CN-119773750-B - Vehicle speed control method, device, vehicle and computer readable storage medium

Abstract

The present application relates to the field of vehicle control, and in particular, to a vehicle speed control method, device, vehicle, and computer readable storage medium. The method comprises the steps of monitoring a first target event, wherein the first target event comprises an event of a target vehicle in an adjacent lane in front of a current vehicle, determining first position information of the current vehicle and second position information of the target vehicle and a first motion state of the current vehicle and a second motion state of the target vehicle if the first target event is monitored, and performing speed control on the current vehicle according to the first position information and the first motion state and the second position information and the second motion state, wherein the current vehicle is located in a target area after speed control, and the target area is outside a visual field blind area of the target vehicle. The application can improve the driving safety guarantee degree and driving experience under the scene that vehicles exist in front of adjacent lanes.

Inventors

• ZHANG XU

Assignees

• 浙江极氪智能科技有限公司
• 浙江吉利控股集团有限公司

Dates

Publication Date

20260505

Application Date

20250210

Claims (10)

1. 1. A vehicle speed control method, characterized by comprising: monitoring a first target event, wherein the first target event comprises an event of a target vehicle in an adjacent lane in front of the current vehicle; if the first target event is monitored, determining first position information of the current vehicle and second position information of the target vehicle, and a first motion state of the current vehicle and a second motion state of the target vehicle; According to the first position information and the first motion state of the current vehicle and the second position information and the second motion state of the target vehicle, the current vehicle is subjected to speed control, wherein the current vehicle is positioned in a target area after the speed control, and the target area is outside a visual field blind area of the target vehicle; The vehicle speed control process of the current vehicle comprises the following steps: Comparing the first position information with the second position information to obtain a first distance between the current vehicle and the target vehicle; Comparing the first motion state with the second motion state to obtain a first relative speed between the current vehicle and the target vehicle; Detecting whether the current vehicle has a target intention exceeding the target vehicle when the first distance is smaller than a preset first threshold value and the first relative speed is smaller than or equal to a preset second threshold value; and if the target intention is detected, controlling the current vehicle to run at a target speed.
2. 2. The method according to claim 1, wherein the current vehicle speed control process includes: and if the first distance is smaller than the preset first threshold value and the first relative speed is larger than the preset second threshold value, controlling the current vehicle to run at a target vehicle speed, wherein the target vehicle speed is larger than the first current vehicle speed of the target vehicle, and the second threshold value is larger than or equal to zero.
3. 3. The method according to claim 2, wherein the current vehicle speed control process further includes: and when the first distance is smaller than the first threshold value, the first relative speed is larger than the second threshold value, and the first relative speed is smaller than a third threshold value, controlling the current vehicle to run at the first current vehicle speed, wherein the third threshold value is larger than the second threshold value.
4. 4. A method according to claim 2 or 3, wherein the process of determining the target vehicle speed further comprises: Comparing the predicted overtaking time with a preset time threshold to obtain a first comparison result, wherein the predicted overtaking time is determined according to the first relative speed and the first distance; Comparing the first relative speed with the first current vehicle speed to obtain a second comparison result; Comparing the first relative speed with a preset speed threshold to obtain a third comparison result, wherein the speed threshold is used for representing the maximum relative speed between any two vehicles when a preset blind area reminding event between any two vehicles is triggered; Determining a speed transformation coefficient according to at least one of the first comparison result, the second comparison result and the third comparison result; and carrying out conversion processing on the first current vehicle speed according to the speed conversion coefficient to obtain the target vehicle speed.
5. 5. The method according to claim 4, wherein the determining of the target vehicle speed further comprises: Monitoring a second target event, wherein the second target event comprises an obstacle vehicle in front of a self-vehicle lane of the current vehicle; If the second target event is monitored, acquiring a third motion state and third position information of the obstacle vehicle; and adjusting the target vehicle speed according to the third motion state and the third position information.
6. 6. The method according to claim 5, wherein the adjustment process of the target vehicle speed further includes: Comparing the third position information with the first position information to obtain a second distance between the current vehicle and the obstacle vehicle; comparing the third motion state with the first motion state to obtain a second relative speed between the current vehicle and the obstacle vehicle; Determining a maximum vehicle speed of the target vehicle without risk of collision with the obstacle vehicle according to the second distance and the second relative speed; and adjusting the target vehicle speed according to the maximum vehicle speed and the second current vehicle speed of the obstacle vehicle.
7. 7. The method of claim 6, wherein the adjusting of the target vehicle speed further comprises: comparing the second current vehicle speed, the maximum vehicle speed and the target vehicle speed respectively; If the target vehicle speed is smaller than the second current vehicle speed and the second current vehicle speed is smaller than the maximum vehicle speed, setting the target vehicle speed to be not smaller than the second current vehicle speed and not larger than the maximum vehicle speed; And if the target vehicle speed is greater than the maximum vehicle speed, setting the target vehicle speed to be not greater than the maximum vehicle speed.
8. 8. A vehicle speed control device, characterized by comprising: the monitoring module is used for monitoring a first target event, wherein the first target event comprises an event of a target vehicle in an adjacent lane in front of the current vehicle; The determining module is used for determining the first position information of the current vehicle and the second position information of the target vehicle, and the first motion state of the current vehicle and the second motion state of the target vehicle if the first target event is monitored; The control module is used for controlling the speed of the current vehicle according to the first position information and the first motion state of the current vehicle and the second position information and the second motion state of the target vehicle, wherein the current vehicle is positioned in a target area after the speed control, and the target area is outside a visual field blind area of the target vehicle; The vehicle speed control process of the current vehicle comprises the following steps: Comparing the first position information with the second position information to obtain a first distance between the current vehicle and the target vehicle; Comparing the first motion state with the second motion state to obtain a first relative speed between the current vehicle and the target vehicle; Detecting whether the current vehicle has a target intention exceeding the target vehicle when the first distance is smaller than a preset first threshold value and the first relative speed is smaller than or equal to a preset second threshold value; and if the target intention is detected, controlling the current vehicle to run at a target speed.
9. 9. A vehicle comprising a processor and a memory, wherein the memory is configured to store instructions, the processor configured to invoke the instructions in the memory, such that the vehicle performs the vehicle speed control method of any of claims 1-7.
10. 10. A computer readable storage medium storing computer instructions which, when run on a processor, cause the processor to perform the vehicle speed control method according to any one of claims 1 to 7.

