阅读说明：本技术 车辆跟停控制方法、装置及计算机可读存储介质 (Vehicle follow-up stop control method and device and computer readable storage medium ) 是由 廖尉华 林智桂 罗覃月 冉毅德 张韬 于 2021-07-22 设计创作，主要内容包括：本发明公开了一种车辆跟停控制方法、装置及计算机可读存储介质,所述车辆跟停控制方法包括：获取位于本车车辆周围的车辆的运动信息,并获取本车车辆的周围环境信息,根据预设的概率计算模型、运动信息和周围环境信息计算本车车辆前方的目标车辆停车或将要停车的目标概率值；当目标概率值大于预设阈值时,判定目标车辆停车或将要停车,并计算目标车辆的停车位置；确定本车车辆的当前状态信息,根据停车位置和当前状态信息进行车辆跟停控制,本发明能够解决目前常规的跟停策略中存在跟停控制不够智能化的问题。(The invention discloses a vehicle follow-up parking control method, a vehicle follow-up parking control device and a computer readable storage medium, wherein the vehicle follow-up parking control method comprises the following steps: the method comprises the steps of obtaining motion information of vehicles around a vehicle, obtaining surrounding environment information of the vehicle, and calculating a target probability value of parking or to-be-parked of a target vehicle in front of the vehicle according to a preset probability calculation model, the motion information and the surrounding environment information; when the target probability value is larger than a preset threshold value, judging that the target vehicle stops or is about to stop, and calculating the parking position of the target vehicle; the method and the device can solve the problem that the follow-up parking control is not intelligent enough in the conventional follow-up parking strategy at present.)

1. A vehicle follow-up stop control method characterized by comprising the steps of:

the method comprises the steps of obtaining motion information of vehicles around a vehicle, obtaining surrounding environment information of the vehicle, and calculating a target probability value of parking or to-be-parked of a target vehicle in front of the vehicle according to a preset probability calculation model, the motion information and the surrounding environment information;

when the target probability value is larger than a preset threshold value, judging that the target vehicle stops or is about to stop, and calculating the parking position of the target vehicle;

and determining the current state information of the vehicle, and performing vehicle follow-up parking control according to the parking position and the current state information.

2. The vehicle follow-up stop control method according to claim 1, wherein the current state information includes a current vehicle speed of the own vehicle and a current position of the own vehicle, and the step of performing vehicle follow-up stop control based on the parking position and the current state information includes:

establishing a coordinate system by taking the parking position as an origin, determining a current distance between the current position and the parking position, and determining a first coordinate point in the coordinate system according to the current distance and the current vehicle speed;

comparing the current vehicle speed with an ideal vehicle speed corresponding to the vehicle;

and when the current vehicle speed is greater than the ideal vehicle speed, performing vehicle follow-up stop control according to the current vehicle speed.

3. The vehicle follow-up stop control method according to claim 2, wherein the step of performing vehicle follow-up stop control according to the current vehicle speed when the current vehicle speed is greater than the ideal vehicle speed includes:

when the current vehicle speed is greater than the ideal vehicle speed, judging whether the current distance is greater than a preset safety distance;

if so, determining a first straight line corresponding to the current vehicle speed in the coordinate system, determining a second coordinate point corresponding to an intersection point of a preset ideal follow-up stop curve and the first straight line in the coordinate system, determining a first transition process according to the first coordinate point and the second coordinate point, and performing vehicle follow-up stop control according to the first transition process and the ideal follow-up stop process.

4. The vehicle follow-up stop control method according to claim 3, wherein the step of performing vehicle follow-up stop control according to the first transition process and the ideal follow-up stop process includes:

acquiring a fusion curve formula of fusion of a transition curve corresponding to the first transition process and an ideal follow-up stop curve corresponding to the ideal follow-up stop process, and constructing an acceleration calculation formula according to the fusion curve formula;

inputting the current vehicle speed into the acceleration calculation formula to calculate so as to obtain the acceleration required by the vehicle;

and controlling the speed of the vehicle according to the acceleration so as to perform vehicle follow-up stop control.

5. The vehicle follow-up stop control method according to claim 3, wherein the step of determining whether the current distance is greater than a preset safe distance further comprises:

if not, determining an ideal parking coordinate point corresponding to the intersection point of the preset ideal following parking curve and the abscissa in the coordinate system;

and connecting the first coordinate point and the ideal parking coordinate point to obtain a second transition process, and performing vehicle follow-up parking control according to the second transition process.

6. The vehicle follow-up stop control method according to claim 2, wherein the step of comparing the current vehicle speed with the ideal vehicle speed corresponding to the own-vehicle further comprises:

when the current vehicle speed is smaller than the ideal vehicle speed, calculating a reference speed corresponding to the ideal vehicle speed, and judging whether the current vehicle speed is larger than the reference speed;

if the current vehicle speed is greater than the reference speed, determining a reference speed straight line of the reference speed in the coordinate system, and determining a third coordinate point corresponding to an intersection point of the reference speed straight line and an ideal follow-stop curve preset in the coordinate system;

and determining a third transition process according to the first coordinate point and the third coordinate point, and performing vehicle follow-up stop control according to the third transition process and the ideal follow-up stop process.

7. The vehicle follow-up stop control method according to claim 6, further comprising, after the step of determining whether the current vehicle speed is greater than the reference speed:

if the current vehicle speed is less than the reference speed, determining a second straight line corresponding to the current vehicle speed in the coordinate system, and determining a fourth coordinate point corresponding to an intersection point of a preset ideal following and stopping curve and the second straight line in the coordinate system;

if the vehicle speed corresponding to the fourth coordinate point is greater than the vehicle speed corresponding to the third coordinate point, acquiring a fifth coordinate point corresponding to an intersection point between the second straight line and the reference speed straight line, determining a fourth transition process according to the first coordinate point, the fifth coordinate point and the third coordinate point, and performing vehicle follow-up stop control according to the fourth transition process and the ideal follow-up stop process; or the like, or, alternatively,

and if the vehicle speed corresponding to the fourth coordinate point is less than or equal to the vehicle speed corresponding to the third coordinate point, determining a fifth transition process according to the first coordinate point and the fourth coordinate point, and performing vehicle follow-up stop control according to the fifth transition process and the ideal follow-up stop process.

