A method and device for avoiding collisions when a vehicle is stationary

Abstract

A method and device for avoiding collisions when a vehicle is stationary, which are used to automatically avoid collisions with other vehicles when the vehicle is in a stationary state after parking. The method includes: turning on an electronic fence after the vehicle parks; if it is determined that a target vehicle that may collide with the vehicle appears around the vehicle, controlling the vehicle to avoid the target vehicle within the range of the electronic fence.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular, to a method and device for avoiding collisions when a vehicle is stationary. Background Art

[0002] Autonomous vehicles rely on the collaborative cooperation of artificial intelligence, vision computing, radar, monitoring devices, and the global positioning system to automatically and safely operate the vehicle without active human operation.

[0003] In the existing autonomous driving technology, when an obstacle or a vehicle with a potential collision hazard is recognized during the vehicle's driving process, the driving path will be automatically planned so that the vehicle can avoid the obstacle or the vehicle with a potential collision hazard according to the driving path. However, when the vehicle is stationary after parking, there is no technical solution for automatically avoiding collisions with other vehicles. Summary of the Invention

[0004] This application provides a method and device for avoiding collisions when a vehicle is stationary, so as to automatically avoid collisions with other vehicles when the vehicle is stationary after parking.

[0005] In a first aspect, an embodiment of this application provides a method for avoiding collisions when a vehicle is stationary. The method includes: turning on an electronic fence after the vehicle parks; if it is determined that a target vehicle that may collide with the vehicle appears around the vehicle, controlling the vehicle to avoid the target vehicle within the range of the electronic fence.

[0006] In the above technical solution, after it is determined that a target vehicle that may collide with the vehicle appears around the vehicle, the vehicle can be automatically controlled to avoid the target vehicle, thereby avoiding property losses caused by collisions or scratches with other vehicles. And by restricting the vehicle to avoid the target vehicle within the range of the electronic fence, the vehicle can avoid within a safe range and prevent the vehicle from hitting other surrounding vehicles when avoiding.

[0007] Optionally, the method further includes: measuring the shortest distance between the vehicle and other surrounding vehicles; if the shortest distance is less than a preset threshold, determining that a target vehicle that may collide with the vehicle appears around the vehicle.

[0008] In the above technical solution, by measuring the shortest distance between the vehicle and other surrounding vehicles in real time and comparing it with the preset threshold, a target vehicle that may collide with the vehicle can be discovered in time, and then the target vehicle can be avoided in time.

[0009] Optionally, controlling the vehicle to avoid the target vehicle within the range of the electronic fence includes: predicting the possible collision position, determining the avoidance direction and steering angle according to the possible collision position; planning the avoidance path of the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed; and controlling the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path.

[0010] In the above technical solution, a more accurate and reasonable avoidance path can be planned for vehicle avoidance.

[0011] Optionally, determining the avoidance direction based on the predicted possible collision position includes: if the possible collision position is in front of the vehicle and on the left side of the vehicle's central axis, controlling the vehicle to drive backward and steering the steering wheel to the left; if the possible collision position is in front of the vehicle and on the right side of the vehicle's central axis, controlling the vehicle to drive backward and steering the steering wheel to the right; if the possible collision position is behind the vehicle and on the left side of the vehicle's central axis, controlling the vehicle to drive forward and steering the steering wheel to the left; if the possible collision position is behind the vehicle and on the right side of the vehicle's central axis, controlling the vehicle to drive forward and steering the steering wheel to the right.

[0012] In the above technical solution, the avoidance direction when the vehicle avoids can be determined more precisely, and thus the planned avoidance path is more accurate.

[0013] Optionally, determining the steering angle based on the predicted possible collision position includes: determining the steering angle of the vehicle according to the distance between the possible collision position and the vehicle's central axis, the vehicle width, and the maximum steering angle of the vehicle.

[0014] In the above technical solution, the steering angle when the vehicle avoids can be determined more precisely, and thus the planned avoidance path is more accurate.

[0015] Optionally, after controlling the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance trajectory, it further includes: if an obstacle is identified on the avoidance path, controlling the vehicle to stop avoiding or re-planning the avoidance path.

[0016] In the above technical solution, when an obstacle is identified on the avoidance path, the vehicle can be controlled to stop avoiding or re-plan the avoidance path, thereby avoiding hitting the obstacle during the vehicle avoidance process.