Description

Vehicle speed control method, device, vehicle and computer readable storage medium Technical Field The present application relates to the field of vehicle control technologies, and in particular, to a vehicle speed control method and apparatus, a vehicle, and a computer readable storage medium. Background In the running process of a vehicle, a blind area of a visual field is an important factor affecting running safety. A collision event is more likely to occur when the current vehicle is in a blind spot of another vehicle on an adjacent lane and the other vehicle changes lanes. Particularly, in large vehicles such as long trucks and buses, the area of the visual field blind area is large, and if the vehicle is positioned in the visual field blind area, the probability of collision danger is larger. Meanwhile, in the blind areas of other vehicles running on adjacent lanes, certain pressing sense can be caused to the driver of the current vehicle, and driving experience is affected. The related vehicle speed control scheme generally only keeps the current vehicle speed when detecting that other vehicles with the vehicle speed smaller than that of the own vehicle exist in front of the adjacent lanes, and does not perform further speed control, so that the possibility of collision can not be effectively reduced, and the driving experience can not be improved. Therefore, there is a need for a safer and better experienced vehicle speed control scheme in situations where vehicles are present in front of adjacent lanes. Disclosure of Invention In view of this, embodiments of the present application provide a vehicle speed control method, apparatus, vehicle, and computer readable storage medium, which can solve the problems of low safety and poor driving experience of a vehicle speed control scheme in a scene where a vehicle exists in front of an existing adjacent lane. In a first aspect, an embodiment of the present application provides a vehicle speed control method, including: monitoring a first target event, wherein the first target event comprises an event of a target vehicle in an adjacent lane in front of the current vehicle; If the first target event is monitored, determining first position information of the current vehicle and second position information of the target vehicle, and a first motion state of the current vehicle and a second motion state of the target vehicle; And performing speed control on the current vehicle according to the first position information and the first motion state of the current vehicle and the second position information and the second motion state of the target vehicle, wherein the current vehicle is positioned in a target area after the speed control, and the target area is outside a blind area of a visual field of the target vehicle. By adopting the technical scheme, when the target vehicle appears in the adjacent lane in front of the current vehicle, the current vehicle is dynamically controlled according to the first position information and the first motion state of the current vehicle and the second position information and the second motion state of the target vehicle, so that the current vehicle is positioned outside the blind area of the field of view of the target vehicle after the speed control. Therefore, unlike the existing vehicle speed control scheme, when the fact that the vehicle speed in front of the adjacent lane is smaller than that of other vehicles of the own vehicle is detected, the current vehicle is only mechanically kept, the current vehicle cannot be enabled to rapidly and efficiently leave from the visual blind areas of the other vehicles, so that collision risks caused by lane changing of the other vehicles and pressing feeling caused by running of the other vehicles on the adjacent lane cannot be effectively avoided. In some embodiments, the method further comprises: Comparing the first position information with the second position information to obtain a first distance between the current vehicle and the target vehicle; Comparing the first motion state with the second motion state to obtain a first relative speed between the current vehicle and the target vehicle; And if the first distance is smaller than a preset first threshold value and the first relative speed is larger than a preset second threshold value, controlling the current vehicle to run at a target vehicle speed, wherein the target vehicle speed is larger than the first current vehicle speed of the target vehicle, and the second threshold value is larger than or equal to zero. In some embodiments, the method further comprises: Detecting whether a target intention of the current vehicle to override the target vehicle exists when the first distance is less than the first threshold and the first relative speed is less than or equal to the second threshold; If the target intention is detected, controlling the current vehicle to run at the target vehicle speed; And/or when the first dis