8. The vehicle follow-up parking control method according to claim 1, wherein the step of calculating a target probability value at which a target vehicle ahead of the own vehicle parks or is about to park, based on a preset probability calculation model, the motion information, and the surrounding environment information, comprises:

determining each preset event under different scenes according to the ambient environment information and the motion information;

acquiring a preset event probability comparison table and/or a preset function formula, and determining probability values corresponding to all preset events according to the event probability comparison table and/or the preset function formula;

and inputting the probability value into the probability calculation model, and calculating to obtain a target probability value of the target vehicle parking or about to park.

9. A vehicle follow-up stop control apparatus characterized by comprising a memory, a processor, and a follow-up stop control program stored on the memory and executable on the processor, the follow-up stop control program realizing the steps of the vehicle follow-up stop control method according to any one of claims 1 to 8 when executed by the processor.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an follow-up stop control program that, when executed by a processor, implements the steps of the vehicle follow-up stop control method according to any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of automotive electronics, in particular to a vehicle follow-up stop control method and device and a computer readable storage medium.

Background

ACC (Adaptive Cruise Control) can realize the self-Adaptive automatic Control of the vehicle speed within the speed range of 0-150 kph, and comprises a zero starting function and a follow-up stopping function. Wherein, with stopping the function and including: the method comprises the following steps that a vehicle with an ACC function automatically follows a vehicle which stops gradually, and then slowly stops at a certain safe distance; or the vehicle with the ACC function turned on is automatically and gradually stopped after a stationary vehicle, for example, a vehicle stopped at a traffic light intersection is slowly stopped.

At present, in the follow-up stopping deceleration process of a vehicle behind a front vehicle which is static or stops quickly, the conditions that the follow-up stopping front section deceleration process is slow and the rear section deceleration process is fast can be caused, so that the driver is strongly affected by the unsafe feeling in the front section follow-up stopping process, the vehicle is excessively fast in the rear section deceleration to be stopped, the body of a passenger on the vehicle is 'forward rushing and nodding', the uncomfortable feeling is strong, and the follow-up stopping deceleration process is not in line with the driving operation habit of human beings. Therefore, the problem of insufficient intelligence of the follow-up stop control exists in the conventional follow-up stop strategy at present.

Disclosure of Invention

The invention mainly aims to provide a vehicle follow-up parking control method, a vehicle follow-up parking control device and a computer readable storage medium, and aims to solve the problem that follow-up parking control is not intelligent enough in the conventional follow-up parking strategy at present.

In order to achieve the above object, the present invention provides a vehicle follow-up stop control method, including:

the method comprises the steps of obtaining motion information of vehicles around a vehicle, obtaining surrounding environment information of the vehicle, and calculating a target probability value of parking or to-be-parked of a target vehicle in front of the vehicle according to a preset probability calculation model, the motion information and the surrounding environment information;

when the target probability value is larger than a preset threshold value, judging that the target vehicle stops or is about to stop, and calculating the parking position of the target vehicle;

and determining the current state information of the vehicle, and performing vehicle follow-up parking control according to the parking position and the current state information.

Optionally, the current state information includes a current vehicle speed of the vehicle and a current position of the vehicle, and the step of performing vehicle follow-up parking control according to the parking position and the current state information includes:

establishing a coordinate system by taking the parking position as an origin, determining a current distance between the current position and the parking position, and determining a first coordinate point in the coordinate system according to the current distance and the current vehicle speed;

comparing the current vehicle speed with an ideal vehicle speed corresponding to the vehicle;

and when the current vehicle speed is greater than the ideal vehicle speed, performing vehicle follow-up stop control according to the current vehicle speed.

Optionally, when the current vehicle speed is greater than the ideal vehicle speed, the step of performing vehicle follow-up stop control according to the current vehicle speed includes:

when the current vehicle speed is greater than the ideal vehicle speed, judging whether the current distance is greater than a preset safety distance;

if so, determining a first straight line corresponding to the current vehicle speed in the coordinate system, determining a second coordinate point corresponding to an intersection point of a preset ideal follow-up stop curve and the first straight line in the coordinate system, determining a first transition process according to the first coordinate point and the second coordinate point, and performing vehicle follow-up stop control according to the first transition process and the ideal follow-up stop process.

Optionally, the step of performing vehicle follow-up stop control according to the first transition process and the ideal follow-up stop process includes:

acquiring a transition curve formula corresponding to the first transition process and an ideal follow-up stop curve formula corresponding to the ideal follow-up stop process, and constructing an acceleration calculation formula according to the transition curve formula and the ideal follow-up stop curve formula;

inputting the current vehicle speed into the acceleration calculation formula to calculate so as to obtain the acceleration required by the vehicle;

and controlling the speed of the vehicle according to the acceleration so as to perform vehicle follow-up stop control.

Optionally, after the step of determining whether the current distance is greater than a preset safe distance, the method further includes:

if not, determining an ideal parking coordinate point corresponding to the intersection point of the preset ideal following parking curve and the abscissa in the coordinate system;

and connecting the first coordinate point and the ideal parking coordinate point to obtain a second transition process, and performing vehicle follow-up parking control according to the second transition process.

Optionally, after the step of comparing the current vehicle speed with the ideal vehicle speed corresponding to the host vehicle, the method further includes:

when the current vehicle speed is smaller than the ideal vehicle speed, calculating a reference speed corresponding to the ideal vehicle speed, and judging whether the current vehicle speed is larger than the reference speed;

if the current vehicle speed is greater than the reference speed, determining a reference speed straight line of the reference speed in the coordinate system, and determining a third coordinate point corresponding to an intersection point of the reference speed straight line and an ideal follow-stop curve preset in the coordinate system;

and determining a third transition process according to the first coordinate point and the third coordinate point, and performing vehicle follow-up stop control according to the third transition process and the ideal follow-up stop process.

