A method, medium, device and system for active avoidance of side collisions

Abstract

The application discloses a kind of active avoidance method, medium, equipment and system for preventing lateral collision, the method comprises: the lateral distance between target vehicle and the vehicle is obtained in real time and lateral collision time;Wherein, the target vehicle is the vehicle that drives in the adjacent lane of the current lane of the vehicle;When the lateral distance is less than the preset distance threshold, the lateral collision time is compared with the size between the preset first time threshold and the preset second time threshold;When the second time threshold is satisfied ≤the lateral collision time≤The first time threshold, control the vehicle to actively avoid in the same direction of the lateral acceleration of the target vehicle, and in the process of avoiding, the wheel outside of the vehicle is controlled not to exceed the lane line of the current lane of the vehicle.The technical scheme of the application can effectively avoid lateral collision of vehicle in driving.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to an active avoidance method, computer-readable storage medium, terminal device, and system for preventing side collisions. Background Technology

[0002] When a vehicle is driving normally, if a vehicle in an adjacent lane overlaps with the vehicle in that lane and is too close to it or is approaching it laterally, there is a risk of a side collision, which poses a significant safety hazard. Therefore, it is of great importance to know how to avoid side collisions while the vehicle is driving normally. Summary of the Invention

[0003] The purpose of this invention is to provide an active avoidance method, computer-readable storage medium, terminal device, and system for preventing side collisions, which can effectively prevent side collisions of vehicles while they are in motion.

[0004] To achieve the above objectives, embodiments of the present invention provide an active avoidance method for preventing lateral collisions, comprising:

[0005] The lateral distance and lateral collision time between the target vehicle and the current vehicle are obtained in real time; wherein, the target vehicle is a vehicle traveling in the adjacent lane of the current vehicle's current driving lane;

[0006] When the lateral distance is less than a preset distance threshold, the lateral collision time is compared with the size of a preset first time threshold and a preset second time threshold;

[0007] When the second time threshold is less than or equal to the lateral collision time, the vehicle is controlled to actively avoid the target vehicle in the same direction of lateral acceleration. During the avoidance process, the outer wheels of the vehicle are controlled to not cross the lane line of the vehicle's current driving lane.

[0008] Furthermore, after controlling the vehicle to actively avoid the target vehicle in the same direction as its lateral acceleration, and during the avoidance process, ensuring that the outer edges of the vehicle's wheels do not cross the lane lines of the vehicle's current lane, the method further includes:

[0009] Once the vehicle's attitude has stabilized, an acceleration reminder message will be sent to the driver to prompt them to accelerate and avoid the risk of a side collision.

[0010] Furthermore, controlling the vehicle to actively avoid the target vehicle in the same direction as its lateral acceleration specifically includes:

[0011] Determine whether the lane in the direction of avoidance is available or whether there is a collision risk; wherein, the lane in the direction of avoidance is the lane adjacent to the lane in the direction of avoidance of the vehicle's current driving lane;

[0012] When the lane in the avoidance direction is available and there is no risk of collision, the vehicle is controlled to actively avoid the target vehicle in the same direction of lateral acceleration.

[0013] Furthermore, the control of the vehicle to actively avoid the target vehicle in the same direction as its lateral acceleration also includes:

[0014] When the lane for avoiding collisions is unavailable or there is a risk of collision, determine whether there is a risk of collision behind the vehicle in its current lane.

[0015] When there is no risk of collision behind the vehicle in its current lane, actively slow down the vehicle to avoid a side collision.

[0016] Furthermore, the method also includes:

[0017] When the lateral collision time exceeds the first time threshold, an alarm message is sent to the driver to remind him of the risk of a lateral collision.

[0018] Furthermore, the method also includes:

[0019] When the lateral collision time is less than the second time threshold, the vehicle is controlled to actively decelerate to avoid a lateral collision.

[0020] This invention also provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the active avoidance method for preventing lateral collisions described above.

[0021] This invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the active avoidance method for preventing lateral collisions as described above when executing the computer program.

[0022] This invention also provides an active avoidance system for preventing side collisions, the system comprising an information acquisition device and an active avoidance device; wherein,

[0023] The information acquisition device is used to acquire the location information and lateral movement information of the target vehicle and send them to the active avoidance device; wherein, the target vehicle is a vehicle traveling in the adjacent lane of the current driving lane of this vehicle;

[0024] The active avoidance device is used to implement the active avoidance method for preventing side collisions as described above by utilizing the received position information and lateral movement information of the target vehicle.