[0017] Optionally, after controlling the vehicle to avoid the target vehicle within the range of the electronic fence, the method further includes: sending a notification message to a mobile terminal bound to the vehicle, where the notification message is used to notify the user of this avoidance event.

[0018] In the above technical solution, the user can be informed of this avoidance event in a timely manner.

[0019] In a second aspect, an embodiment of the present application provides a device for a vehicle to avoid collisions when stationary, including:

[0020] A sensing module, configured to turn on an electronic fence after the vehicle stops;

[0021] A control module, configured to control the vehicle to avoid the target vehicle within the range of the electronic fence if it is determined that there is a target vehicle around the vehicle that may collide with the vehicle.

[0022] Optionally, the sensing module is further configured to measure the shortest distance between the vehicle and other surrounding vehicles; the device further includes a judgment module, configured to judge that there is a target vehicle around the vehicle that may collide with the vehicle if the shortest distance is less than a preset threshold.

[0023] Optionally, the device further includes a processing module, configured to predict the possible collision position, determine the avoidance direction and steering angle according to the possible collision position; plan the avoidance path of the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed; the control module is further configured to control the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path.

[0024] Optionally, the control module is further configured to control the vehicle to drive backward and the steering wheel to turn left if the possible collision position is in front of the vehicle and on the left side of the vehicle's central axis; control the vehicle to drive backward and the steering wheel to turn right if the possible collision position is in front of the vehicle and on the right side of the vehicle's central axis; control the vehicle to drive forward and the steering wheel to turn left if the possible collision position is behind the vehicle and on the left side of the vehicle's central axis; control the vehicle to drive forward and the steering wheel to turn right if the possible collision position is behind the vehicle and on the right side of the vehicle's central axis.

[0025] Optionally, the processing module is further configured to determine the steering angle of the vehicle according to the distance between the possible collision position and the vehicle's central axis, the vehicle width of the vehicle, and the maximum steering angle of the vehicle.

[0026] Optionally, the control module is further configured to control the vehicle to stop avoiding or re-plan an avoidance path if an obstacle is detected on the avoidance path.

[0027] Optionally, the processing module is further configured to send a notification message to a mobile terminal bound to the vehicle, where the notification message is used to notify the user of this avoidance event.

[0028] In a third aspect, an embodiment of the present application further provides a computing device, including:

[0029] A memory for storing program instructions;

[0030] A processor for calling the program instructions stored in the memory and executing the method described in various possible designs of the first aspect according to the obtained program instructions.

[0031] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which computer-readable instructions are stored. When a computer reads and executes the computer-readable instructions, the method described in the first aspect or any possible design of the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is a flowchart of a method for a vehicle to avoid collision when stationary provided by an embodiment of the present application;

[0034] Figure 2 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0035] Figure 3 It is a flowchart of a method for a vehicle to avoid another vehicle within the range of an electronic fence provided by an embodiment of the present application;

[0036] Figure 4 It is a detailed flowchart of a method for a vehicle to avoid collision when stationary provided by an embodiment of the present application;

[0037] Figure 5 It is a device for a vehicle to avoid collision when stationary provided by an embodiment of the present application;

[0038] Figure 6 It is a computing device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to make the objectives, technical solutions, and advantages of this application clearer, the following will further describe this application in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0040] In the embodiments of this application, "a plurality of" means two or more. Terms such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0041] Figure 1 Exemplarily, a method for avoiding collisions when a vehicle is stationary provided by an embodiment of this application is shown as Figure 1 shown, and this method includes the following steps:

[0042] Step 101: Turn on the electronic fence after the vehicle stops.

[0043] In the embodiments of this application, the electronic fence is a parking range defined by the vehicle after it stops. When the vehicle stops in a parking space, the markings of the parking space can be recognized and used as the electronic fence of the vehicle; when the vehicle stops in a non-parking space, a preset range can be used as the electronic fence of the vehicle. Exemplarily, as Figure 2 shown, after vehicle A parks in the parking space, the markings of the parking space where it is located are used as the electronic fence of vehicle A.

[0044] Step 102: If it is determined that a target vehicle that may collide with the vehicle appears around the vehicle, control the vehicle to avoid the target vehicle within the range of the electronic fence.