Optionally, after the step of determining whether the current vehicle speed is greater than the reference speed, the method further includes:

if the current vehicle speed is less than the reference speed, determining a second straight line corresponding to the current vehicle speed in the coordinate system, and determining a fourth coordinate point corresponding to an intersection point of a preset ideal following and stopping curve and the second straight line in the coordinate system;

if the vehicle speed corresponding to the fourth coordinate point is greater than the vehicle speed corresponding to the third coordinate point, acquiring a fifth coordinate point corresponding to an intersection point between the second straight line and the reference speed straight line, determining a fourth transition process according to the first coordinate point, the fifth coordinate point and the third coordinate point, and performing vehicle follow-up stop control according to the fourth transition process and the ideal follow-up stop process; or the like, or, alternatively,

and if the vehicle speed corresponding to the fourth coordinate point is less than or equal to the vehicle speed corresponding to the third coordinate point, determining a fifth transition process according to the first coordinate point and the fourth coordinate point, and performing vehicle follow-up stop control according to the fifth transition process and the ideal follow-up stop process.

Optionally, the step of calculating a probability value of a target vehicle parking or to-be-parked in front of the host vehicle according to a preset probability calculation model, the motion information, and the surrounding environment information includes:

determining each preset event under different scenes according to the ambient environment information and the motion information;

acquiring a preset event probability comparison table and/or a preset function formula, and determining probability values corresponding to all preset events according to the event probability comparison table and/or the preset function formula;

and inputting the probability value into the probability calculation model, and calculating to obtain a target probability value of the target vehicle parking or about to park.

In addition, in order to achieve the above object, the present invention further provides a vehicle follow-up stop control device, which includes a memory, a processor, and a follow-up stop control program stored in the memory and operable on the processor, wherein the follow-up stop control program, when executed by the processor, implements the steps of the vehicle follow-up stop control method as described above.

In addition, to achieve the above object, the present invention also provides a computer-readable storage medium having a follow-up stop control program stored thereon, which, when executed by a processor, implements the steps of the vehicle follow-up stop control method as described above.

The invention provides a vehicle follow-up parking control method, a vehicle follow-up parking control device and a computer readable storage medium, wherein the method comprises the steps of obtaining motion information of vehicles around a vehicle, obtaining surrounding environment information of the vehicle, and calculating a target probability value of parking or parking of a target vehicle in front of the vehicle according to a preset probability calculation model, the motion information and the surrounding environment information; when the target probability value is larger than a preset threshold value, judging that the target vehicle stops or is about to stop, and calculating the parking position of the target vehicle; and determining the current state information of the vehicle, and performing vehicle follow-up parking control according to the parking position and the current state information. According to the method, according to the motion situation of the surrounding vehicles of the vehicle and the surrounding environment information of the vehicle, various scenes are considered, the probability that the front target vehicle followed by the vehicle is about to stop is estimated, when the probability reaches a preset threshold value, the target vehicle is considered to stop, the position where the front vehicle is about to stop is estimated, and reasonable follow-up stop planning is carried out by combining the motion state information of the current vehicle and a preset ideal follow-up stop process, so that the follow-up stop of the vehicle is more intelligent.

Drawings

FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a vehicle follow-up stop control method in accordance with the present invention;

FIG. 3 is a detailed flowchart of step S300 in FIG. 2;

FIG. 4 is a detailed flowchart of step S100 in FIG. 2;

FIG. 5 is a schematic diagram illustrating a transition process of a host vehicle when a current vehicle speed of the host vehicle is greater than an ideal vehicle speed according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating a transition process when a current vehicle speed of a host vehicle is greater than an ideal vehicle speed and the host vehicle is too close to a target vehicle according to an embodiment of the present invention;

FIG. 7 is a schematic view of a transition process of a host vehicle according to an embodiment of the present invention when the current vehicle speed is less than an ideal vehicle speed and greater than a reference speed;

FIG. 8 is a schematic diagram illustrating a transition process of a host vehicle when a current vehicle speed of the host vehicle is less than a reference speed according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a probability calculation model according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the descriptions relating to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.

The device of the embodiment of the invention can be a PC (personal computer), a portable computer, a server and other equipment.

As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU (Central Processing Unit), a communication bus 1002, a network interface 1003, and a memory 1004. Wherein a communication bus 1002 is used to enable connective communication between these components. The network interface 1003 may optionally include a standard wired interface (e.g., a USB interface), a wireless interface (e.g., a WI-FI interface). The memory 1004 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1004 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, the memory 1004, which is a kind of computer storage medium, may include therein an operating system, a network communication module, and a follow-up stop control program.

In the terminal shown in fig. 1, the network interface 1003 is mainly used for connecting to a backend server and performing data communication with the backend server; and the processor 1001 may be configured to call the follow-up and stop control program stored in the memory 1004 and perform the following operations:

the method comprises the steps of obtaining motion information of vehicles around a vehicle, obtaining surrounding environment information of the vehicle, and calculating a target probability value of parking or to-be-parked of a target vehicle in front of the vehicle according to a preset probability calculation model, the motion information and the surrounding environment information;

when the target probability value is larger than a preset threshold value, judging that the target vehicle stops or is about to stop, and calculating the parking position of the target vehicle;

and determining the current state information of the vehicle, and performing vehicle follow-up parking control according to the parking position and the current state information.

Based on the hardware structure, various embodiments of the vehicle follow-up stop control method are provided.

The invention provides a vehicle follow-up stop control method.

Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a vehicle follow-up stop control method according to the present invention.

