Vehicle control method and apparatus

1 . A vehicle control method implemented by a first vehicle, and comprising:

obtaining first information of a moving object near the first vehicle when a vehicle speed of the first vehicle reaches an upper limit or a lower limit of a first vehicle speed range;

determining a first parameter based on the first information, wherein the first parameter comprises a safe driving speed range for the first vehicle and a time to collision, wherein the time to collision indicates an estimated time before the first vehicle collides with the moving object, and wherein the time to collision varies with respect to time;

updating the time to collision based on updated first information; comparing the time to collision to a preset threshold;

terminating, based on the first parameter and based on comparing the time to collision to the preset threshold, an active state of a first driver assistance system of the first vehicle, wherein the first driver assistance system operates at the first vehicle speed range;

controlling, based on the first parameter and based on comparing the time to collision to the preset threshold, the first vehicle to accelerate or decelerate beyond the first vehicle speed range toward a second vehicle speed range in which a second driver assistance system of the first vehicle operates, wherein the first vehicle speed range and the second vehicle speed range do not intersect, and wherein the controlling occurs while neither the first driver assistance system nor the second driver assistance system is in an active state;

determining that there is an intersection between the safe driving speed range and the second vehicle speed range;

activating the second driver assistance system in response to the safe driving speed range and the second vehicle speed range having the intersection; and

setting, based on the first parameter and based on comparing the time to collision to the preset threshold, the first vehicle to run at a first vehicle speed in the second vehicle speed range.

2 . The method of claim 1 , further comprising:

obtaining updated first information;

updating the first parameter based on the updated first information to obtain an updated first parameter; and

setting, based on the updated first parameter, the first vehicle to run at a second vehicle speed within the second vehicle speed range.

3 . The method of claim 1 , wherein the moving object comprises a second vehicle, and wherein the first information comprises at least one of a location, a speed, a size, or a model of the second vehicle.

4 . The method of claim 1 , wherein obtaining the first information comprises receiving, using a receiving unit, the first information from the moving object.

5 . The method of claim 1 , wherein the safe driving speed range is based on a condition that there is no hazard of collision between the first vehicle and the moving object.

6 . The method of claim 5 , wherein terminating, based on the first parameter, the active state comprises:

determining that the safe driving speed range does not intersect with the first vehicle speed range; and

terminating the active state of the first driver assistance system in response to the safe driving speed range not intersecting with the first vehicle speed range.

7 . The method of claim 5 , wherein the first vehicle speed is within the safe driving speed range.

8 . The method of claim 2 , wherein the first parameter comprises a safe driving speed range for the first vehicle, wherein the safe driving speed range is based on a condition that there is no hazard of collision between the first vehicle and the moving object, and wherein the second vehicle speed is within the safe driving speed range.

9 . An apparatus comprising:

at least one memory configured to store program instructions; and

at least one processor coupled to the at least one memory and configured to execute the instructions to:

obtain first information of a moving object near a first vehicle when a vehicle speed of the first vehicle reaches an upper limit or a lower limit of a first vehicle speed range;

determine a first parameter based on the first information, wherein the first parameter comprises a safe driving speed range for the first vehicle and a time to collision, wherein the time to collision indicates an estimated time before the first vehicle collides with the moving object, and wherein the time to collision varies with respect to time;

update the time to collision based on updated first information;

compare the time to collision to a preset threshold;

terminate, based on the first parameter and based on comparing the time to collision to the preset threshold, an active state of a first driver assistance system of the first vehicle, wherein the first driver assistance system operates at the first vehicle speed range;

control, based on the first parameter and based on comparing the time to collision to the preset threshold, the first vehicle to accelerate or decelerate beyond the first vehicle speed range toward a second vehicle speed range in which a second driver assistance system of the first vehicle operates, wherein the first vehicle speed range and the second vehicle speed range do not intersect, and wherein the controlling occurs while neither the first driver assistance system nor the second driver assistance system is in an active state;

determine that there is an intersection between the safe driving speed range and the second vehicle speed range;

activate the second driver assistance system in response to the safe driving speed range and the second vehicle speed range having the intersection; and

set, based on the first parameter and based on comparing the time to collision to the preset threshold, the first vehicle to run at a first vehicle speed in the second vehicle speed range.