[0045] It should be noted that in order to prevent the vehicle from hitting other surrounding vehicles or obstacles when avoiding the target vehicle, the position of the electronic fence remains fixed after it is turned on, and the vehicle only avoids the target vehicle within the range of the electronic fence, and any position of the vehicle is not allowed to exceed the defined range of the electronic fence.

[0046] Exemplarily, as Figure 2 shown, when vehicle B is driving into the parking space, if vehicle A determines that vehicle B may collide with vehicle A, control vehicle A to avoid vehicle B within the range of the electronic fence.

[0047] In step 202, the shortest distance between the vehicle and other surrounding vehicles can be measured by sensors installed on the vehicle, and whether there is a target vehicle that may collide with the vehicle is determined according to the size of the shortest distance and a preset threshold. Specifically, if the shortest distance is less than the preset threshold, it is determined that there is a target vehicle around the vehicle that may collide with the vehicle. If the shortest distance is greater than or equal to the preset threshold, it is determined that the vehicle is safe at this time. Among them, the distance between the electronic fence and the vehicle can be used as the preset threshold, or it can also be set according to actual needs.

[0048] Optionally, when it is determined that there is a target vehicle around the vehicle that may collide with the vehicle, the vehicle can be controlled to emit a sound or a signal to prompt the driver of the target vehicle to pay attention to the driving distance.

[0049] It should be noted that if it is determined that there is a target vehicle around the vehicle that may collide with the vehicle, the vehicle is automatically started and the automatic driving mode is turned on, and the vehicle is automatically controlled to avoid the target vehicle within the range of the electronic fence.

[0050] Figure 3 Exemplarily, a method for avoiding a target vehicle within the range of an electronic fence provided by an embodiment of the present application is shown, as Figure 3 shown, and the method includes the following steps:

[0051] Step 301, predict the possible collision position, and determine the avoidance direction and steering angle according to the possible collision position.

[0052] Step 302, plan the avoidance path of the vehicle according to the avoidance direction, steering angle and preset avoidance speed.

[0053] Step 303, control the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path.

[0054] During the above avoidance process, if an obstacle is identified on the avoidance path, the vehicle is controlled to stop avoiding or the avoidance path is re-planned to avoid hitting the obstacle during the vehicle avoidance process.

[0055] In step 301, according to the possible collision position, determining the avoidance direction includes the following four situations:

[0056] (1) If the possible collision position is in front of the vehicle and on the left side of the vehicle's central axis, control the vehicle to drive backward and turn the steering wheel to the left.

[0057] (2) If the possible collision position is in front of the vehicle and on the right side of the vehicle's central axis, control the vehicle to drive backward and turn the steering wheel to the right.

[0058] (3) If the possible collision position is behind the vehicle and to the left of the vehicle's central axis, control the vehicle to move forward and turn the steering wheel to the left.

[0059] (4) If the possible collision position is behind the vehicle and to the right of the vehicle's central axis, control the vehicle to move forward and turn the steering wheel to the right.

[0060] Exemplarily, as Figure 2 shown, when vehicle B is driving into the parking space, if it is determined that the possible collision position between vehicle B and vehicle A is in front of vehicle A and to the right of vehicle A's central axis, control vehicle A to move backward and turn the steering wheel to the right to avoid the collision.

[0061] Furthermore, the steering angle of the vehicle can be determined according to the distance between the possible collision position and the vehicle's central axis, the vehicle width, and the maximum steering angle of the vehicle.

[0062] Specifically, the steering angle of the vehicle can be determined by Formula 1.

[0063]

[0064] Optionally, after controlling the vehicle to avoid the target vehicle within the electronic fence range, a notification message can be sent to the mobile terminal bound to the vehicle. This notification message is used to notify the user of this avoidance event so that the user can timely learn about this avoidance event. In addition, the notification message can also include the avoidance path of the vehicle during this avoidance event so that the user can timely learn about the avoidance process of this avoidance event.

[0065] For a better understanding of the embodiments of the present application, Figure 4 exemplarily shows a specific flowchart of a method for a vehicle to avoid collision when stationary, as Figure 4 shown, including the following steps:

[0066] Step 401: Turn on the electronic fence after the vehicle stops.

[0067] Step 402: Determine whether there is a possibility of collision with the target vehicle.