In this embodiment, the vehicle follow-up stop control method includes:

step S100, acquiring motion information of vehicles around a vehicle, acquiring surrounding environment information of the vehicle, and calculating a target probability value of parking or to-be-parked of a target vehicle in front of the vehicle according to a preset probability calculation model, the motion information and the surrounding environment information;

the method comprises the steps of obtaining motion information of vehicles around the vehicle, obtaining surrounding environment information of the vehicle, and then calculating a target probability value of parking or parking of a front target vehicle followed by the vehicle according to a preset probability calculation model, the motion information of the surrounding vehicles and the surrounding environment information. The self-adaptive cruise control system comprises a vehicle, a cruise control module and a cruise control module, wherein the vehicle is a vehicle with an adaptive cruise control function; the vehicles located around the own vehicle may be vehicles located in front of the left and right lanes and/or the same lane of the own vehicle; the target vehicle is a front target and a parking vehicle of the same lane followed by the vehicle; the motion information of the surrounding vehicles comprises the speed and the acceleration of the surrounding vehicles, the distance between the vehicle and the surrounding vehicles and the like, the surrounding environment information of the vehicle comprises environment information such as lane lines, stop lines, zebra stripes, traffic lights and the like, and the motion information and the surrounding environment information can be acquired by environment detection sensors such as vehicle-mounted millimeter wave radars, vehicle-mounted cameras or laser radars and the like.

In the embodiment, the motion conditions and the surrounding traffic environment information of all vehicles in front of the vehicle are obtained through the environment detection sensor, the probability that the target and the parked vehicle will park is predicted and estimated, and the subsequent vehicle follow-up parking control is performed according to the probability estimation result.

Step S200, when the target probability value is larger than a preset threshold value, judging that the target vehicle stops or is about to stop, and calculating the parking position of the target vehicle;

when the target probability value that the target vehicle is parked or will be parked is greater than a preset threshold value, it is determined that the target vehicle is parked or will be parked, and the parking position of the target vehicle is calculated.

In this embodiment, the predetermined threshold is presetWhen the target probability value is greater than the preset threshold value, the probability that the target vehicle parks or is to be parked is higher, at this time, the target vehicle can be judged to park or be parked, and the parking position of the target vehicle is calculated so as to facilitate the subsequent step of vehicle follow-up parking control. The specific calculation process for calculating the parking position of the target vehicle may be: obtaining the motion state of the target vehicle, namely the speed and the acceleration of the target vehicle, substituting the speed and the acceleration of the target vehicle into a formula V according to the Newton's law of motion_t ^{^2}-V₀ ^{^2}And 2, calculating and obtaining the moving distance from the current time to the vehicle speed of the target vehicle to be zero, and obtaining the parking position of the target vehicle according to the moving distance. Where Vt is the speed of the target vehicle when the target vehicle is stopped, and the vehicle speed of the target vehicle is zero, i.e., Vt is 0, V₀The vehicle speed of the target vehicle at the current moment, a is the acceleration of the target vehicle, and S is the moving distance between the target vehicle and the vehicle speed from the current moment to zero.

Further, if the acquired vehicle speed of the target vehicle at the current time is zero, the current time position of the target vehicle is determined as the parking position of the target vehicle.

And step S300, determining the current state information of the vehicle, and performing vehicle follow-up parking control according to the parking position and the current state information.

In the present embodiment, the current state information includes the current vehicle speed of the own vehicle and the current position of the own vehicle.

Specifically, referring to fig. 3, in step S300, the step of performing the vehicle following parking control according to the parking position and the current state information includes:

step S310, a coordinate system is established by taking the parking position as an origin, the current distance between the current position and the parking position is determined, and a first coordinate point in the coordinate system is determined according to the current distance and the current vehicle speed;

step S320, comparing the current vehicle speed with an ideal vehicle speed corresponding to the vehicle;

referring to fig. 5 and 7, a coordinate system is constructed with the parking position as an origin O, the distance D between the host vehicle and the target vehicle as an abscissa, and the vehicle speed V of the host vehicle as an ordinate, the current distance between the current position of the host vehicle and the parking position is determined, a first coordinate point in the coordinate system is determined according to the current distance and the current vehicle speed, and the current vehicle speed is compared with the ideal vehicle speed corresponding to the host vehicle. In this embodiment, the corresponding first coordinate point is a coordinate point C as shown in fig. 5 when the current vehicle speed is greater than the ideal vehicle speed, the corresponding first coordinate point is a coordinate point E as shown in fig. 7 when the current vehicle speed is less than the ideal vehicle speed, the corresponding first coordinate point is a coordinate point a on the ideal follow-up stop curve when the current vehicle speed is equal to the ideal vehicle speed, the vehicle speed of the host vehicle corresponding to the coordinate point a is the ideal vehicle speed, wherein the current vehicle speed is the vehicle speed of the host vehicle corresponding to the current time of the host vehicle, and the current distance is the current distance between the current position of the host vehicle and the stop position.

When the current vehicle speed is greater than the ideal vehicle speed, performing vehicle follow-up parking control according to the current vehicle speed;

further, after step S320, when the current vehicle speed is greater than the ideal vehicle speed, the step of performing vehicle follow-up stop control according to the current vehicle speed includes:

step S330, when the current vehicle speed is greater than the ideal vehicle speed, judging whether the current distance is greater than a preset safety distance;

step S331, if yes, determining a first straight line corresponding to the current vehicle speed in the coordinate system, determining a second coordinate point corresponding to an intersection point of a preset ideal follow-stop curve and the first straight line in the coordinate system, determining a first transition process according to the first coordinate point and the second coordinate point, and performing vehicle follow-stop control according to the first transition process and the ideal follow-stop process.

In this embodiment, referring to fig. 5 when the current vehicle speed is greater than the ideal vehicle speed, as shown in fig. 5, the parking position of the target vehicle is taken as an origin O, the distance D between the host vehicle and the target vehicle is an abscissa, the vehicle speed V of the host vehicle is an ordinate to construct a coordinate system, a curve AB in the coordinate system is a preset ideal follow-up parking curve of the host vehicle, a point a on the ideal follow-up parking curve is an ideal vehicle speed corresponding to the current distance of the host vehicle, a current distance D between the current position of the host vehicle and the parking position is determined, a first coordinate point C in the coordinate system is determined according to the current distance D and the current vehicle speed V1, if the current distance D is greater than a preset safe distance, a first straight line corresponding to the current vehicle speed in the coordinate system is determined, the first straight line is a straight line CN shown in fig. 5, and a second coordinate point M corresponding to an intersection point of the preset ideal follow-up parking curve and the first straight line in the coordinate system is determined, and connecting the first coordinate point C with the second coordinate point M to determine a first transition process, namely the first transition process is a straight line CM, and performing vehicle follow-up stop control according to the first transition process and an ideal follow-up stop process. Therefore, when the current vehicle speed is greater than the ideal vehicle speed and the current distance is greater than the preset safe distance, the follow-up stop control process of the host vehicle is C → M → B as shown in fig. 5. The preset safe distance is a preset safe distance between the vehicle and the target and the parking vehicle.

