's living standards, automobiles have become the first choice tool for people's daily travel. However, in extremely bad weather conditions, such as heavy rain, heavy fog or dense fog on the highway, the driver's field of vision will be significantly restricted when driving a vehicle, posing a serious threat to driving safety.

In adverse weather conditions, drivers often can only deal with this problem by turning on their warning lights and slowing down. However, even if these measures are taken, it is still difficult for the driver to accurately judge the distance between the vehicle and surrounding obstacles, resulting in dangerous driving.

It can be seen that there is a problem in the related technology that vehicles cannot drive safely under severe weather conditions.

Contents of the invention

In view of this, embodiments of the present application provide a control method, device, electronic device, and storage medium for safe vehicle driving to solve the problem in related technologies that vehicles cannot drive safely under severe weather conditions.

A first aspect of the embodiment of the present application provides a method for controlling safe driving of a vehicle, including:

When the visibility is lower than the preset value and the speed of the target vehicle is greater than zero, obtain sensing data around the target vehicle;

Obtain the environment modeling result of the target vehicle based on the sensing data;

Based on the environment modeling results, determine a first distance between the target vehicle and surrounding obstacles and a second distance between the target vehicle and the road edge;

Based on the first distance and the second distance, detect whether the target vehicle meets a preset safe driving distance;

When it is determined that the target vehicle meets the safe driving distance, the target vehicle is controlled to drive according to the current driving state.

A second aspect of the embodiment of the present application provides a control device for safe driving of a vehicle, including:

An acquisition module used to acquire sensing data around the target vehicle when the visibility is lower than a preset value and the speed of the target vehicle is greater than zero;

A modeling module, configured to obtain an environment modeling result of the target vehicle based on the sensing data;

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

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

A control module configured to control the target vehicle to drive according to the current driving state when it is determined that the target vehicle meets the safe driving distance.

A third aspect of the embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

A fourth aspect of the embodiments of the present application provides a storage medium. The storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

Compared with the prior art, the beneficial effects of the embodiments of the present application are:

When the visibility is lower than the preset value, by obtaining the sensing data around the target vehicle, important environmental information can be provided even when the visibility is low; based on the obtained sensing data, the environment where the target vehicle is located is evaluated. Modeling, by analyzing and processing these sensory data, can accurately determine the position, shape and motion state of surrounding obstacles; based on the environment modeling results, can accurately calculate the first distance information between the target vehicle and surrounding obstacles and the road edge second distance information to ensure that the target vehicle has a sufficient safe distance from surrounding obstacles and road edges. After determining that the target vehicle meets the safe driving distance, the target vehicle is controlled to drive according to the current driving state, so that in bad weather The driving safety is significantly improved, the possibility of accidents is reduced, and the problem in related technologies that vehicles cannot drive safely under severe weather conditions is solved.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of the present application. For some embodiments, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flowchart of a control method for safe driving of a vehicle provided by an embodiment of the present application;

Figure 2 is a schematic flowchart of another control method for safe driving of a vehicle provided by an embodiment of the present application;

Figure 3 is a schematic diagram of the module working of a method for controlling safe driving of a vehicle provided by an embodiment of the present application;

Figure 4 is a schematic structural diagram of a control device for safe driving of a vehicle provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that data so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in orders other than those illustrated or described herein, and that "first", "second", etc. are distinguished objects It is usually one type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the related objects are in an "or" relationship.

Furthermore, it should be noted that the terms "comprising," "comprising," or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "including..." does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

The control method, device, electronic device and storage medium for safe vehicle driving according to the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

Figure 1 is a schematic flowchart of a control method for safe driving of a vehicle provided by an embodiment of the present application.

As shown in Figure 1, the method includes:

Step 101: Obtain sensing data around the target vehicle when the visibility is lower than a preset value and the speed of the target vehicle is greater than zero.

Visibility refers to the degree to which target objects can be clearly seen and identified under different weather conditions. In low visibility conditions, such as heavy fog, rain, blizzards, etc., the driver's field of vision will be limited, making it difficult to See the environment and target objects around the target vehicle clearly.

