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US 12,448,002 B2Granted
Vehicle traveling control method, electronic device, storage medium, chip and vehicle
AssigneeXiaomi EV Technology Co., Ltd.
InventorsLiang Shi, Chi Zhang
Life of this patent
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Abstract
A vehicle traveling control method, the method includes: determining predicted motion features of a to-be-avoided object within a perception visual field of a vehicle; determining a safety level of the to-be-avoided object relative to the vehicle according to the predicted motion features and preset safety conditions; and determining a target deceleration of the vehicle according to an attribute feature of the to-be-avoided object and the corresponding safety level, and controlling traveling of the vehicle according to the target deceleration.
Claims18
A vehicle traveling control method, comprising:
- determining predicted motion features of a to-be-avoided object within a perception visual field of a vehicle, wherein the predicted motion features comprise at least one of the following:
- a position relationship between a current position of the to-be-avoided object and a traveling lane of the vehicle, whether there is a predicted traveling path intersection between the to-be-avoided object with the vehicle, and
- a predicted position of the to-be-avoided object at a time of the vehicle decelerating to the predicted traveling path intersection at a maximum deceleration in a case that the predicted traveling path intersection exists;
- determining a safety level of the to-be-avoided object relative to the vehicle according to the predicted motion features and preset safety conditions;
- and
- determining a target deceleration of the vehicle according to an attribute feature of the to-be-avoided object and the corresponding safety level, and controlling traveling of the vehicle according to the target deceleration,
- wherein the attribute feature comprises a type of the to-be-avoided object and a historical motion feature in the perception visual field, and determining the target deceleration of the vehicle according to the attribute feature of the to-be-avoided object and the corresponding safety level comprises:
- determining a distribution density of other road participants in the perception visual field of the vehicle according to a number of other road participants in the perception visual field of the vehicle and a visual field area of the perception visual field;
- determining a motion maneuvering feature of the to-be-avoided object according to the distribution density and the type of the to-be-avoided object;
- determining a target avoidance object from the to-be-avoided object according to the motion maneuvering feature of the to-be-avoided object and the corresponding safety level;
- and
- determining the target deceleration of the vehicle according to a historical motion feature of the target avoidance object in the perception visual field.
9 more elements
An electronic device, comprising:
- a processor;
- and
- a memory for storing an executable instruction of the processor;
- wherein
- the processor is configured to:
- determine predicted motion features of a to-be-avoided object within a perception visual field of a vehicle, wherein the predicted motion features comprise at least one of the following:
- a position relationship between a current position of the to-be-avoided object and a traveling lane of the vehicle, whether there is a predicted traveling path intersection between the to-be-avoided object with the vehicle, and
- a predicted position of the to-be-avoided object at a time of the vehicle decelerating to the predicted traveling path intersection at a maximum deceleration in a case that the predicted traveling path intersection exists;
- determine a safety level of the to-be-avoided object relative to the vehicle according to the predicted motion features and preset safety conditions;
- and
- determine a target deceleration of the vehicle according to an attribute feature of the to-be-avoided object and the corresponding safety level, and control traveling of the vehicle according to the target deceleration,
- wherein the attribute feature comprises a type of the to-be-avoided object and a historical motion feature in the perception visual field, and the processor is further configured to:
- determine a distribution density of other road participants in the perception visual field of the vehicle according to a number of other road participants in the perception visual field of the vehicle and a visual field area of the perception visual field;
- determine a motion maneuvering feature of the to-be-avoided object according to the distribution density and the type of the to-be-avoided object;
- determine a target avoidance object from the to-be-avoided object according to the motion maneuvering feature of the to-be-avoided object and the corresponding safety level;
- and
- determine the target deceleration of the vehicle according to a historical motion feature of the target avoidance object in the perception visual field.
14 more elements
A non-transitory computer readable storage medium, storing a computer program instruction, wherein the program instruction, in response to being executed by a processor, implements a vehicle traveling control method:
- determining predicted motion features of a to-be-avoided object within a perception visual field of a vehicle, wherein the predicted motion features comprise at least one of the following:
- a position relationship between a current position of the to-be-avoided object and a traveling lane of the vehicle, whether there is a predicted traveling path intersection between the to-be-avoided object with the vehicle, and
- a predicted position of the to-be-avoided object at a time of the vehicle decelerating to the predicted traveling path intersection at a maximum deceleration in a case that the predicted traveling path intersection exists;
- determining a safety level of the to-be-avoided object relative to the vehicle according to the predicted motion features and preset safety conditions;
- and
- determining a target deceleration of the vehicle according to an attribute feature of the to-be-avoided object and the corresponding safety level, and controlling traveling of the vehicle according to the target deceleration,
- wherein the attribute feature comprises a type of the to-be-avoided object and a historical motion feature in the perception visual field, and the program instruction further implements:
- determining a distribution density of other road participants in the perception visual field of the vehicle according to a number of other road participants in the perception visual field of the vehicle and a visual field area of the perception visual field;
- determining a motion maneuvering feature of the to-be-avoided object according to the distribution density and the type of the to-be-avoided object;
- determining a target avoidance object from the to-be-avoided object according to the motion maneuvering feature of the to-be-avoided object and the corresponding safety level;
- and
- determining the target deceleration of the vehicle according to a historical motion feature of the target avoidance object in the perception visual field.
9 more elements
Dependencies are inferred from the claim text.