Granted Patent B2

US 12,448,002 · App. 18/072,200 · Granted Oct 21, 2025

Inventors: Liang Shi (Beijing, CN); Chi Zhang (Beijing, CN)

Assignee: Xiaomi EV Technology Co., Ltd.

B60W60/0015B60W30/0956B60W2554/4041B60W2554/80

Abstract

Claims (75)

1. 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.

2. The method according to claim 1 , wherein determining the 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 comprises:

determining a target safety level where the to-be-avoided object is located from a preset safety level according to the motion maneuvering feature of the to-be-avoided object and the corresponding safety level; and

obtaining the target avoidance object by removing a to-be-avoided object whose target safety level is lower than a preset safety level threshold.

3. The method according to claim 1 , wherein determining the motion maneuvering feature of the to-be-avoided object according to the distribution density and the type of the to-be-avoided object comprises:

matching a corresponding predicted moving speed for the to-be-avoided object according to the distribution density and the type of the to-be-avoided object;

determining visual angle information of the to-be-avoided object according to a historical motion track of the to-be-avoided object in the perception visual field; and

determining the motion maneuvering feature of the to-be-avoided object according to the predicted moving speed and the visual angle information.

4. The method according to claim 1 , wherein the preset safety conditions comprise:

whether a current position of the to-be-avoided object is in the traveling lane of the vehicle.

5. The method according to claim 1 , wherein the preset safety conditions comprise:

whether the to-be-avoided object has the predicted traveling path intersection with the vehicle.

6. The method according to claim 1 , wherein the preset safety conditions comprise:

a distance between the predicted traveling path intersection and the vehicle in a case that the predicted traveling path intersection exists.

7. The method according to claim 1 , wherein the preset safety conditions comprise:

whether a distance between the predicted position of the to-be-avoided object and the predicted traveling path intersection meets a preset safety distance at the time of the vehicle decelerating to the predicted traveling path intersection at the maximum deceleration in a case that the predicted traveling path intersection exists.

8. The method according to claim 1 , wherein there are a plurality of predicted motion features and preset safety conditions, and determining the safety level of the to-be-avoided object relative to the vehicle according to the predicted motion features and the preset safety conditions comprises:

determining a safety score corresponding to the predicted motion feature according to whether any predicted motion feature of the to-be-avoided object meets the corresponding preset safety condition; and

determining the safety level of the to-be-avoided object relative to the vehicle through weighted sum according to a weight value preset for each safety condition and the safety score.

9. A chip, comprising a processor and an interface, wherein the processor is configured to read an instruction so as to execute the method according to claim 1 .

10. 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.

11. The electronic device according to claim 10 , wherein the processor is configured to:

determine a target safety level where the to-be-avoided object is located from a preset safety level according to the motion maneuvering feature of the to-be-avoided object and the corresponding safety level; and

obtain the target avoidance object by removing a to-be-avoided object whose target safety level is lower than a preset safety level threshold.

12. The electronic device according to claim 10 , wherein the processor is configured to:

match a corresponding predicted moving speed for the to-be-avoided object according to the distribution density and the type of the to-be-avoided object;

determine visual angle information of the to-be-avoided object according to a historical motion track of the to-be-avoided object in the perception visual field; and

determine the motion maneuvering feature of the to-be-avoided object according to the predicted moving speed and the visual angle information.

13. The electronic device according to claim 10 , wherein the processor is configured to:

the preset safety conditions comprise:

whether a current position of the to-be-avoided object is in the traveling lane of the vehicle.

14. The electronic device according to claim 10 , wherein the processor is configured to:

the preset safety conditions comprise:

whether the to-be-avoided object has the predicted traveling path intersection with the vehicle.

15. The electronic device according to claim 10 , wherein the processor is configured to:

the preset safety conditions comprise:

a distance between the predicted traveling path intersection and the vehicle in a case that the predicted traveling path intersection exists.

16. The electronic device according to claim 10 , wherein the processor is configured to:

the preset safety conditions comprise:

whether a distance between the predicted position of the to-be-avoided object and the predicted traveling path intersection meets a preset safety distance at the time of the vehicle decelerating to the predicted traveling path intersection at the maximum deceleration in a case that the predicted traveling path intersection exists.

17. A vehicle, comprising the electronic device according to claim 10 .

18. 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.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (15)