When detecting visibility, the visibility can be determined by using detection equipment installed on the target vehicle to determine the degree of scattering and absorption of visible light through particulate matter in the atmosphere, or a laser sensor can be used to measure the scattering and absorption characteristics of laser beams in the atmosphere. Particulate matter concentration, thereby inferring visibility.

The preset value refers to a reference value set according to specific conditions or standards. It can be the minimum acceptable visibility standard under safe driving conditions. The size of the preset value can be set according to the actual situation. The specific values are not discussed here. Specific limitations.

Perception data refers to information about the surrounding environment of the target vehicle obtained from the environment through sensors, which can include information such as the location of obstacles, road conditions, traffic signs and other information obtained by sensors such as radar, cameras, and lidar.

In addition, more advanced perception technologies and algorithms can be used to improve the quality and accuracy of perception data obtained under low visibility conditions. Methods including image processing and computer vision algorithms can be used to help drivers better perceive targets. The environment surrounding the vehicle.

The detailed description of the surrounding environment of the target vehicle obtained after analyzing and processing the sensing data can also include the position, speed, acceleration and geometric information of the road of the target vehicle, as well as descriptions of the position, speed and driving behavior of other vehicles.

It should be noted that detection equipment in different scenarios may have differences in accuracy and adaptability when measuring sensing data. In sensing the environment around the vehicle, a variety of sensors and technologies are usually used in combination, including radar and ultrasonic sensors. and cameras, etc., to obtain more comprehensive perception data. For example, millimeter-wave radar performs well in low-visibility conditions and can detect and track surrounding vehicles, pedestrians, and obstacles through severe weather conditions such as rain, snow, and fog, while Provide information such as object distance, speed and angle to assist the decision-making and control of the autonomous driving system. Lidar may be subject to certain interference in conditions such as rain, snow, and fog, but it can still provide high-precision three-dimensional spatial perception data, create point cloud maps of the surrounding environment, and detect and identify objects such as vehicles, pedestrians, guardrails, and obstacles. Infrared cameras can provide additional sensory data by capturing the thermal radiation of objects. When visibility is low, infrared cameras can assist in detecting heat sources around vehicles, pedestrians, and other objects. Depending on specific application requirements, different sensing technologies can be used comprehensively to obtain complete information around the vehicle.

As an example, in a foggy weather scene, due to the strong light scattering and reflection in the fog, the imaging quality of the visible light camera is significantly reduced, the field of view is limited, and it is difficult to obtain clear image information. In this case, the infrared camera can be used Sensing data is obtained by measuring the intensity of thermal radiation from surrounding pedestrians and vehicles. Millimeter-wave radar and lidar are used to measure the remaining sensing data by sending wireless signals and measuring the reflection time of the signals.

In weather scenarios of heavy rain, blizzards, and sandstorms, millimeter-wave radar and lidar can be used to provide accurate sensory data measurements by measuring the reflection time of the signal, avoiding possible interference from rainfall, snow, and sandstorms due to the use of visible light cameras. leading to inaccurate measurement results.

In addition, infrared cameras can be used for sensory data measurement in hazy weather scenes. Infrared cameras can provide better visual effects when visible light is interfered by haze, and estimate the distance between vehicles by detecting the heat of the vehicles. ,At the same time, ultrasonic sensors can be used to ,measure their sensing data by emitting ultrasonic pulses and ,listening to their echoes.

It should be noted that the comprehensive use of multiple sensors and processing through data fusion algorithms can improve the accuracy and reliability of distance measurement between vehicles and increase driving safety. The specific combination method is not specifically limited here. In addition, in practice Applications can also consider factors such as sensor cost, power consumption, and installation location to determine the best sensor selection and deployment strategy.

In this way, by obtaining the sensing data around the target vehicle when the visibility is lower than the preset value and the speed of the target vehicle is greater than zero, the real-time status of the environment around the target vehicle can be understood, thereby providing more accurate reference data.