[0068] Judge whether the shortest distance between the vehicle and other surrounding vehicles is less than a preset threshold. If so, execute step 403; otherwise, repeatedly execute step 408.

[0069] Step 403: Plan an avoidance path.

[0070] Step 404: Determine whether there are obstacles on the avoidance path.

[0071] If there are, execute step 407; otherwise, execute step 405.

[0072] Step 405: Avoid the target vehicle according to the avoidance path.

[0073] Step 406: Determine whether the vehicle exceeds the electronic fence.

[0074] If yes, execute Step 407; otherwise, execute Step 404.

[0075] Step 407: Stop avoiding.

[0076] Step 408: Keep stationary.

[0077] The application embodiment provides that after it is determined that a target vehicle that may collide with the vehicle appears around the vehicle, the vehicle can be automatically controlled to avoid the target vehicle, thereby avoiding property losses caused by collisions or scratches with other vehicles. And by restricting the vehicle to avoid the target vehicle within the range of the electronic fence, the vehicle can be made to avoid within a safe range, preventing the vehicle from hitting other surrounding vehicles when avoiding.

[0078] Based on the same technical concept, Figure 5 Exemplarily shown is a device for avoiding collisions when a vehicle is stationary provided by an embodiment of the present application. As Figure 5 shown, the device 500 includes:

[0079] A sensing module 501, configured to activate an electronic fence after the vehicle stops;

[0080] A control module 502, configured to control the vehicle to avoid the target vehicle within the range of the electronic fence if it is determined that a target vehicle that may collide with the vehicle appears around the vehicle.

[0081] Optionally, the sensing module 501 is further configured to measure the shortest distance between the vehicle and other surrounding vehicles; the device further includes a judgment module 503, configured to judge that a target vehicle that may collide with the vehicle appears around the vehicle if the shortest distance is less than a preset threshold.

[0082] Optionally, the device further includes a processing module 504, configured to predict the possible collision position, determine the avoidance direction and steering angle according to the possible collision position; plan the avoidance path of the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed; the control module 502 is further configured to control the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path.

[0083] Optionally, the control module 502 is further configured to, if the possible collision position is in front of the vehicle and on the left side of the vehicle's central axis, control the vehicle to drive backward and turn the steering wheel to the left; if the possible collision position is in front of the vehicle and on the right side of the vehicle's central axis, control the vehicle to drive backward and turn the steering wheel to the right; if the possible collision position is behind the vehicle and on the left side of the vehicle's central axis, control the vehicle to drive forward and turn the steering wheel to the left; if the possible collision position is behind the vehicle and on the right side of the vehicle's central axis, control the vehicle to drive forward and turn the steering wheel to the right.

[0084] Optionally, the processing module 504 is further configured to determine the steering angle of the vehicle according to the distance between the possible collision position and the vehicle's central axis, the vehicle width of the vehicle, and the maximum steering angle of the vehicle.

[0085] Optionally, the control module 502 is further configured to, if an obstacle is detected on the avoidance path, control the vehicle to stop avoiding or re-plan the avoidance path.

[0086] Optionally, the processing module 504 is further configured to send a notification message to the mobile terminal bound to the vehicle, and the notification message is used to notify the user of this avoidance event.

[0087] Based on the same technical concept, an embodiment of the present application provides a computing device, as Figure 6 shown, including at least one processor 601 and a memory 602 connected to the at least one processor. In the embodiment of the present application, the specific connection medium between the processor 601 and the memory 602 is not limited. Figure 6 Taking the connection between the processor 601 and the memory 602 through a bus as an example. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0088] In the embodiment of the present application, the memory 602 stores instructions executable by at least one processor 601. By executing the instructions stored in the memory 602, the at least one processor 601 can execute the method for avoiding collision when the vehicle is stationary.

[0089] Among them, the processor 601 is the control center of the computing device. It can connect various parts of the computer device through various interfaces and lines. By running or executing the instructions stored in the memory 602 and invoking the data stored in the memory 602, resource settings can be performed. Optionally, the processor 601 may include one or more processing units. The processor 601 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 601. In some embodiments, the processor 601 and the memory 602 may be implemented on the same chip. In some embodiments, they may also be separately implemented on independent chips.

