Methods, devices, equipment, and media for avoiding vehicle collisions during manual driving

Abstract

This application discloses a method, apparatus, device, and medium for avoiding vehicle collisions during manual driving, relating to the field of vehicle control technology. The method includes: calculating the minimum braking force and corresponding critical braking deceleration required to avoid a collision between the current vehicle and a vehicle in front, based on a first vehicle speed, a second vehicle speed, and a first distance; in response to detecting a change in brake pedal opening, acquiring brake pedal opening information and calculating the expected braking deceleration of the current vehicle based on the brake pedal opening information; determining, based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, the third vehicle speed, the first distance, and the second distance, whether the current vehicle will collide with a vehicle behind and not with a vehicle in front, obtaining a first determination result; and executing a control command based on the first determination result. This application can control the vehicle to decelerate at a relatively small deceleration, ensuring that it does not collide with the vehicle in front and reducing the probability of a collision with the vehicle behind.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, apparatus, device, and medium for avoiding vehicle collisions during manual driving. Background Technology

[0002] Vehicle collisions are among the most common road accidents. They can occur due to various reasons: a sudden appearance of an obstacle in front of the vehicle, causing it to crash into it; a driver of the following vehicle becoming distracted and failing to properly judge the distance to the vehicle in front; or the vehicle in front braking suddenly, leaving the following vehicle unable to avoid a collision.

[0003] Regarding vehicle collision issues, the existing technologies are as follows:

[0004] This vehicle collision warning system detects the distance between the vehicle and vehicles traveling in front, to the side, and behind it in the direction of travel. If the distance is less than a preset value, a collision warning is issued. This is called a forward collision warning or a rear collision warning.

[0005] Collision warning via other vehicles: Set the possible collision range of this vehicle, extract objects within the possible collision range, and when a potential collision is detected, send warnings and control data to the objects.

[0006] Automatic Emergency Braking: Automatically applies emergency braking to the vehicle to avoid collision with vehicles ahead.

[0007] A control method for reducing rear-end collisions in autonomous vehicles is employed: adjusting the safe distance from the vehicle in front based on the status of both the vehicle in front and the vehicle behind.

[0008] However, existing technologies have the following problems:

[0009] 1. While vehicle collision warning can alert the driver of this vehicle, it cannot directly or indirectly help the vehicle avoid a collision.

[0010] 2. Collision-to-other-vehicle (CTPL) warning involves the vehicle alerting other vehicles within its collision range, or further controlling those vehicles. This requires cooperation from other vehicles within the collision range to avoid a collision, or reliance on V2X technology and permission for other vehicles to be controlled by the vehicle itself.

[0011] 3. Emergency braking by the vehicle behind can prevent collisions between this vehicle and vehicles in front of it in the direction of travel, but it cannot prevent or assist in preventing collisions with vehicles behind it.

[0012] 4. The control methods for reducing rear-end collisions used in autonomous vehicles are designed for autonomous driving scenarios and are not applicable to manual driving scenarios. In manual driving scenarios, there is a possibility that the driver may prematurely apply the brakes or apply excessive force to the brake pedal. In such cases, it is necessary to pre-assess whether the vehicle will collide with vehicles in front or behind during braking. Summary of the Invention

[0013] To address at least one of the problems mentioned in the background art, this application provides a method, apparatus, device, and medium for avoiding vehicle collisions during manual driving, which can control the vehicle to decelerate at a relatively small deceleration, ensuring that it does not collide with the vehicle in front and reducing the probability of colliding with the vehicle behind.

[0014] The specific technical solutions provided in this application are as follows:

[0015] Firstly, a method for avoiding vehicle collisions during manual driving is provided, including:

[0016] The first speed of the current vehicle, the second speed of at least one vehicle in front of the current vehicle within a preset collision range in front of the current vehicle, and the third speed of at least one vehicle in rear of the current vehicle within a preset collision range behind the current vehicle are obtained.

[0017] Obtain the first distance between the current vehicle and the vehicle in front, and the second distance between the current vehicle and the vehicle behind;

[0018] Based on the first vehicle speed, the second vehicle speed, and the first distance, the minimum braking force and the corresponding critical braking deceleration for the current vehicle to avoid a collision with the vehicle in front are calculated.