Step 102: Obtain the environment modeling result of the target vehicle based on the sensing data.

Environment modeling refers to the process of modeling and describing the objects, terrain, road signs, etc. in the environment around the target vehicle. Through environment modeling, information such as the structure of the surrounding roads, the location and behavior of other vehicles, and the presence of obstacles can be analyzed. Virtual representation and understanding involves graphical or mathematical descriptions of objects, roads, vehicles, etc. in the actual environment in a virtual form.

In this way, this step can transform the actual environment into a form that can be understood and processed by the computer by virtually representing the sensory data, so as to carry out subsequent behavior prediction, path planning, etc.

Step 103: Based on the environment modeling results, determine a first distance between the target vehicle and surrounding obstacles and a second distance between the target vehicle and the road edge.

Surrounding obstacles refer to other vehicles, pedestrians, obstacles, etc. that exist around the target vehicle, which may affect the driving of the target vehicle or create potential dangers.

The first distance refers to the shortest distance between the target vehicle and surrounding obstacles, which can be calculated through the obstacle location information in the environment modeling results, and is used to determine whether the distance between the target vehicle and obstacles is safe enough. .

By calculating the first distance between the target vehicle and surrounding obstacles, the relative position and distance of the obstacle closest to the target vehicle can be determined, which can be used to avoid collisions, perform obstacle avoidance, or plan the vehicle's driving path.

The second distance refers to the horizontal distance between the target vehicle and the road edge. This distance can be used to measure the position of the target vehicle in the lane and the distance from the road edge, and to evaluate the position and deviation of the target vehicle driving in the lane. degree of movement.

By calculating the second distance between the target vehicle and the road edge, it can be used to ensure that the vehicle remains in an appropriate lane position, and can be used for lane keeping and lane departure warning to ensure the comfort and safety of the vehicle.

It should be noted that the first distance and the second distance can be adjusted according to vehicle speed, road conditions, weather conditions and other factors, and the specific values are not specifically limited here.

In this way, by determining the first distance between the target vehicle and surrounding obstacles and the second distance between the target vehicle and the road edge, key information about vehicle safety separation, obstacle avoidance and lane keeping can be provided to the driver, helping to improve driving performance. safety, reduce the risk of accidents, and improve driving comfort and convenience.

Step 104: Based on the first distance and the second distance, detect whether the target vehicle meets the preset safe driving distance.

The safe driving distance refers to the sufficiently safe distance that should be maintained between the target vehicle and surrounding vehicles or obstacles. The size of the safe driving distance affects the driver's reaction time and the vehicle's ability to avoid collisions.

The preset safe driving distance refers to the minimum distance between the vehicle and the vehicle in front or obstacles set according to road traffic regulations, driving guidelines or safe driving principles, so that the target vehicle can maintain a sufficient safe driving distance to prevent collisions or emergencies. occurs, this distance can be adjusted based on factors such as vehicle speed, road conditions and weather conditions.

It should be noted that to ensure driving safety, the distance to the vehicle or obstacle in front can be adjusted in a timely manner when necessary to ensure safe driving.

By detecting the first distance and the second distance, it can be determined whether the target vehicle meets the preset safe driving distance, ensuring the safe driving distance between the target vehicle and surrounding obstacles, which can reduce the risk of collision and improve driving safety. At the same time, maintaining a sufficient safe driving distance can increase the reaction time of the driver or the autonomous driving system, giving it enough time to brake in response to unexpected situations.

Step 105: When it is determined that the target vehicle meets the safe driving distance, control the target vehicle to drive according to the current driving state.

When it is determined that the target vehicle meets the preset safe driving distance, the target vehicle is controlled to drive according to the current driving state. Based on the modeling results of the target vehicle and the surrounding environment and the detection of the safe distance, the operation of the target vehicle is adjusted so that It drives according to the current driving conditions and requirements.

In addition, the current driving state refers to the driving state of the target vehicle under the current driving conditions and environment, which can include parameters such as speed, acceleration, lane position, and traffic conditions.