[0025] Compared with the prior art, the embodiments of the present invention provide an active avoidance method, computer-readable storage medium, terminal device and system for preventing side collisions. By acquiring the lateral distance and lateral collision time between a target vehicle and the vehicle in real time, wherein the target vehicle is a vehicle traveling in the adjacent lane of the vehicle's current driving lane; when the lateral distance is less than a preset distance threshold, the lateral collision time is compared with a preset first time threshold and a preset second time threshold; when the second time threshold ≤ lateral collision time ≤ first time threshold, the vehicle is controlled to actively avoid the target vehicle in the same direction of lateral acceleration, and during the avoidance process, the outer edges of the vehicle's wheels are controlled not to cross the lane lines of the vehicle's current driving lane; thereby effectively avoiding side collisions during driving. Attached Figure Description

[0026] Figure 1 This is a flowchart of a preferred embodiment of an active avoidance method for preventing lateral collisions provided by the present invention;

[0027] Figure 2 This is a structural block diagram of a preferred embodiment of a terminal device provided by the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] This invention provides an active avoidance method to prevent lateral collisions. See [link to relevant documentation]. Figure 1 The diagram shown is a flowchart of a preferred embodiment of an active avoidance method for preventing side collisions provided by the present invention, the method comprising steps S11 to S13:

[0030] Step S11: Real-time acquisition of the lateral distance and lateral collision time between the target vehicle and the current vehicle; wherein, the target vehicle is a vehicle traveling in the adjacent lane of the current vehicle's driving lane;

[0031] Step S12: When the lateral distance is less than a preset distance threshold, compare the lateral collision time with the preset first time threshold and the preset second time threshold;

[0032] Step S13: When the second time threshold ≤ the lateral collision time ≤ the first time threshold, control the vehicle to actively avoid the target vehicle in the same direction of lateral acceleration, and during the avoidance process, control the outer side of the vehicle's wheels not to exceed the lane line of the vehicle's current driving lane.

[0033] Specifically, during the normal driving of this vehicle, vehicles traveling in the adjacent lanes of the current driving lane are taken as target vehicles. The lateral distance s and lateral collision time t between the target vehicle and this vehicle are obtained in real time, and the obtained lateral distance s between the target vehicle and this vehicle are compared with a preset distance threshold s1. When it is determined that the lateral distance s between the target vehicle and this vehicle is less than the preset distance threshold s1, the lateral collision time t between the target vehicle and this vehicle is further compared with a preset first time threshold t1 and a preset second time threshold t2 respectively. When it is determined that the second time threshold t2 ≤ lateral collision time t ≤ first time threshold t1, that is, s < s1 and t2 ≤ t ≤ t1, a lane-change lateral avoidance strategy is adopted: the vehicle is controlled to actively avoid the target vehicle in the same direction of lateral acceleration (i.e., the avoidance direction) (to increase the lateral distance between the vehicle and the target vehicle and avoid lateral avoidance between the vehicle and the target vehicle), and during the avoidance process, the outer side of the vehicle's wheels is controlled not to go beyond the lane line of the current driving lane, that is, the vehicle does not change lanes.

[0034] Correspondingly, when the lateral distance s between the target vehicle and the vehicle is determined to be greater than or equal to the preset distance threshold s1, it indicates that there is no risk of lateral collision. Therefore, it is not necessary to further compare the lateral collision time t between the target vehicle and the vehicle with the first time threshold t1 and the second time threshold t2. No alarm needs to be triggered, and no evasion strategy needs to be adopted by the vehicle.

[0035] It should be noted that the target vehicle specifically refers to a vehicle traveling in an adjacent lane that has an overlap rate with this vehicle. For the lateral distance s and the lateral collision time t, the position information and lateral movement information of the target vehicle can be collected first using the information collection equipment installed in this vehicle, and the position information of this vehicle can also be collected. Then, the results can be calculated based on the position information and lateral movement information of the target vehicle and the position information of this vehicle.

[0036] For example, the information acquisition device includes a side-view camera and an angular millimeter-wave radar. By fusing the side-view camera and the angular millimeter-wave radar, parameters such as the lateral position, lateral velocity, and lateral acceleration of the target vehicle can be obtained, as well as the position parameters of the vehicle itself. Then, based on the lateral position of the target vehicle and the position parameters of the vehicle itself, the lateral distance s between the target vehicle and the vehicle itself can be calculated. Based on the lateral distance s between the target vehicle and the vehicle itself, the lateral velocity and lateral acceleration of the target vehicle, the lateral collision time t between the target vehicle and the vehicle itself can be calculated.