[0019] In response to detecting a change in brake pedal opening, brake pedal opening information is acquired, and the expected braking deceleration of the current vehicle is calculated based on the brake pedal opening information.

[0020] Based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, the third vehicle speed, the first distance, and the second distance, it is determined whether the current vehicle will collide with the vehicle behind it and will not collide with the vehicle in front of it, thus obtaining a first determination result;

[0021] Based on the first judgment result, execute the control command;

[0022] The control command includes at least one of decelerating the current vehicle at the critical braking deceleration and decelerating the current vehicle at the expected braking deceleration.

[0023] Furthermore, the first determination result includes at least one of the following: the current vehicle will collide with the vehicle behind it but will not collide with the vehicle in front of it, and the current vehicle will not collide with the vehicle behind it but will not collide with the vehicle in front of it.

[0024] If the first determination result is that the current vehicle will collide with the vehicle behind it but not with the vehicle in front, the control command is to decelerate the current vehicle at the critical braking deceleration.

[0025] If the first determination result is that the current vehicle will not collide with the vehicle behind it or the vehicle in front of it, the control command is to decelerate the current vehicle at the expected braking deceleration.

[0026] Furthermore, the step of responding to a detected change in brake pedal opening by acquiring brake pedal opening information and calculating the expected braking deceleration of the current vehicle based on the brake pedal opening information includes:

[0027] In response to detecting a change in brake pedal opening, acquire brake pedal opening information;

[0028] The predicted braking deceleration of the current vehicle is calculated based on the brake pedal opening information;

[0029] Obtain the environmental information surrounding the current vehicle;

[0030] Based on the environmental information, the braking force environmental adjustment coefficient is calculated;

[0031] The expected braking deceleration is obtained by multiplying the braking force environment adjustment coefficient and the predicted braking deceleration.

[0032] The environmental information includes at least one of road type information, weather information, and road surface adhesion coefficient information.

[0033] Furthermore, the brake pedal opening information also includes at least one of brake pedal opening and brake pedal change rate; before calculating the predicted braking deceleration of the current vehicle based on the brake pedal opening information, the method further includes:

[0034] Multiple sets of brake pedal opening information, the first vehicle speed, and the corresponding actual vehicle braking force and actual vehicle braking deceleration are input into the braking model for model training to obtain the trained braking model.

[0035] The step of calculating the predicted braking deceleration of the current vehicle based on the brake pedal opening information further includes:

[0036] Based on the current brake pedal opening information and the first vehicle speed, the trained braking model is invoked and input to obtain the predicted braking deceleration.

[0037] Furthermore, the step of calling and inputting the trained braking model based on the current brake pedal opening information and the first vehicle speed to obtain the predicted braking deceleration includes:

[0038] Based on the current brake pedal opening and the current vehicle speed, the trained braking model is invoked and input to obtain the predicted basic braking force.

[0039] Based on the current brake pedal change rate and the current vehicle speed, the auxiliary braking configuration file is invoked, and the predicted auxiliary braking force is returned.

[0040] The predicted basic braking force and the predicted auxiliary braking force are added together to obtain the predicted braking force;

[0041] The predicted braking deceleration is calculated based on the predicted braking force, the current vehicle mass, and the dynamic model.

[0042] Furthermore, before executing the control command based on the first determination result, the method further includes:

[0043] Based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, and the first distance, it is determined whether the current vehicle will collide with the vehicle in front, and a second determination result is obtained.

[0044] Execute control commands based on the first and second judgment results;

[0045] If the second determination result is that the current vehicle will collide with the vehicle in front, the control command is to decelerate the current vehicle at the critical braking deceleration.

[0046] Furthermore, after executing the control command based on the first determination result, the method further includes:

[0047] Send communication requests and / or alarm messages to the vehicles behind.

[0048] Secondly, a device for avoiding vehicle collisions during manual driving is provided, the device comprising:

[0049] The first acquisition module is used to acquire the first speed of the current vehicle, the second speed of at least one vehicle in front of the current vehicle within a preset collision range in front of the current vehicle, and the third speed of at least one vehicle in rear of the current vehicle within a preset collision range behind the current vehicle.