By controlling the target vehicle to drive according to the current driving status, this step can improve driving safety and ensure that the vehicle drives within a safe distance. At the same time, it can be dynamically adjusted according to real-time environmental conditions and vehicle conditions to adapt to different traffic conditions. Scenes and road conditions change.

In this way, in this embodiment, when the visibility is lower than the preset value, by obtaining the sensing data around the target vehicle, the distance information between the target vehicle and the sensing data during driving can be accurately calculated, thereby ensuring that the target vehicle is connected to the surrounding obstacles. There is a sufficient safe distance from the edge of the road. After determining that the target vehicle meets the safe driving distance, the target vehicle is controlled to drive according to the current driving state, which significantly improves driving safety in bad weather and reduces the possibility of accidents. It solves the problem in related technologies that the safe driving distance cannot be judged under severe weather conditions, resulting in inability to drive safely.

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

After obtaining the sensing data around the target vehicle, it also includes:

Receive display preference information input by the user, where the display preference information is used to instruct the display of all obstacle information and road information within the preset range of the target vehicle, or to instruct only the obstacle information and road information with collision risk in the sensing data to be displayed. ;

Based on the display preference information, the display information indicated by the display preference information is displayed on the central control screen of the target vehicle.

Specifically, the display preference information can be a preference setting input by the user, which is used to specify how the sensing data should be displayed on the central control screen of the target vehicle. You can choose to display all obstacle information and road information within the preset range of the target vehicle, or Only information about obstacles and roads with a risk of collision is displayed.

It should be noted that the content of the displayed preference information can be set according to the user's preferences to meet the user's information needs in different driving scenarios, and is not limited here.

Obstacle information and road information within the preset range of the target vehicle refer to the location, shape, speed and other information of obstacles within the preset range around the target vehicle, as well as information such as road geometry and signs and markings. This information can help The target vehicle performs path planning, obstacle avoidance and driving decisions. The preset range can be set according to needs.

In addition, display information refers to the content that needs to be displayed on the central control screen of the target vehicle based on the sensing data and display preference information. The display information can include graphical representations of obstacles and roads, warning information, navigation instructions, etc., to facilitate driving. Operators can observe and make decisions about the surrounding environment in real time.

In this embodiment, by receiving the display preference information input by the user and displaying the indicated display information on the central control screen of the target vehicle, the driver can intuitively obtain the obstacles and road information around the target vehicle and enhance the driving perception ability. and awareness, further increasing driving safety and reducing the potential collision risk of the target vehicle. At the same time, relevant information is flexibly presented according to the user's display preferences to provide users with a personalized experience.

Furthermore, in some embodiments, based on the environment modeling results, determining the first distance between the target vehicle and surrounding obstacles and the second distance between the target vehicle and the road edge include:

Determine the position information of the target vehicle and obstacles based on the environment modeling results, and determine the first distance based on the position information of the target vehicle and obstacles;

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

Specifically, by analyzing and processing the sensing data and environment modeling results, the position information of the target vehicle and surrounding obstacles can be determined. The position information includes the target vehicle and obstacles relative to a reference point (such as the vehicle center or the road centerline). The relative position and distance can be expressed by two-dimensional coordinates or three-dimensional coordinates, which are not limited here.

Road boundary information refers to the modeling and analysis of road boundaries in environmental modeling, which can include identifying road edge lines, lane lines and other information for subsequent safe distance calculation and driving control.

In this embodiment, by determining the first distance and the second distance, the distance between the target vehicle and surrounding obstacles and the positional relationship between the target vehicle and the road can be comprehensively evaluated to further determine whether the target vehicle meets the preset safe driving distance requirements. This provides a more accurate safety assessment, provides an important basis for subsequent driving control and decision-making, and ensures the safety and stability of driving.