[0037] It is understandable that the embodiments of the present invention focus on solving the problem of lateral collision risk caused by target vehicles in adjacent lanes that have an overlap rate with the vehicle itself. The active avoidance scheme involved has a clear definition of the application scenario, so the requirements for the perception sensor system (i.e., information acquisition device) are relatively low, and the scheme is easy to implement.

[0038] It should be noted that the avoidance strategy employed in this embodiment of the invention can be implemented using the vehicle's assisted driving functions. For example, when controlling the vehicle to execute a lane-changing lateral avoidance strategy, the assisted driving function can be used to control the vehicle to drive normally along the avoidance direction, and through vehicle path planning, ensure that the outer edge of the vehicle's wheels does not exceed the outer edge of the lane line of the current driving lane during the lateral avoidance process. Known similar technologies primarily describe solutions for avoiding collisions with targets ahead in adjacent lanes and do not consider lane-changing lateral avoidance methods.

[0039] The present invention provides an active avoidance method for preventing side collisions. By acquiring the lateral distance and lateral collision time between the target vehicle and the vehicle in real time, when the lateral distance is less than a preset distance threshold, the method compares the lateral collision time with a preset first time threshold and a preset second time threshold. When the second time threshold ≤ lateral collision time ≤ first time threshold, the method controls the vehicle to actively avoid the target vehicle in the same direction of lateral acceleration. During the avoidance process, the method controls the outer side of the vehicle's wheels to not exceed the lane line of the vehicle's current driving lane. Thus, when a target vehicle in an adjacent lane approaches the vehicle and poses a risk of side collision, the method adopts a lane-change lateral avoidance strategy, effectively avoiding side collisions while the vehicle is in motion. At the same time, since collision avoidance does not involve lane changing or acceleration, other risks caused by the vehicle's active collision avoidance are also relatively low.

[0040] In another preferred embodiment, after controlling the vehicle to actively avoid the target vehicle in the same direction of lateral acceleration, and during the avoidance process, controlling the outer edges of the vehicle's wheels not to cross the lane lines of the vehicle's current driving lane, the method further includes:

[0041] Once the vehicle's attitude has stabilized, an acceleration reminder message will be sent to the driver to prompt them to accelerate and avoid the risk of a side collision.

[0042] Specifically, in conjunction with the above embodiments, after determining that s < s1 and t2 ≤ t ≤ t1, and using a lane-changing lateral avoidance strategy to control the vehicle to avoid a collision, if it is determined that the vehicle's attitude is stable, an acceleration reminder message can be issued to the driver to remind the driver to take acceleration action to avoid the risk of another side collision.

[0043] It should be noted that the vehicle's stable posture specifically means that the vehicle is not unstable or skidding, the vehicle is controllable, and the direction of travel is parallel to the lane line of the current lane.

[0044] In yet another preferred embodiment, controlling the vehicle to actively avoid the target vehicle in the same direction of its lateral acceleration specifically includes:

[0045] Determine whether the lane in the direction of avoidance is available or whether there is a collision risk; wherein, the lane in the direction of avoidance is the lane adjacent to the lane in the direction of avoidance of the vehicle's current driving lane;

[0046] When the lane in the avoidance direction is available and there is no risk of collision, the vehicle is controlled to actively avoid the target vehicle in the same direction of lateral acceleration.

[0047] Specifically, in conjunction with the above embodiments, when the vehicle is actively controlled to avoid the target vehicle in the same direction of lateral acceleration, it can first be determined whether the lane in the avoidance direction is available or whether there is a collision risk. When it is determined that the lane in the avoidance direction is available and there is no collision risk, the vehicle is then actively controlled to avoid the target vehicle in the same direction of lateral acceleration.

[0048] It should be noted that the lane in the direction of avoidance specifically refers to the lane adjacent to the lane in the direction of avoidance of the vehicle's current driving lane. The direction of avoidance specifically refers to the same direction as the lateral acceleration of the target vehicle. The lane adjacent to the direction of avoidance and the lane adjacent to the target vehicle are located on opposite sides of the lane in which the vehicle is currently driving.

[0049] It is understood that in specific applications of the embodiments of the present invention, different road conditions may occur. For example, if the road surface is slippery, it may not be possible to guarantee that the vehicle will not cross the line when executing the lane-changing lateral avoidance strategy. In this case, it is impossible to guarantee that the lane will not change. Therefore, in order to reduce the risk, it is possible to determine whether the lane in the avoidance direction is available or whether there is a risk of collision before executing the lane-changing lateral avoidance strategy.