[0050] The second acquisition module is used to acquire the first distance between the current vehicle and the vehicle in front and the second distance between the current vehicle and the vehicle behind;

[0051] The first calculation module is used to calculate the minimum braking force and the corresponding critical braking deceleration for the current vehicle to avoid a collision with the vehicle in front, based on the first vehicle speed, the second vehicle speed and the first distance.

[0052] The second calculation module is used to obtain brake pedal opening information in response to detecting a change in brake pedal opening, and to calculate the expected braking deceleration of the current vehicle based on the brake pedal opening information.

[0053] The management module is used to determine whether the current vehicle will collide with the vehicle behind it and not collide with the vehicle in front of it based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, the third vehicle speed, the first distance, and the second distance, and to obtain a first judgment result;

[0054] The control module is used to execute control commands based on the first judgment result;

[0055] The control command includes at least one of decelerating the current vehicle at the critical braking deceleration and decelerating the current vehicle at the expected braking deceleration.

[0056] Thirdly, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for avoiding vehicle collisions for manual driving.

[0057] Fourthly, a computer-readable storage medium is provided, storing computer-executable instructions for performing the method for avoiding vehicle collisions during manual driving.

[0058] The embodiments of this application have the following beneficial effects:

[0059] This application provides a method, apparatus, device, and medium for avoiding vehicle collisions during manual driving. It can calculate the minimum braking force and corresponding critical braking deceleration required to avoid a collision between the current vehicle and the vehicle in front. By determining whether the current vehicle will collide with a vehicle behind it but not with the vehicle in front, it determines whether intervention is needed to slow down the current vehicle, thereby reducing the probability of a collision with the vehicle behind and increasing the reaction time of the vehicle behind. Furthermore, by combining environmental information around the current vehicle, the expected braking deceleration of the current vehicle can be estimated more accurately, making its application scenarios more comprehensive. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This document shows a general flowchart of a method for avoiding vehicle collisions during manual driving, as provided in an embodiment of this application.

[0062] Figure 2 A detailed flowchart of a method for avoiding vehicle collisions during manual driving according to an embodiment of this application is shown;

[0063] Figure 3 This diagram illustrates the structure of a device for avoiding vehicle collisions during manual driving, as provided in an embodiment of this application.

[0064] Figure 4 Exemplary systems that can be used to implement the various embodiments described in this application are shown. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0066] It should be understood that, in the description of this application, unless the context explicitly requires it, the words "comprising," "including," and similar terms throughout the specification and claims should be interpreted as encompassing rather than being exclusive or exhaustive; that is, meaning "including but not limited to."

[0067] It should also be understood that the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0068] It should be noted that the terms "S1," "S2," etc., are used only for descriptive purposes and do not specifically refer to the order or sequence, nor are they intended to limit this application. They are merely for the convenience of describing the method of this application and should not be construed as indicating the sequential order of the steps. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0069] Example 1

[0070] This application provides a method for avoiding vehicle collisions during manual driving, referring to... Figure 1 The methods include:

[0071] S1. Obtain the first speed of the current vehicle, the second speed of at least one vehicle in front of the current vehicle within the preset collision range in front of the current vehicle, and the third speed of at least one vehicle in rear of the current vehicle within the preset collision range behind the current vehicle.

[0072] S2. Obtain the first distance between the current vehicle and the vehicle in front, and the second distance between the current vehicle and the vehicle behind.

[0073] S3. Based on the first vehicle speed, the second vehicle speed, and the first distance, calculate the minimum braking force and the corresponding critical braking deceleration required to avoid a collision between the current vehicle and the vehicle in front.

[0074] S4. In response to detecting a change in brake pedal opening, obtain brake pedal opening information and calculate the expected braking deceleration of the current vehicle based on the brake pedal opening information.

[0075] S5. Based on the expected braking deceleration, first vehicle speed, second vehicle speed, third vehicle speed, first distance, and second distance, determine whether the current vehicle will collide with the vehicle behind it and will not collide with the vehicle in front, and obtain the first judgment result.