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

First, when it is determined that the first distance is greater than the first preset threshold and the second distance is greater than the second preset threshold, it is determined that the target vehicle meets the safe driving distance;

Specifically, the first preset threshold can be a preset threshold for judging whether the target vehicle meets the safe driving distance. It can be set according to the characteristics of the road and driving conditions. The vehicle speed and road speed limit can be taken into consideration when setting. and factors such as the braking reaction time of the vehicle in front.

If the first distance (the distance between the target vehicle and the nearest obstacle) is greater than the first preset threshold, and the second distance (the distance between the target vehicle and the road edge) is greater than the second preset threshold, then it can be determined that the target vehicle satisfies the preset threshold. The set safe driving distance means that the target vehicle maintains a sufficient distance from surrounding obstacles and is at a suitable position on the road.

Second, when it is determined that at least one of the first distance is less than the first preset threshold and the second distance is less than the second preset threshold, it is determined that the target vehicle does not meet the safe driving distance.

The second preset threshold may be another preset threshold used to determine whether the target vehicle meets the safe driving distance. In addition to the distance from the vehicle in front, the target vehicle should also maintain a sufficient distance from the road edge to avoid deviating from the driving road. The second preset threshold can be determined based on the size and driving speed of the vehicle.

If the first distance is less than the first preset threshold or the second distance is less than at least one of the second preset thresholds, then it can be determined that the target vehicle does not meet the preset safe driving distance, indicating that the distance between the target vehicle and surrounding obstacles or road edges is Too close and there may be a risk of collision or failure to maintain proper position on the road.

It should be noted that if it is determined that the target vehicle does not meet the safe driving distance, the target early warning method can be controlled to warn the driver to avoid safety accidents during driving under low visibility conditions.

This embodiment evaluates the safety of the target vehicle and the surrounding environment by comparing the first distance and the second distance with the preset first preset threshold and the second preset threshold, thereby providing a reliable guarantee for the driving of the target vehicle. Safety judgment is used to help the driver or autonomous driving system take appropriate measures such as deceleration, lane change or avoidance to ensure driving safety.

In some embodiments, the method further includes: obtaining the current driving speed of the target vehicle; if the driving distance is greater than the separation distance between the target vehicle and adjacent driving vehicles in the same lane, determining that the target vehicle is driving unsafely and controlling the start of the target vehicle Target warning mode; the driving distance is the distance of the target vehicle when it travels at the current driving speed for a preset period.

Specifically, the current driving speed of the target vehicle refers to the speed of the target vehicle at the current moment, which can be obtained through the vehicle's sensor or navigation system. The specific speed measurement method can include based on the vehicle's own speed sensor or using GPS positioning technology.

The separation distance refers to the distance between the target vehicle and adjacent vehicles on the same lane. In order to ensure driving safety, the target vehicle should always maintain a safe distance from adjacent vehicles. The determination of the separation distance can be calculated based on factors such as the length and speed of the vehicle. out.

The driving distance refers to the distance covered by the target vehicle driving at the current driving speed within the preset period. The driving distance can be calculated based on the speed of the target vehicle and the length of the preset period. The specific value of the preset period can be determined according to the actual situation. Settings are not specifically limited here.

When the driving distance of the target vehicle is greater than the separation distance between the target vehicle and adjacent vehicles, it can be determined that the driving status of the target vehicle is unsafe. In this case, early warning measures need to be triggered to warn the driver or other road users of the presence of the target vehicle. For potential dangers, specific warning methods may include visual prompts, sound warnings, vibration feedback, etc., which are not specifically limited here.

This embodiment obtains the current driving speed of the target vehicle and determines the relationship between the driving distance and the separation distance between the target vehicle and adjacent vehicles, thereby accurately determining the safe driving status of the target vehicle. When driving unsafely, the driver can be reminded through an early warning method Drivers pay attention to safety, which helps to improve road safety and provide a safe driving environment for drivers and other traffic participants.

In addition, in some embodiments, controlling the target vehicle to activate the target warning mode includes:

Control the target vehicle to decelerate to a preset speed; and,

The seat of the target vehicle is controlled to issue a vibration warning, and the voice system is controlled to issue a voice prompt message to the driver. The vibration warning and prompt message are used to remind the target vehicle that the distance between the target vehicle and surrounding obstacles or road edges is less than a preset distance.