The specific process of acquiring the first straight line is to substitute coordinate values D and V1 corresponding to the coordinate point C into a formula V ═ k × (V ×) D + (V)₁-k D) to obtain a first linear equation V ═ k · D + (V ═ D + (V)₁K x D), wherein k is a slope k of a straight line obtained according to real vehicle experience calibration, V1 is a current vehicle speed corresponding to a coordinate point C, D is a current distance corresponding to the coordinate point C, V is a vehicle speed of the vehicle, and D is a distance between the vehicle and a target vehicle; the ideal follow-up parking curve is a preset curve meeting the requirements of comfort and safety, in the embodiment, the ideal follow-up parking curve can be obtained through real vehicle calibration, subsequent vehicle follow-up parking control is performed according to the ideal follow-up parking curve and the current state of the vehicle, an ideal follow-up parking two-dimensional table can also be obtained through real vehicle calibration, and subsequent vehicle follow-up parking control is performed according to the ideal follow-up parking two-dimensional table and the current state of the vehicle.

In this embodiment, the slope of the first straight line is calibrated through real vehicle experience, the first straight line is determined according to the current state of the vehicle, and the transition process that the first straight line is transitioned to the ideal follow-up-stop curve is determined to perform follow-up-stop control of the vehicle, so that the problems that the follow-up-stop process is gentle due to the fact that the slope of the follow-up-stop straight line is too small and the follow-up-stop process is determined only by focusing on the distance and speed difference relationship between the vehicle and a front vehicle, the front section is slow in deceleration, and the rear section is fast in deceleration and accidents are easy to happen are solved, and meanwhile, the problems that the experience is poor due to the fact that the deceleration is too large when the slope is too large are solved. The safety and comfort of the vehicle following-up process are thus increased in this way.

Specifically, the step of performing vehicle follow-up stop control according to the first transition process and the ideal follow-up stop process includes:

acquiring a fusion curve formula of fusion of a transition curve corresponding to the first transition process and an ideal follow-up stop curve corresponding to the ideal follow-up stop process, wherein the fusion curve formula is V-f _ fusion (d), V is the speed of the vehicle, and f _ fusion (d) is an expression of the fusion curve; an acceleration calculation formula a-V is constructed according to a fusion curve formula₀F _ fusion (d)', inputting the current vehicle speed into an acceleration calculation formula to calculate so as to obtain the acceleration required by the vehicle, and controlling the speed of the vehicle according to the acceleration so as to perform vehicle follow-up stop control. Where a is the acceleration required of the own vehicle, and V0 is the current vehicle speed of the own vehicle.

Further, after step S330, the method further includes:

step S332, if not, determining an ideal parking coordinate point corresponding to the intersection point of the preset ideal following parking curve and the abscissa in the coordinate system; and connecting the first coordinate point and the ideal parking coordinate point to obtain a second transition process, and performing vehicle follow-up parking control according to the second transition process.

In this embodiment, referring to fig. 6, if the current vehicle speed is greater than the ideal vehicle speed and the current distance is less than or equal to the preset safe distance, for example, fig. 6 uses the parking position of the target vehicle as the origin O, the distance D between the host vehicle and the target vehicle is the abscissa, the vehicle speed V of the host vehicle is the ordinate to construct a coordinate system, a curve AB in the coordinate system is the preset ideal follow-up parking curve of the host vehicle, the vehicle speed corresponding to the point a is the ideal vehicle speed on the ideal follow-up parking curve corresponding to the current distance D of the host vehicle, the point B is the ideal parking coordinate point on the ideal follow-up parking curve corresponding to the host vehicle, the current distance D between the current position of the host vehicle and the parking position is determined, a first coordinate point C in the coordinate system is determined according to the current distance D and the current vehicle speed V1, if the current distance D is less than or equal to the preset safe distance, a first straight line corresponding to the current vehicle speed in the coordinate system is determined, the first straight line is a straight line CN as shown in fig. 6, a coordinate point corresponding to an intersection point of the first straight line CN and the abscissa is N, the coordinate point N corresponds to a distance between a parking position of the host vehicle and a parking position of the target vehicle when the host vehicle parks, and when the current distance is less than or equal to a preset safety distance, the distance between the parking position of the host vehicle corresponding to the coordinate point N and the parking position of the target vehicle is less than an ideal parking distance corresponding to an ideal parking coordinate point B, so that an ideal parking coordinate point B corresponding to an intersection point of a preset ideal follow-up parking curve and the abscissa in a coordinate system is determined; and connecting the first coordinate point C and the ideal parking coordinate point B to obtain a second transition process, namely, the second transition process is a straight line CB, and controlling the follow-up parking of the vehicle according to the second transition process. Therefore, when the current vehicle speed is greater than the ideal vehicle speed and the current distance is less than or equal to the preset safe distance, the follow-up stop control process of the host vehicle is C → B as shown in fig. 6.

In this embodiment, since the current distance is less than or equal to the preset safe distance, the distance between the parking position of the vehicle and the parking position of the target vehicle may be too short, and the distance exceeds the ideal parking distance between the vehicle and the target vehicle, in order to avoid the situation that the collision is likely to occur due to the too short distance between the following parking position of the vehicle and the parking position of the target vehicle, when the current vehicle speed is greater than the ideal vehicle speed and the current distance is less than or equal to the preset safe distance, the following parking control process is set to C → B as shown in fig. 6, so that the safety of the following parking process is improved.