[0076] S6. Execute the control command based on the first judgment result.

[0077] The control command includes at least one of decelerating the current vehicle at a critical braking deceleration and decelerating the current vehicle at a expected braking deceleration.

[0078] Specifically, during vehicle operation, if the driver of the current vehicle perceives a risk of collision with vehicles in front, behind, or other obstacles, they will apply the brakes. However, the driver may misjudge the distance to the vehicle in front or the obstacle, or act out of excessive caution and brake suddenly. This can lead to two scenarios: insufficient braking force resulting in a collision with the vehicle in front, or the sudden braking preventing a collision with the vehicle in front but resulting in a collision with the vehicle behind. Therefore, by using the minimum braking force and corresponding critical braking deceleration, the driver can reduce the relative speed with the vehicle in front to zero while maintaining a safe distance, thus reducing the probability of a collision with the vehicle behind and increasing the reaction time of the vehicle behind.

[0079] Specifically, the first speed mentioned above refers to the real-time speed of the current vehicle, the second speed refers to the real-time speed of the vehicle in front, and the third speed refers to the real-time speed of the vehicle behind. The preset front collision range can be a fan-shaped area with the current vehicle as the center and the front warning collision distance as the radius, with a forward angle less than or equal to a horizontal angle; similarly, the preset rear collision range can be a fan-shaped area with the current vehicle as the center and the rear warning collision distance as the radius, with a rear angle less than or equal to a horizontal angle. The front warning collision distance and the preset rear collision range can be preset with a standard value or empirical value, or they can be customized according to actual user needs, testing, or other scenario requirements. For example, the first relative speed between the current vehicle and the vehicle in front can be calculated based on the first speed, second speed, third speed, first distance, and second distance; the second relative speed between the current vehicle and the vehicle behind can also be calculated. The first distance is the relative distance between the current vehicle and the vehicle in front, and the second distance is the relative distance between the current vehicle and the vehicle behind. Based on the first relative speed and the first distance, the minimum braking force and the corresponding critical braking deceleration required to maintain a safe distance between the current vehicle and the vehicle in front can be calculated when the first relative speed is 0. The safe distance varies depending on the current vehicle speed and the specific scenario. For example, in low-speed driving, congested urban areas, or when braking and decelerating while waiting at traffic lights, the safe distance can be relatively small, such as at least one meter; while in high-speed driving or on highways, the safe distance can be relatively large, such as 20 meters or 50 meters.

[0080] Specifically, the first vehicle speed can be obtained from the vehicle's sensors. The second vehicle speed, first distance, and third vehicle speed and second distance can also be obtained from the vehicle's onboard LiDAR or millimeter-wave radar, as well as the front and rear camera sensors, respectively. When a change in brake pedal opening is detected, i.e., the brake pedal is depressed, the brake pedal opening information is acquired. This brake pedal opening information can include at least one of the brake pedal opening and the rate of change of brake pedal position. Based on the brake pedal opening information, the system can identify the driver's braking intention and simulate and calculate the expected braking deceleration, thereby determining whether the expected braking plan will result in a collision with the vehicles in front and behind.

[0081] The following is combined with Figure 2 Further explanation:

[0082] In some implementations, the first determination result includes at least one of the following: the current vehicle will collide with the vehicle behind it but will not collide with the vehicle in front of it, and the current vehicle will not collide with the vehicle behind it but will not collide with the vehicle in front of it.

[0083] Based on this, if the first judgment result is that the current vehicle will collide with the vehicle behind it but not with the vehicle in front, the control command is to decelerate the current vehicle with a critical braking deceleration; if the first judgment result is that the current vehicle will not collide with the vehicle behind it or with the vehicle in front, the control command is to decelerate the current vehicle with a expected braking deceleration.

[0084] Specifically, if the current vehicle decelerates at the expected braking deceleration, that is, brakes according to the driver's expected braking plan, and will not collide with the vehicle behind or in front, then the expected braking plan will not result in a vehicle collision, meaning there is no need to intervene in the driver's braking and deceleration behavior. However, if the current vehicle will collide with the vehicle behind but not in front, it indicates that the expected braking force and expected braking deceleration are large, and intervention is needed to decelerate the current vehicle. The calculated critical braking deceleration is used to decelerate the current vehicle, ensuring a safe distance from the vehicle in front, reducing the probability of a collision with the vehicle behind, and increasing the reaction time of the vehicle behind.