[0090] The processor 601 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application specific integrated circuit (ASIC), a field programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0091] The memory 602, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 602 can include at least one type of storage medium. For example, it can include flash memory, hard disks, multimedia cards, card-type memories, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memories, magnetic disks, optical disks, and so on. The memory 602 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 602 in the embodiments of the present application can also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0092] Based on the same technical concept, the embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer-executable program, and the computer-executable program is used to cause a computer to execute the method for avoiding collisions when the vehicle is stationary listed in any of the above manners.

[0093] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0094] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing devices generate for implementing in the process Figure 1one or more processes and / or blocks Figure 1 means for the functions specified in one or more blocks

[0095] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions in the process Figure 1 one or more processes and / or blocks Figure 1 specified in one or more blocks

[0096] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions in the process Figure 1 one or more processes and / or blocks Figure 1 specified in one or more blocks

[0097] Although the preferred embodiments of the present application have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present application

[0098] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations

Claims

1. A method for avoiding collisions when a vehicle is stationary, characterized in that, The method includes: Turn on the electronic fence after the vehicle stops; the electronic fence is a parking range defined for the vehicle after it stops; when the vehicle stops in a parking space, identify the markings of the parking space and use the markings of the parking space as the electronic fence of the vehicle; when the vehicle stops in a non-parking space, use a preset range as the electronic fence of the vehicle; If it is determined that there is a target vehicle around the vehicle that may collide with the vehicle, automatically start the vehicle and turn on the autopilot mode, predict the possible collision location, and determine the avoidance direction and steering angle according to the possible collision location; Plan the avoidance path of the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed; Automatically control the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path, and no part of the vehicle is allowed to exceed the defined range of the electronic fence.

2. The method according to claim 1, wherein The method further includes: Measure the shortest distance between the vehicle and other surrounding vehicles; If the shortest distance is less than a preset threshold, determine that there is a target vehicle around the vehicle that may collide with the vehicle.

3. The method according to claim 1, wherein The determining the avoidance direction according to the possible collision location includes: If the possible collision location is in front of the vehicle and on the left side of the vehicle's central axis, control the vehicle to drive backward and turn the steering wheel to the left; If the possible collision location is in front of the vehicle and on the right side of the vehicle's central axis, control the vehicle to drive backward and turn the steering wheel to the right; If the possible collision location is behind the vehicle and on the left side of the vehicle's central axis, control the vehicle to drive forward and turn the steering wheel to the left; If the possible collision location is behind the vehicle and on the right side of the vehicle's central axis, control the vehicle to drive forward and turn the steering wheel to the right.

4. The method according to claim 3, characterized in that, The determining the steering angle according to the possible collision location includes: Determine the steering angle of the vehicle according to the distance between the possible collision location and the vehicle's central axis, the vehicle width and the maximum steering angle of the vehicle.

5. The method according to claim 1, wherein After automatically controlling the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path, it further includes: If an obstacle is identified on the avoidance path, control the vehicle to stop avoiding or re-plan the avoidance path.

6. The method according to claim 1, characterized in that After automatically controlling the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path, it further includes: Send a notification message to the mobile terminal bound to the vehicle, and the notification message is used to notify the user of this avoidance event.

7. A device for avoiding collisions when a vehicle is stationary, characterized in that, It includes: A processing module for turning on the electronic fence after the vehicle stops; The electronic fence is a parking range defined for the vehicle after it stops; When the vehicle stops in a parking space, identify the markings of the parking space and use the markings of the parking space as the electronic fence of the vehicle; When the vehicle is parked in a non-parking space, a preset range is used as the vehicle's electronic fence; A judgment module, configured to automatically start the vehicle and turn on the autonomous driving mode if it is judged that there is a target vehicle around the vehicle that may collide with the vehicle, predict the possible collision position, and determine the avoidance direction and steering angle according to the possible collision position; Plan an avoidance path for the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed; Automatically control the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path.

8. A computing device, characterized in that, It includes: A memory for storing program instructions; A processor for calling the program instructions stored in the memory and executing the method according to any one of claims 1 to 6 according to the obtained program instructions.

9. A computer-readable storage medium, characterized in that, It includes computer-readable instructions, and when a computer reads and executes the computer-readable instructions, the method according to any one of claims 1 to 6 is implemented.

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