Further, if the current vehicle speed is equal to the ideal vehicle speed, vehicle follow-up stop control can be performed according to an ideal follow-up stop process corresponding to the ideal follow-up stop curve.

Further, after step S320, the method further includes:

step S340, when the current vehicle speed is smaller than the ideal vehicle speed, calculating a reference speed corresponding to the ideal vehicle speed, and judging whether the current vehicle speed is larger than the reference speed;

step S341, if the current vehicle speed is greater than the reference speed, determining a reference speed straight line of the reference speed in the coordinate system, and determining a third coordinate point corresponding to an intersection point of the reference speed straight line and an ideal follow-stop curve preset in the coordinate system;

and step S342, determining a third transition process according to the first coordinate point and the third coordinate point, and performing vehicle follow-up stop control according to the third transition process and the ideal follow-up stop process.

And when the current vehicle speed is less than the ideal vehicle speed, judging whether the current vehicle speed is greater than a reference speed.

In this embodiment, referring to fig. 7, if the current vehicle speed is less than the ideal vehicle speed, for example, in fig. 7, the parking position of the target vehicle is taken as an origin O, the distance D between the host vehicle and the target vehicle is an abscissa, the vehicle speed V of the host vehicle is an ordinate, a coordinate system is constructed, a curve AB in the coordinate system is a preset ideal follow-up parking curve of the host vehicle, the vehicle speed corresponding to a point a on the ideal follow-up parking curve is an ideal vehicle speed corresponding to the current distance D of the host vehicle, a point B on the ideal follow-up parking curve is an ideal parking coordinate point corresponding to the host vehicle, the current distance D between the current position of the host vehicle and the parking position is determined, a first coordinate point in the coordinate system is determined according to the current distance D and the current vehicle speed V1, the first coordinate point in this case corresponds to a point E in fig. 7, when the current vehicle speed is less than the ideal vehicle speed, a reference speed h corresponding to the ideal vehicle speed is calculated, in fig. 7, a coordinate point H is a reference coordinate point determined from the current distance and the reference speed, and if the current vehicle speed is greater than the reference speed, a reference speed straight line of the reference speed in the coordinate system is determined, that is, V is V_hAnd determining a third coordinate point I corresponding to the intersection point of the reference speed straight line and the preset ideal follow-stop curve in the coordinate system.

And connecting the first coordinate point E with the third coordinate point I to obtain a third transition process, namely, the third transition process is a straight line EI, and performing vehicle follow-up stop control according to the third transition process and the ideal follow-up stop process. Therefore, when the current vehicle speed is less than the ideal vehicle speed and the current vehicle speed is greater than the reference speed, the follow-up stop control process of the host vehicle is E → I → B as shown in fig. 7.

The calculation process of the reference speed can be as follows: obtaining an ideal speed V corresponding to the current distance of the vehicle, and substituting the ideal speed V into a preset reference speed calculation formula V_hAnd calculating to obtain a reference speed, wherein Vh is the reference speed, h is a calibration parameter, and v is an ideal vehicle speed corresponding to the current distance of the vehicle, and the reference speed is less than the ideal vehicle speed.

In this embodiment, when the current vehicle speed is less than the ideal vehicle speed but greater than the reference speed, a transition process E → I is set to properly increase the vehicle speed, so as to avoid the problem of low comfort caused by sudden and abrupt acceleration and deceleration of the vehicle in order to track the ideal vehicle speed.

Further, after step S340, the method further includes:

step A, if the current vehicle speed is less than the reference speed, determining a second straight line corresponding to the current vehicle speed in the coordinate system, and determining a fourth coordinate point corresponding to an intersection point of a preset ideal follow-stop curve and the second straight line in the coordinate system;

in this embodiment, referring to fig. 8, when the current vehicle speed is less than the reference speed, as shown in fig. 8, the parking position of the target vehicle is taken as the origin O, the distance D between the host vehicle and the target vehicle is the abscissa, the vehicle speed V of the host vehicle is the ordinate, a coordinate system is constructed, a curve AB in the coordinate system is a preset ideal follow-up parking curve of the host vehicle, a point a on the ideal follow-up parking curve is an ideal vehicle speed corresponding to the current distance of the host vehicle, a current distance D between the current position of the host vehicle and the parking position is determined, a first coordinate point in the coordinate system is determined according to the current distance D and the current vehicle speed V1, the first coordinate point at this time corresponds to a point E in fig. 8, a second straight line corresponding to the current vehicle speed in the coordinate system is determined, the second straight line is a straight line EJ or a straight line EJ' as shown in fig. 8, and a fourth coordinate point corresponding to the intersection point of the preset ideal follow-up parking curve and the second straight line in the coordinate system is determined, and judging whether the vehicle speed of the vehicle corresponding to the fourth coordinate point is greater than the vehicle speed of the vehicle corresponding to the third coordinate point I.

The second straight line is determined when the current vehicle speed of the vehicle is less than the ideal vehicle speed, the slope of the second straight line is determined by pre-calibration, the specific acquisition process of the second straight line is the same as the specific acquisition process of the first straight line of the vehicle speed, and the specific acquisition process of the first straight line can be referred to, which is not described herein again.

Step B, if the vehicle speed corresponding to the fourth coordinate point is greater than the vehicle speed corresponding to the third coordinate point, acquiring a fifth coordinate point corresponding to the intersection point of the second straight line and the reference speed straight line, determining a fourth transition process according to the first coordinate point, the fifth coordinate point and the third coordinate point, and performing vehicle follow-up stop control according to the fourth transition process and the ideal follow-up stop process; or;

as shown in fig. 8, a straight line EJ is a second straight line corresponding to the fourth coordinate point when the vehicle speed of the vehicle is greater than the vehicle speed corresponding to the third coordinate point I, a fifth coordinate point J corresponding to the intersection point of the second straight line and the reference speed straight line is obtained, the first coordinate point E, the fifth coordinate point J and the third coordinate point I are connected to determine a fourth transition process, and vehicle follow-up stop control is performed according to the fourth transition process and the ideal follow-up stop process. Therefore, when the current vehicle speed is less than the reference speed and the vehicle speed of the host vehicle corresponding to the fourth coordinate point is greater than the vehicle speed corresponding to the third coordinate point I, the follow-up stop control process of the host vehicle is as shown in fig. 8 as E → J → I → B.