[0085] In some implementations, S4 specifically includes:

[0086] S41. In response to detecting a change in the brake pedal opening, obtain brake pedal opening information.

[0087] S42. Calculate the predicted braking deceleration of the current vehicle based on the brake pedal opening information.

[0088] S43. Obtain environmental information around the current vehicle.

[0089] S44. Based on the environmental information, calculate the braking force environmental adjustment coefficient.

[0090] S45. The expected braking deceleration is obtained by multiplying the braking force environment adjustment coefficient and the predicted braking deceleration.

[0091] The environmental information includes at least one of road type information, weather information, and road surface adhesion coefficient information.

[0092] Specifically, after calculating the predicted braking deceleration of the current vehicle, it is also necessary to determine the current environment and identify environmental information. For example, road type information can include urban environment type, mountainous terrain type, suburban environment type, and highway type. Weather information can include sunny, light rain, moderate rain, heavy rain, torrential rain, extremely heavy rain, showers, thunderstorms, sleet, hail, light snow, moderate snow, heavy snow, blizzard, fog, and sandstorms. Road surface adhesion coefficient information can identify the roughness of the road surface and its impact on the friction coefficient during braking. The aforementioned road type information can be obtained through radar sensors or satellite map information; weather information can be obtained through weather sensors such as rain sensors; and road surface adhesion coefficient information can be identified through camera sensors. Based on different environmental categories, different environmental adjustment coefficients are generated to adjust the predicted braking deceleration, thereby obtaining the expected braking deceleration. The environmental adjustment coefficients corresponding to different environmental categories can also be generated into environmental adjustment coefficient configuration files and stored on the vehicle's infotainment system for future retrieval or modification.

[0093] In some implementations, prior to S42, the method further includes:

[0094] Multiple sets of brake pedal opening information, the first vehicle speed, and the corresponding actual vehicle braking force and actual vehicle braking deceleration are input into the braking model for model training to obtain the trained braking model.

[0095] Based on this, S42 also includes:

[0096] S421. Based on the current brake pedal opening information and the first vehicle speed, call and input the trained braking model to obtain the predicted braking deceleration.

[0097] In some implementations, S421 further includes:

[0098] S4211. Based on the current brake pedal opening and the current vehicle speed, call and input the trained braking model to obtain the predicted basic braking force.

[0099] S4212. Based on the current brake pedal change rate and the current vehicle speed, call the auxiliary braking configuration file and return the predicted auxiliary braking force.

[0100] S4213. Add the predicted basic braking force and the predicted auxiliary braking force to obtain the predicted braking force.

[0101] S4214. Calculate the predicted braking deceleration based on the predicted braking force, the current mass of the vehicle, and the dynamic model.

[0102] Specifically, before calculating the predicted braking deceleration, a braking model needs to be established. Sample data for the braking model is collected, including brake pedal opening, brake pedal change rate, and the vehicle's initial speed. The actual braking force and braking deceleration of the current vehicle are used as output data. The braking model is trained using multiple sets of such sample data, and the trained braking model is obtained after convergence. The trained braking model is then deployed. When the predicted braking deceleration needs to be calculated, the trained braking model is called to obtain the predicted basic braking force Fa. Furthermore, based on the brake pedal change rate, the driver's braking intention needs to be determined, and an auxiliary braking force is added to the predicted basic braking force. This can be achieved by directly calling the auxiliary braking configuration file stored in the vehicle's infotainment system, matching the brake pedal change rate and the vehicle's initial speed, and looking up a table to obtain the predicted auxiliary braking force Fb. This yields the predicted braking force Fa+Fb. Finally, the predicted braking deceleration is obtained by using the vehicle's mass and a dynamic model.

[0103] In some implementations, prior to S6, the method further includes:

[0104] Based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, and the first distance, it is determined whether the current vehicle will collide with the vehicle in front, and a second judgment result is obtained.