[0050] As an improvement to the above solution, the step of controlling the vehicle to actively avoid the target vehicle in the same direction as the lateral acceleration of the target vehicle further includes:

[0051] When the lane for avoiding collisions is unavailable or there is a risk of collision, determine whether there is a risk of collision behind the vehicle in its current lane.

[0052] When there is no risk of collision behind the vehicle in its current lane, actively slow down the vehicle to avoid a side collision.

[0053] Specifically, in conjunction with the above embodiments, after determining whether the lane for avoiding collisions is available or whether there is a risk of collision, if it is determined that the lane for avoiding collisions is unavailable or there is a risk of collision, it is further determined whether there is a risk of collision behind the vehicle's current lane. If it is determined that there is no risk of collision behind the vehicle's current lane, the vehicle can be controlled to actively decelerate to avoid a side collision.

[0054] In determining whether there is a collision risk behind the vehicle in its current lane, the time to collision (TTC), which is the ratio of distance to speed, can also be used to assess the rear collision risk. Specific assessment methods can be implemented using existing technologies, and this embodiment of the invention does not impose specific limitations.

[0055] It should be noted that situations where the lane in the direction of avoidance is unavailable or there is a risk of collision generally refer to situations such as a vehicle in the lane in the direction of avoidance within a certain range of the vehicle and its speed is greater than that of the vehicle, there is an obstacle in the lane in the direction of avoidance, or there is no lane in the direction of avoidance (such as a median strip).

[0056] In yet another preferred embodiment, the method further includes:

[0057] When the lateral collision time exceeds the first time threshold, an alarm message is sent to the driver to remind him of the risk of a lateral collision.

[0058] Specifically, in conjunction with the above embodiments, after comparing the lateral collision time t between the target vehicle and the vehicle with the preset first time threshold t1 and the preset second time threshold t2 respectively, when it is determined that the lateral collision time t > the first time threshold t1, that is, when s < s1 and t > t1, the alarm is activated and an alarm message is sent to the driver to remind the driver of the risk of lateral collision, but the vehicle is not controlled to take any avoidance strategy.

[0059] In yet another preferred embodiment, the method further includes:

[0060] When the lateral collision time is less than the second time threshold, the vehicle is controlled to actively decelerate to avoid a lateral collision.

[0061] Specifically, in conjunction with the above embodiments, after comparing the lateral collision time t between the target vehicle and the vehicle with a preset first time threshold t1 and a preset second time threshold t2 respectively, when it is determined that the lateral collision time t < the second time threshold t2, that is, when s < s1 and t < t2, the vehicle is controlled to actively decelerate to avoid a lateral collision.

[0062] It should be noted that this embodiment is for situations where the target vehicle is moving at a high speed and the vehicle's lateral avoidance strategy of not changing lanes may not be able to avoid a side collision in time. In this case, the vehicle can perform emergency deceleration to avoid a side collision.

[0063] This invention also provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the active avoidance method for preventing lateral collisions described in any of the above embodiments.

[0064] This invention also provides a terminal device, see [link to relevant documentation]. Figure 2 The diagram shown is a structural block diagram of a preferred embodiment of a terminal device provided by the present invention. The terminal device includes a processor 10, a memory 20, and a computer program stored in the memory 20 and configured to be executed by the processor 10. When the processor 10 executes the computer program, it implements the active avoidance method for preventing lateral collisions as described in any of the above embodiments.

[0065] Preferably, the computer program can be divided into one or more modules / units (such as computer program 1, computer program 2, ...), and the one or more modules / units are stored in the memory 20 and executed by the processor 10 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0066] The processor 10 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 10 may be any conventional processor. The processor 10 is the control center of the terminal device, connecting various parts of the terminal device through various interfaces and lines.

[0067] The memory 20 mainly includes a program storage area and a data storage area. The program storage area can store the operating system, applications required for at least one function, etc., while the data storage area can store related data, etc. Furthermore, the memory 20 can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), and a flash card, or other volatile solid-state storage devices.

[0068] It should be noted that the aforementioned terminal devices may include, but are not limited to, processors and memory, as will be understood by those skilled in the art. Figure 2 The structural block diagram is merely an example of the terminal device described above and does not constitute a limitation on the terminal device. It may include more or fewer components than shown in the diagram, or combine certain components, or use different components.

[0069] This invention also provides an active avoidance system for preventing side collisions, the system comprising an information acquisition device and an active avoidance device; wherein,

[0070] The information acquisition device is used to acquire the location information and lateral movement information of the target vehicle and send them to the active avoidance device; wherein, the target vehicle is a vehicle traveling in the adjacent lane of the current driving lane of this vehicle;

[0071] The active avoidance device is used to implement the active avoidance method for preventing side collisions as described in any of the above embodiments by utilizing the received position information and lateral movement information of the target vehicle.