Specifically, controlling the target vehicle to decelerate to a preset speed means that when the distance between the target vehicle and surrounding obstacles or road edges is less than the preset distance, the target vehicle can be controlled to decelerate through the vehicle's control system to ensure the restoration of the safe distance. Specifically, This is accomplished by adjusting the throttle, using the braking system, or controlling the powertrain.

In addition, in order to further remind the driver, a vibration device can be installed on the seat of the target vehicle. When the target vehicle is too close to surrounding obstacles or road edges, the seat vibration warning will be triggered and the voice system will be controlled to issue a prompt message. , when the distance between the target vehicle and surrounding obstacles or road edges is less than the preset distance, a prompt message is sent to the driver through the voice system. The prompt message can include a voice warning, a voice instruction reminding the driver to maintain a safe distance, etc., such as "with The distance between surrounding vehicles is too close", "the target vehicle is at risk of collision", etc.

This embodiment uses real-time monitoring and judgment of the target vehicle. When the distance between the target vehicle and surrounding obstacles or road edges is less than a preset distance, the target vehicle can be controlled to decelerate to a preset speed to ensure that a safe distance is maintained. At the same time, the seat vibration warning and voice prompt message can also be controlled to remind the driver that the distance between the target vehicle and surrounding obstacles or road edges is less than the preset distance to avoid collision with surrounding obstacles. At the same time, by combining multiple warning methods, not only It can increase the driver's alertness and awareness of safe driving, improve driving safety, reduce the risk of accidents, and provide drivers with a more reliable driving environment.

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

Obtain the real-time weather tag, and determine the safe driving distance corresponding to the real-time weather tag based on the correspondence between the preset weather tag and the safe driving distance; or,

Obtain the driving speed and the road type of the target vehicle, and determine the driving speed and the safe driving distance corresponding to the road type based on the corresponding relationship between the driving speed and the road type and the safe driving distance. .

Specifically, real-time weather tags refer to tags obtained based on current weather conditions. Real-time weather tags may include different meteorological conditions such as rain, snow, fog, sunny, etc. These weather conditions may have an impact on driving safety, such as reducing vehicle safety. traction, reduced visibility, etc. Therefore, weather factors need to be considered when calculating the safe driving distance.

The correspondence between safe driving distance and real-time weather tags is preset in the target vehicle. The preset safe driving distance can be adjusted according to different real-time weather tags. Different weather conditions will cause slippery roads and poor visibility. and other conditions, thus affecting the determination of safe driving distance. This corresponding relationship can be achieved by establishing a safe driving distance adjustment model based on weather tags.

For example, in rainy days, snowy days, and foggy days, the corresponding safe driving distance may be greater than the corresponding safe driving distance in sunny days.

In addition, the safe driving distance can also be determined based on the driving speed of the target vehicle and the type of road it is traveling on, because when the vehicle is traveling at high speed, the braking distance of the vehicle becomes larger and more time and space is needed to stop or avoid a collision. , and driving on different types of roads will also have an impact on the safe distance. For example, vehicles on highways travel at faster speeds and have larger traffic volumes, and therefore require larger safety distances to accommodate higher speeds and traffic conditions, while vehicles on city or urban roads travel at lower speeds and have larger traffic volumes. less, so a relatively smaller safety distance may be more applicable.

As an example, for example, the target vehicle is driving on an urban road at a speed of 30km/h. According to the preset correspondence, the safe driving distance of the target vehicle at this time can be 30 meters. If the target vehicle is driving at a speed of 50km/h When driving on urban roads, the safe driving distance of the target vehicle can be 50 meters. If the target vehicle is traveling on a highway at a speed of 80km/h, the safe driving distance of the target vehicle can be 100 meters. The specific values in this example can be set according to actual needs and are not specifically limited here.