In this embodiment, if the current vehicle speed is lower than the reference speed, it is indicated that the current vehicle speed of the vehicle is too low at this time and may affect the traffic commuting efficiency, in this case, when the slope of the second straight line is larger, the vehicle speed of the vehicle corresponding to the fourth coordinate point, which is the intersection point of the second straight line and the ideal follow-up stop curve, is larger than the vehicle speed of the vehicle corresponding to the third coordinate point I, so the transition process E → J → I is set to appropriately increase the vehicle speed to the reference speed, and the comfort level of the vehicle follow-up stop process is increased.

And step C, if the vehicle speed corresponding to the fourth coordinate point is less than or equal to the vehicle speed corresponding to the third coordinate point, determining a fifth transition process according to the first coordinate point and the fourth coordinate point, and performing vehicle follow-up stop control according to the fifth transition process and the ideal follow-up stop process.

If the vehicle speed corresponding to the fourth coordinate point is less than or equal to the vehicle speed corresponding to the third coordinate point, the fourth coordinate point corresponds to the coordinate point J ' in fig. 8, in particular, when the vehicle speed corresponding to the fourth coordinate point is equal to the vehicle speed corresponding to the third coordinate point, the fourth coordinate point J ' coincides with the third coordinate point I, the first coordinate point E and the coordinate point J ' are connected to determine a fifth transition process, and the vehicle follow-up stop control is performed according to the fifth transition process and the ideal follow-up stop process. Therefore, when the current vehicle speed is less than the reference speed and the vehicle speed of the host vehicle corresponding to the fourth coordinate point is less than or equal to the vehicle speed corresponding to the third coordinate point I, the follow-up and stop control process of the host vehicle is as indicated by E → J' → B in fig. 8.

In this embodiment, the specific control process of performing the vehicle follow-up stop control according to the transition process and the ideal follow-up stop process may refer to the process of performing the vehicle follow-up stop control according to the first transition process and the ideal follow-up stop process, which is not described herein again.

The invention provides a vehicle follow-up parking control method, a vehicle follow-up parking control device and a computer readable storage medium, wherein the method comprises the steps of obtaining motion information of vehicles around a vehicle, obtaining surrounding environment information of the vehicle, and calculating a target probability value of parking or parking of a target vehicle in front of the vehicle according to a preset probability calculation model, the motion information and the surrounding environment information; when the target probability value is larger than a preset threshold value, judging that the target vehicle stops or is about to stop, and calculating the parking position of the target vehicle; and determining the current state information of the vehicle, and performing vehicle follow-up parking control according to the parking position and the current state information. According to the method, according to the motion situation of the surrounding vehicles of the vehicle and the surrounding environment information of the vehicle, various scenes are considered, the probability that the front target vehicle followed by the vehicle is about to stop is estimated, when the probability reaches a preset threshold value, the target vehicle is considered to stop, the position where the front vehicle is about to stop is estimated, and reasonable follow-up stop planning is carried out by combining the motion state information of the current vehicle and a preset ideal follow-up stop process, so that the follow-up stop of the vehicle is more intelligent.

Further, referring to fig. 4, in this embodiment, the step S100 may include:

step S110, determining each preset event under different scenes according to the ambient environment information and the motion information;

in this embodiment, each preset event in different scenarios may include a first event, a second event, and a third event; the first event is that the vehicle with the minimum vehicle speed on the left lane and the right lane of the vehicle is low; the second event is that one or more of the target vehicle, the vehicle with the minimum vehicle speed on the left lane and the right lane and the vehicle in front of the target vehicle are in a parking area; the third event is that the vehicle speed of the vehicle ahead of the target vehicle in the same lane is low.

Wherein the first event takes into account the case where the lower the vehicle speed of the vehicle having the smallest vehicle speed on the left and right lanes of the own vehicle, the higher the probability that the target vehicle is parked or will be parked; the second event considers whether the vehicle in front of the own vehicle is about to be in a parking area such as a traffic light, an intersection, or a zebra crossing, and when the vehicle in front of the own vehicle is about to be in the parking area, the probability that the target vehicle is parked is higher; the third event considers the case where the vehicle speed of the vehicle ahead of the target vehicle located in the same lane is low, but the target vehicle may accelerate and then decelerate, so that the lower the vehicle speed of the vehicle ahead of the target vehicle located in the same lane, the higher the probability that the actual target vehicle is parked or will be parked, and the problem of poor safety due to deceleration after the host vehicle suddenly accelerates following the target vehicle can be avoided.

Step S120, acquiring a preset event probability comparison table and/or a preset function formula, and determining probability values corresponding to all preset events according to the event probability comparison table and/or the preset function formula.

In the present embodiment, the first eventThe corresponding first probability value, the second probability value corresponding to the second event and the third probability value corresponding to the third event can be obtained by a calibration table look-up method and can also be obtained by calculation through a preset function formula, wherein for example, the first probability value can be obtained by detecting the speed of a vehicle with the minimum speed of the left lane and the right lane and inquiring the corresponding probability value in the preset probability table according to the detected speed; it may also be calculated by a functional formula, for example, the first probability value may be calculated by the functional formula:k1≥x>k2, wherein P (A1) is a first probability value, a, b, c, d, e and f are coefficients obtained through calibration, x is the vehicle speed of the vehicle with the minimum vehicle speed in the left lane and the right lane, k1 and k2 are preset vehicle speed thresholds, and k1 is larger than k 2. An event probability comparison table corresponding to a second event can be constructed by detecting whether lane lines of the left lane and the right lane are solid lines, whether a stop line and a zebra crossing are detected, whether a traffic light is detected, whether a red light is fully bright and the like, and a second probability value is obtained through the comparison table; the third probability value is the same as the first probability value in the calculation process, and the specific calculation process of the first probability value may be referred to, which is not described herein again.