[0105] Based on the first and second judgment results, execute the control command.

[0106] Specifically, as described above, there is also the possibility of a collision with the vehicle in front due to insufficient braking force. Therefore, it is necessary to determine whether the current vehicle will collide with the vehicle in front. If the second determination result is that the current vehicle will collide with the vehicle in front, the control command is to decelerate the current vehicle with a critical braking deceleration. At this time, the critical braking deceleration is greater than the expected braking deceleration, that is, to intervene with a larger braking force to decelerate the current vehicle in order to maintain a safe distance from the vehicle in front.

[0107] In some implementations, after S6, the method further includes:

[0108] Send communication requests and / or warning messages to vehicles behind.

[0109] Specifically, if the system detects that the driver's braking or deceleration behavior may lead to a collision with a vehicle behind, in addition to turning on the brake lights or hazard lights to warn the driver, it can also send a communication request directly to the vehicle behind; or display a warning message on the central control screen to remind the vehicle behind to slow down or change lanes.

[0110] In this embodiment, the minimum braking force and corresponding critical braking deceleration required to avoid a collision between the current vehicle and the vehicle in front can be calculated. By determining whether the current vehicle will collide with the vehicle behind but not with the vehicle in front, it can be determined whether to intervene in the deceleration behavior of the current vehicle, thereby reducing the probability of a collision with the vehicle behind and increasing the reaction time of the vehicle behind. Furthermore, by combining the environmental information around the current vehicle, the expected braking deceleration of the current vehicle can be estimated more accurately, and the application scenarios are more extensive.

[0111] Example 2

[0112] Corresponding to the above embodiments, this application also provides a device for avoiding vehicle collisions during manual driving, referring to... Figure 3 The device includes a first acquisition module, a second acquisition module, a first calculation module, a second calculation module, a management module, and a control module.

[0113] The system comprises the following components: a first acquisition module for acquiring the first speed of the current vehicle, the second speed of at least one vehicle within a preset collision range in front of the current vehicle, and the third speed of at least one vehicle within a preset collision range behind the current vehicle; a second acquisition module for acquiring the first distance between the current vehicle and the vehicle in front, and the second distance between the current vehicle and the vehicle behind; a first calculation module for calculating the minimum braking force and the corresponding critical braking deceleration required to avoid a collision between the current vehicle and the vehicle in front, based on the first speed, the second speed, and the first distance; a second calculation module for acquiring brake pedal opening information in response to a detected change in brake pedal opening, and calculating the expected braking deceleration of the current vehicle based on the brake pedal opening information; a management module for determining whether the current vehicle will collide with the vehicle behind and not with the vehicle in front, based on the expected braking deceleration, the first speed, the second speed, the third speed, the first distance, and the second distance, and obtaining a first determination result; and a control module for executing control commands based on the first determination result.

[0114] Specifically, the control command includes at least one of decelerating the current vehicle at the critical braking deceleration and decelerating the current vehicle at the expected braking deceleration.

[0115] Furthermore, the first determination result includes at least one of the following: the current vehicle will collide with the vehicle behind it but will not collide with the vehicle in front, and the current vehicle will not collide with the vehicle behind it but will not collide with the vehicle in front. If the first determination result is that the current vehicle will collide with the vehicle behind it but will not collide with the vehicle in front, the control command is to decelerate the current vehicle at the critical braking deceleration. If the first determination result is that the current vehicle will not collide with the vehicle behind it but will not collide with the vehicle in front, the control command is to decelerate the current vehicle at the expected braking deceleration.

[0116] Furthermore, the second calculation module is also configured to acquire brake pedal opening information in response to detecting a change in brake pedal opening; calculate the predicted braking deceleration of the current vehicle based on the brake pedal opening information; and acquire environmental information surrounding the current vehicle. It is also configured to calculate a braking force environmental adjustment coefficient based on the environmental information; and multiply the braking force environmental adjustment coefficient and the predicted braking deceleration to obtain the expected braking deceleration. The environmental information includes at least one of road type information, weather information, and road surface adhesion coefficient information.