[0072] It should be noted that the active avoidance system for preventing side collisions provided in this embodiment of the invention can realize all the processes of the active avoidance method for preventing side collisions described in any of the above embodiments. The function and technical effect of the information acquisition device in the system are the same as the function and technical effect of the information acquisition device involved in the active avoidance method for preventing side collisions described in the above embodiments. The working process and technical effect of the active avoidance device in the system are the same as the execution process and technical effect of the active avoidance method for preventing side collisions described in the above embodiments. They will not be repeated here.

[0073] In summary, the active avoidance method, computer-readable storage medium, terminal device, and system for preventing side collisions provided by the embodiments of the present invention acquire the lateral distance and lateral collision time between the target vehicle and the vehicle in real time. When the lateral distance is less than a preset distance threshold, the lateral collision time is compared with a preset first time threshold and a preset second time threshold. When the second time threshold ≤ lateral collision time ≤ first time threshold, the vehicle is controlled to actively avoid the target vehicle in the same direction of lateral acceleration. During the avoidance process, the outer wheels of the vehicle are controlled to not exceed the lane line of the vehicle's current driving lane. Thus, when a target vehicle in an adjacent lane approaches the vehicle and poses a risk of side collision, a lane-changing lateral avoidance strategy is adopted to effectively avoid side collisions while the vehicle is in motion. At the same time, since collision avoidance does not involve lane changing or acceleration, other risks caused by the vehicle's active collision avoidance are also relatively low.

[0074] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An active avoidance method for preventing lateral collisions, characterized in that, include: The lateral distance and lateral collision time between the target vehicle and the current vehicle are obtained in real time; wherein, the target vehicle is a vehicle traveling in the adjacent lane of the current vehicle's current driving lane; When the lateral distance is less than a preset distance threshold, the lateral collision time is compared with the size of a preset first time threshold and a preset second time threshold; When the second time threshold is less than or equal to the lateral collision time, the system determines whether the lane in the avoidance direction is available or whether there is a collision risk; wherein, the lane in the avoidance direction is the lane adjacent to the lane in the avoidance direction of the vehicle's current driving lane. When the lane for avoiding the target vehicle is available and there is no risk of collision, the vehicle is controlled to actively avoid the target vehicle in the same direction of lateral acceleration, and during the avoidance process, the outer sides of the vehicle's wheels are controlled to not cross the lane lines of the vehicle's current driving lane.

2. The active avoidance method for preventing lateral collisions as described in claim 1, characterized in that, After controlling the vehicle to actively avoid the target vehicle in the same direction as its lateral acceleration, and during the avoidance process, ensuring that the outer edges of the vehicle's wheels do not cross the lane lines of the vehicle's current lane, the method further includes: Once the vehicle's attitude has stabilized, an acceleration reminder message will be sent to the driver to prompt them to accelerate and avoid the risk of a side collision.

3. The active avoidance method for preventing lateral collisions as described in claim 1, characterized in that, The method of controlling the vehicle to actively avoid the target vehicle in the same direction as the lateral acceleration of the target vehicle also includes: When the lane for avoiding collisions is unavailable or there is a risk of collision, determine whether there is a risk of collision behind the vehicle's current lane; when there is no risk of collision behind the vehicle's current lane, control the vehicle to actively decelerate to avoid a side collision.

4. The active avoidance method for preventing lateral collisions as described in any one of claims 1 to 3, characterized in that, The method further includes: When the lateral collision time exceeds the first time threshold, an alarm message is sent to the driver to remind him of the risk of a lateral collision.

5. The active avoidance method for preventing lateral collisions as described in any one of claims 1 to 3, characterized in that, The method further includes: when the lateral collision time is less than the second time threshold, controlling the vehicle to actively decelerate to avoid a lateral collision.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program; wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform an active avoidance method for preventing lateral collisions as described in any one of claims 1 to 5.

7. A terminal device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements an active avoidance method for preventing lateral collisions as described in any one of claims 1 to 5.

8. An active avoidance system for preventing side collisions, characterized in that, The system includes information acquisition equipment and active obstacle avoidance equipment; wherein... The information acquisition device is used to acquire the location information and lateral movement information of the target vehicle and send them to the active avoidance device; wherein, the target vehicle is a vehicle traveling in the adjacent lane of the current driving lane of this vehicle; The active avoidance device is used to implement the active avoidance method for preventing side collisions as described in any one of claims 1 to 5 by utilizing the received position information and lateral movement information of the target vehicle.

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