This embodiment obtains real-time weather tags and establishes a corresponding relationship with the preset safe driving distance, so that the safe driving distance can be adjusted according to different weather conditions. At the same time, taking into account the driving speed of the target vehicle and the type of road it is driving, the safe driving distance can be adjusted according to Determine safe driving distance based on actual conditions. The comprehensive consideration of these factors can help improve driving safety, making the determination of safe driving distance more intelligent and closer to actual road driving conditions and the condition of the target vehicle.

Next, another method for controlling safe driving of a vehicle according to the embodiment of the present application will be described with reference to Figure 2. As shown in Figure 2, the method includes:

First, when the visibility is lower than the preset value and the speed of the target vehicle is greater than zero, the sensing data around the target vehicle is obtained. For example, in weather conditions such as heavy fog, rain, and snowstorms, the driver's field of vision will be limited. , so that it is difficult to see the environment and target objects around the target vehicle clearly. At this time, a camera can be installed on the target vehicle to determine the visibility by using the degree of scattering and absorption of visible light through particulate matter in the atmosphere, or a laser sensor can be used to pass the laser beam. Scattering and absorption properties are used to measure the concentration of particulate matter in the atmosphere and thereby derive visibility.

Then, the objects, terrain, road signs, etc. in the environment around the target vehicle are modeled and described using information about the environment around the target vehicle obtained from the environment through sensors such as radar, cameras, and lidar. The specific acquisition method is not limited here. , through environment modeling, the structure of the surrounding roads, the position and behavior of other vehicles, the presence of obstacles and other information can be virtually represented and understood, and objects, roads, vehicles, etc. in the actual environment can be visualized or visualized in a virtual form Mathematical description is used to determine the first distance between the target vehicle and surrounding obstacles and the second distance between the target vehicle and the road edge, providing the driver with key information about vehicle safety separation, obstacle avoidance and lane keeping, where, When it is determined that the first distance is greater than the first preset threshold and the second distance is greater than the second preset threshold, it is determined that the target vehicle meets the safe driving distance, and when it is determined that the first distance is less than the first preset threshold and the second distance is less than the second If at least one of the two preset thresholds is met, it is determined that the target vehicle does not meet the safe driving distance.

Finally, after it is determined that the target vehicle meets the safe driving distance, the target vehicle is controlled to drive according to the current driving state. After it is determined that the target vehicle is unsafe to drive, the target vehicle is controlled to activate the target early warning mode for early warning.

The module working process of a vehicle safe driving control method according to the embodiment of the present application will be described below with reference to Figure 3, as shown in Figure 3:

First, the visibility recognition module determines the visibility of the environment where the target vehicle is located in real time. When the visibility is lower than the preset value and the speed of the target vehicle is greater than zero, it obtains the sensing data around the target vehicle and sends the sensing data to the modeling module.

Then, after the modeling module receives the signal, the modeling module will model the objects, terrain, road signs, etc. in the environment around the target vehicle based on the sensing data, and send the environment modeling results to the distance determination module and the system driving module.

Finally, the distance determination module detects whether the target vehicle meets the preset safe driving distance. If it is determined that the target vehicle does not meet the safe driving distance, it can control the activation of the target early warning method to issue an early warning to the driver. After determining that the target vehicle meets the safe driving distance In the case of distance, the target vehicle is controlled to drive according to the current driving state.

All the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described again here.

It should be understood that the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the process of the embodiment of the present application.

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

Figure 4 is a control device for safe driving of a vehicle provided by an embodiment of the present application. As shown in Figure 2, the device includes:

The acquisition module 401 is used to acquire sensing data around the target vehicle when the visibility is lower than a preset value and the speed of the target vehicle is greater than zero;

The modeling module 402 is used to obtain the environment modeling results of the target vehicle based on the sensing data;

The first determination module 403 is used to determine the first distance between the target vehicle and surrounding obstacles and the second distance between the target vehicle and the road edge based on the environment modeling results;

The second determination module 404 is used to detect whether the target vehicle meets the preset safe driving distance based on the first distance and the second distance;

The control module 405 is used to control the target vehicle to drive according to the current driving state when it is determined that the target vehicle meets the safe driving distance.