[0117] Furthermore, the brake pedal opening information also includes at least one of brake pedal opening and brake pedal change rate. The device further includes a model training module, used to input multiple sets of the brake pedal opening information, the first vehicle speed, and the corresponding actual vehicle braking force and actual vehicle braking deceleration into the braking model for model training, obtaining a trained braking model. Based on this, the second calculation module is also used to call and input the trained braking model according to the current brake pedal opening information and the first vehicle speed to obtain the predicted braking deceleration.

[0118] Furthermore, the second calculation module is also used to call and input the trained braking model based on the current brake pedal opening and the current vehicle speed to obtain the predicted basic braking force; and to call the auxiliary braking configuration file based on the current brake pedal change rate and the current vehicle speed to return the predicted auxiliary braking force; and to add the predicted basic braking force and the predicted auxiliary braking force to obtain the predicted braking force. It is also used to calculate the predicted braking deceleration based on the predicted braking force, the current vehicle mass, and the dynamic model.

[0119] Furthermore, the management module is also used to determine whether the current vehicle will collide with the vehicle in front based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, and the first distance, to obtain a second determination result; and to execute control commands based on the first determination result and the second determination result. Wherein, if the second determination result is that the current vehicle will collide with the vehicle in front, the control command is to decelerate the current vehicle at the critical braking deceleration.

[0120] Furthermore, the device also includes an alarm module for sending communication requests and / or alarm information to the rear vehicle.

[0121] Specific limitations regarding devices for avoiding vehicle collisions during manual driving can be found in the aforementioned limitations regarding methods for avoiding vehicle collisions during manual driving, and will not be repeated here. Each module in the aforementioned device for avoiding vehicle collisions during manual driving can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0122] Example 3

[0123] Corresponding to the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it can implement the above-described method for avoiding vehicle collisions during manual driving.

[0124] like Figure 4 As shown, in some embodiments, the system can serve as any of the described electronic devices for a method of avoiding vehicle collisions for manual driving in each of the various embodiments. In some embodiments, the system may include one or more computer-readable media (e.g., system memory or NVM / storage device) having instructions and one or more processors (e.g., one or more processors) coupled to the one or more computer-readable media and configured to execute the instructions to implement the module and thus perform the actions described in this application.

[0125] In one embodiment, the system control module may include any suitable interface controller to provide any suitable interface to at least one of the processors(s) and / or any suitable device or component communicating with the system control module.

[0126] The system control module may include a memory controller module to provide an interface to the system memory. The memory controller module may be a hardware module, a software module, and / or a firmware module.

[0127] System memory can be used, for example, to load and store data and / or instructions for the system. In one embodiment, system memory may include any suitable volatile memory, such as suitable DRAM. In some embodiments, system memory may include Double Data Rate Type Quad Synchronous Dynamic Random Access Memory (DDR4 SDRAM).

[0128] In one embodiment, the system control module may include one or more input / output (I / O) controllers to provide interfaces to the NVM / storage device and (one or more) communication interfaces.

[0129] For example, an NVM / storage device can be used to store data and / or instructions. An NVM / storage device may include any suitable non-volatile memory (e.g., flash memory) and / or may include any suitable (one or more) non-volatile storage devices (e.g., one or more hard disk drives (HDDs), one or more optical disc drives (CDs), and / or one or more digital universal optical disc (DVD) drives).

[0130] NVM / storage devices may include storage resources that are physically part of a device on which the system is mounted, or that can be accessed by the device without necessarily being part of it. For example, an NVM / storage device may be accessed over a network via one or more communication interfaces.

[0131] One or more communication interfaces may provide the system with an interface to communicate over one or more networks and / or with any other suitable device. The system may wirelessly communicate with one or more components of a wireless network in accordance with any of the standards and / or protocols in one or more wireless network standards and / or protocols.

[0132] In one embodiment, at least one of the processors may be logically packaged with one or more controllers of the system control module (e.g., a memory controller module). In one embodiment, at least one of the processors may be logically packaged with one or more controllers of the system control module to form a system-in-package (SiP). In one embodiment, at least one of the processors may be integrated with the logic of one or more controllers of the system control module on the same die. In one embodiment, at least one of the processors may be integrated with the logic of one or more controllers of the system control module on the same die to form a system-on-a-chip (SoC).

