US 12,448,002 B2
Vehicle traveling control method, electronic device, storage medium, chip and vehicle
Liang Shi, Beijing (CN); and Chi Zhang, Beijing (CN)
Assigned to Xiaomi EV Technology Co., Ltd., Beijing (CN)
Filed by Xiaomi EV Technology Co., Ltd., Beijing (CN)
Filed on Nov. 30, 2022, as Appl. No. 18/072,200.
Claims priority of application No. 202210669421.8 (CN), filed on Jun. 14, 2022.
Prior Publication US 2023/0399020 A1, Dec. 14, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01)
CPC B60W 60/0015 (2020.02) [B60W 30/0956 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] 18 Claims
OG exemplary drawing
 
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.