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

Based on the display preference information, the display information indicated by the display preference information is displayed on the central control screen of the target vehicle.

In some embodiments, the first determination module is specifically configured to determine the position information of the target vehicle and the obstacle based on the environment modeling result, and determine the first distance based on the position information of the target vehicle and the obstacle; based on the environment modeling result The road boundary information and the position information of the target vehicle are used to determine the second distance.

In some embodiments, the second determination module is specifically configured to determine that the target vehicle meets the safe driving distance when it is determined that the first distance is greater than the first preset threshold and the second distance is greater than the second preset threshold; When a distance is less than the first preset threshold and the second distance is less than the second preset threshold, it is determined that the target vehicle does not meet the safe driving distance.

In some embodiments, the control module is also used to obtain the current driving speed of the target vehicle;

If the driving distance is greater than the separation distance between the target vehicle and adjacent vehicles in the same lane, it is determined that the target vehicle is driving unsafely, and the target vehicle is controlled to activate the target warning mode; the driving distance is preset for the target vehicle traveling at the current driving speed. distance during the period.

In some embodiments, the control module is specifically configured to control the target vehicle to decelerate to a preset speed; and to control the seat of the target vehicle to issue a vibration warning, and to control the voice system to issue a voice prompt message, vibration warning and prompt message to the driver. Used to prompt that the distance between the target vehicle and surrounding obstacles or road edges is less than the preset distance.

In some embodiments, the second determination module is also configured to obtain the real-time weather tag, and determine the safe driving distance corresponding to the real-time weather tag based on the preset correspondence between the weather tag and the safe driving distance; or, obtain the Based on the traveling speed and the road type of the target vehicle, based on the corresponding relationship between the traveling speed, the road type and the safe driving distance, the traveling speed and the safe driving distance corresponding to the road type are determined.

The device provided by the embodiment of the present application can implement all the method steps of the above method embodiment and can achieve the same technical effect, which will not be described again here.

FIG. 5 is a schematic diagram of the electronic device 5 provided by the embodiment of the present application. As shown in FIG. 5 , the electronic device 5 of this embodiment includes: a processor 501 , a memory 502 , and a computer program 503 stored in the memory 502 and executable on the processor 501 . When the processor 501 executes the computer program 503, the steps in each of the above method embodiments are implemented. Alternatively, when the processor 501 executes the computer program 503, it implements the functions of each module/unit in each of the above device embodiments.

The electronic device 5 may be a desktop computer, a notebook, a handheld computer, a cloud server and other electronic devices. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502 . Those skilled in the art can understand that FIG. 5 is only an example of the electronic device 5 and does not constitute a limitation on the electronic device 5. It may include more or fewer components than shown in the figure, or different components.

The processor 501 may be a Central Processing Unit (CPU), other general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or an on-site processor. Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

The memory 502 may be an internal storage unit of the electronic device 5 , for example, a hard disk or a memory of the electronic device 5 . The memory 502 may also be an external storage device of the electronic device 5, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SD) card, a flash memory card ( Flash Card), etc. The memory 502 may also include both an internal storage unit of the electronic device 5 and an external storage device. Memory 502 is used to store computer programs and other programs and data required by the electronic device.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units and modules is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs. Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.

Integrated modules/units can be stored in a readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, this application can implement all or part of the processes in the methods of the above embodiments. It can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a readable storage medium. The computer program can be processed by a processor. When executed, the steps of each of the above method embodiments may be implemented. A computer program may include computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. Readable storage media may include: any entity or device that can carry computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media, etc.

The above embodiments are only used to illustrate the technical solutions of the present application, but are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments. Modifications are made to the recorded technical solutions, or equivalent substitutions are made to some of the technical features; these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and shall be included in this application. within the scope of protection.

Claims (10)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

acquiring the current running speed of a target vehicle;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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