10 . The apparatus of claim 9 , wherein the at least one processor further executes the instructions to:

obtain updated first information;

update the first parameter based on the updated first information to obtain an updated first parameter; and

set, based on the updated first parameter, the first vehicle to run at a second vehicle speed within the second vehicle speed range.

11 . The apparatus of claim 9 , wherein the moving object comprises a second vehicle, and wherein the first information comprises at least one of a location, a speed, a size, or a model of the second vehicle.

12 . The apparatus of claim 9 , wherein the at least one processor further executes the instructions to obtain through measurement, using a sensor, the first information of the moving object.

13 . The apparatus of claim 9 , wherein the safe driving speed range is based on a condition that there is no hazard of collision between the first vehicle and the moving object.

14 . The apparatus of claim 13 , wherein the at least one processor further executes the instructions to:

determine that the safe driving speed range does not intersect with the first vehicle speed range; and

terminate the active state of the first driver assistance system in response to the safe driving speed range not intersecting with the first vehicle speed range.

15 . The apparatus of claim 13 , wherein the first vehicle speed is within the safe driving speed range.

16 . The apparatus of claim 10 , wherein the safe driving speed range is based on a condition that there is no hazard of collision between the first vehicle and the moving object, and wherein the second vehicle speed is within the safe driving speed range.

17 . A computer program product comprising computer-executable instructions that are stored on a non-transitory computer-readable medium, the instructions when executed by at least one processor, cause a first vehicle to:

obtain first information of a moving object near the first vehicle when a vehicle speed of the first vehicle reaches an upper limit or a lower limit of a first vehicle speed range;

determine a first parameter based on the first information, wherein the first parameter comprises a safe driving speed range for the first vehicle and a time to collision, wherein the time to collision indicates an estimated time before the first vehicle collides with the moving object, and wherein the time to collision varies with respect to time;

update the time to collision based on updated first information;

compare the time to collision to a preset threshold;

terminate, based on the first parameter and based on comparing the time to collision to the preset threshold, an active state of a first driver assistance system of the first vehicle, wherein the first driver assistance system operates at the first vehicle speed range;

control, based on the first parameter and based on comparing the time to collision to the preset threshold, the first vehicle to accelerate or decelerate beyond the first vehicle speed range toward a second vehicle speed range in which a second driver assistance system of the first vehicle operates, wherein the first vehicle speed range and the second vehicle speed range do not intersect, and wherein the controlling occurs while neither the first driver assistance system nor the second driver assistance system is in an active state;

determine that there is an intersection between the safe driving speed range and the second vehicle speed range;

activate the second driver assistance system in response to the safe driving speed range and the second vehicle speed range having the intersection; and

set, based on the first parameter and based on comparing the time to collision to the preset threshold, the first vehicle to run at a first vehicle speed above in the second vehicle speed range.

18 . The computer program product of claim 17 , wherein the computer-executable instructions when executed by the at least one processor further causes the first vehicle to:

obtain updated first information;

update the first parameter based on the updated first information; and

set, based on an updated first parameter, the first vehicle to run at a second vehicle speed within the second vehicle speed range.

19 . The computer program product of claim 17 , wherein the safe driving speed range is based on a condition that there is no hazard of collision between the first vehicle and the moving object.

20 . The computer program product of claim 19 , wherein the computer-executable instructions when executed by the at least one processor further causes the first vehicle to:

determine that the safe driving speed range does not intersect with the first vehicle speed range; and

terminate the active state of the first driver assistance system in response to the safe driving speed range not intersecting with the first vehicle speed range.