Step S130, inputting the probability value into the probability calculation model, and calculating to obtain a target probability value of the target vehicle parking or to be parked.

The method comprises the steps of obtaining a preset event probability comparison table and/or a preset function formula, determining a first probability value corresponding to a first event, a second probability value corresponding to a second event and a third probability value corresponding to a third event according to the event probability comparison table and/or the preset function formula, inputting the first probability value, the second probability value and the third probability value into a probability calculation model, and calculating to obtain a target probability value of the target vehicle for parking or to be parked. In this embodiment, the preset probability calculation model is a bayesian network model, but the preset probability calculation model may also be other probability calculation models capable of calculating the target probability.

Referring to fig. 9, in fig. 9, a1 is a first probability value corresponding to a first event, a2 is a second probability value corresponding to a second event, A3 is a third probability value corresponding to a third event, a4 is a fourth probability value corresponding to a fourth event, a5 is a fifth probability value corresponding to a fifth event, and B1 is a target probability value that the target vehicle is parked or will be parked.

Before the step of inputting the first probability value, the second probability value and the third probability value into the probability calculation model, the method further comprises the following steps:

determining a fourth event and a fifth event according to the ambient environment information and the motion information;

in the present embodiment, the fourth event is that a vehicle having the smallest vehicle speed stops or is about to stop on the left and right lanes of the own vehicle; the fifth event is that a vehicle in front of a target vehicle located in the same lane of the vehicle parks or is about to park;

inputting the first probability value, the second probability value and the third probability value into a probability calculation model, and calculating a target probability value for obtaining parking or to-be-parked of a target vehicle in front of the vehicle comprises the following steps:

step a, inputting the first probability value and the second probability value into a probability calculation model, and calculating to obtain a fourth probability value corresponding to a fourth event according to a total probability calculation formula;

b, inputting the second probability value and the third probability value into a probability calculation model, and calculating according to a total probability calculation formula to obtain a fifth probability value corresponding to a fifth event;

and c, inputting the fourth probability value, the fifth probability value and the second probability value into a probability calculation model, and calculating to obtain a target probability value of the target vehicle for parking or to be parked according to a total probability calculation formula.

In this embodiment, a bayesian network probability calculation model is constructed by obtaining motion state information of surrounding vehicles of the vehicle and surrounding environment information such as lane lines and traffic lights, so as to calculate the probability that the target vehicle stops or will stop, and a subsequent follow-up stop control step is performed according to the probability calculation result.

Further, based on the above-described first embodiment, a second embodiment of the vehicle follow-up stop control method of the invention is proposed.

In this embodiment, after step S300, the method further includes:

d, after a preset time interval, detecting whether the target vehicle exists, whether the speed of the target vehicle is lower than a preset speed, whether the speed of the target vehicle is not zero and whether the vehicle moves forwards;

step e, if yes, judging whether the prior probability corresponding to the parking or the to-be-parked target vehicle meets a preset statistic updating condition;

in this embodiment, after each time interval, the real-time condition of the traffic environment around the vehicle is obtained again, and a subsequent corresponding calculation and determination operation is performed, in this embodiment, a preset time interval is set for a relatively long time, for example, 0.5s, for example, every 0.5s, whether a target vehicle exists, whether the vehicle speed of the target vehicle is lower than a preset vehicle speed (for example, 10kph), whether the vehicle speed of the target vehicle is not zero, and whether the vehicle is in a forward motion state, when the four conditions are met, it is determined that the vehicle speed of the target vehicle is low, the probability that the target vehicle is parked or will be parked is high, and at this time, a follow-up parking operation may be required, it is determined whether a prior probability corresponding to the parking or to be parked of the target vehicle meets a preset statistical update condition, where the prior probability corresponding to the parking or to be parked of the target vehicle is a fourth probability value, and a subsequent corresponding to the parking determination operation is performed And the preset statistical updating conditions comprise a fifth probability value and a second probability value, wherein the fourth probability value is 0 or 1, the fifth probability value is 0 or 1, and the second probability value is 0 or 1.

In the embodiment, since the change of the surrounding traffic environment in a short time is not too large, and detection calculation is not needed too frequently, a relatively long time interval is set, so that calculation power is saved and invalid data is prevented from being stored too much.

And f, if the preset statistical updating condition is met, performing statistical updating on the probability storage table corresponding to the parking or to-be-parked target vehicle.

And if the prior probability corresponding to the parking or to-be-parked of the target vehicle meets a preset statistical updating condition, statistically updating a probability storage table corresponding to the parking or to-be-parked of the target vehicle, wherein the probability storage table corresponding to the parking or to-be-parked of the target vehicle comprises the total times of all event results of the corresponding event "the target vehicle is parked or to-be-parked" when the fourth probability value is 0 or 1, the fifth probability value is 0 or 1 and the second probability value is 0 or 1.

Similarly, when it is detected that the target vehicle exists, the vehicle speed of the target vehicle is lower than the preset vehicle speed, the vehicle speed of the target vehicle is not zero, and the vehicle is in a forward motion state, whether the prior probabilities corresponding to the fourth event and the fifth event meet the corresponding preset statistical update conditions is judged, and if the prior probabilities meet the corresponding preset statistical update conditions, the probability storage tables corresponding to the fourth event and the fifth event are statistically updated. The prior probability of the fourth event is the first probability value and the second probability value, and the prior probability of the fifth event is the second probability value and the third probability value.

In the embodiment, the bayesian network model is adaptively updated, that is, the probability values of the events in the bayesian network model are continuously updated according to the matching between the prediction input and the actual result in the driving process, and the more the vehicle is used, the more accurate the prediction result of the motion state of the target vehicle is, so that the accuracy of the predicted target probability value is improved.

The present invention also provides a computer-readable storage medium having stored thereon an follow-up stop control program which, when executed by a processor, implements the steps of the vehicle follow-up stop control method according to any one of the above embodiments.

The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the follow-stop control method, and is not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.