[0133] In various embodiments, the system may be, but is not limited to, a server, workstation, desktop computing device, or mobile computing device (e.g., laptop computing device, handheld computing device, tablet computer, netbook, etc.). In various embodiments, the system may have more or fewer components and / or different architectures. For example, in some embodiments, the system includes one or more cameras, a keyboard, a liquid crystal display (LCD) screen (including a touchscreen display), a non-volatile memory port, multiple antennas, a graphics chip, an application-specific integrated circuit (ASIC), and a speaker.

[0134] It should be noted that this application can be implemented in software and / or a combination of software and hardware, for example, using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In one embodiment, the software program of this application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium, such as RAM memory, magnetic or optical drives, floppy disks, and similar devices. Furthermore, some steps or functions of this application can be implemented in hardware, for example, as circuitry that cooperates with a processor to perform the various steps or functions.

[0135] Furthermore, a portion of this application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to this application through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0136] Communication media include media through which communication signals containing, for example, computer-readable instructions, data structures, program modules, or other data are transmitted from one system to another. Communication media can include guided transmission media (such as cables and wires (e.g., optical fibers, coaxial cables, etc.)) and wireless (unguided transmission) media capable of propagating energy waves, such as sound, electromagnetic, RF, microwave, and infrared. Computer-readable instructions, data structures, program modules, or other data can be embodied as modulated data signals in, for example, wireless media (such as carrier waves or similar mechanisms embodied as part of spread spectrum technology). The term "modulated data signal" refers to a signal whose one or more characteristics are altered or set in a manner that encodes information in the signal. Modulation can be analog, digital, or a hybrid modulation technique.

[0137] Herein, one embodiment of this application includes an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the apparatus is triggered to run a method and / or technical solution based on the foregoing embodiments of this application.

[0138] Example 4

[0139] Corresponding to the above embodiments, this application also provides a computer-readable storage medium storing computer-executable instructions for executing a method for avoiding vehicle collisions during manual driving.

[0140] In this embodiment, a computer-readable storage medium may include volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer-readable instructions, data structures, program modules or other data. For example, a computer-readable storage medium includes, but is not limited to, volatile memories such as random access memory (RAM, DRAM, SRAM); and non-volatile memories such as flash memory, various read-only memories (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic / ferroelectric memories (MRAM, FeRAM); and magnetic and optical storage devices (hard disks, magnetic tapes, CDs, DVDs); or other currently known media or those developed hereafter capable of storing computer-readable information / data for use by a computer system.

[0141] Although preferred embodiments have been described in this application, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of this application.

[0142] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for avoiding vehicle collisions during manual driving, characterized in that, include: The first speed of the current vehicle, the second speed of at least one vehicle in front of the current vehicle within a preset collision range in front of the current vehicle, and the third speed of at least one vehicle in rear of the current vehicle within a preset collision range behind the current vehicle are obtained. Obtain the first distance between the current vehicle and the vehicle in front, and the second distance between the current vehicle and the vehicle behind; Based on the first vehicle speed, the second vehicle speed, and the first distance, the minimum braking force and the corresponding critical braking deceleration for the current vehicle to avoid a collision with the vehicle in front are calculated. In response to detecting a change in brake pedal opening, brake pedal opening information is acquired, and the expected braking deceleration of the current vehicle is calculated based on the brake pedal opening information; the brake pedal opening information includes at least one of brake pedal opening and brake pedal change rate. The step of responding to a detected change in brake pedal opening by acquiring brake pedal opening information and calculating the expected braking deceleration of the current vehicle based on the brake pedal opening information includes: In response to detecting a change in brake pedal opening, acquire brake pedal opening information; The predicted braking deceleration of the current vehicle is calculated based on the brake pedal opening information; Before calculating the predicted braking deceleration of the current vehicle based on the brake pedal opening information, the method further includes: Multiple sets of brake pedal opening information, the first vehicle speed, and the corresponding actual vehicle braking force and actual vehicle braking deceleration are input into the braking model for model training to obtain the trained braking model. The step of calculating the predicted braking deceleration of the current vehicle based on the brake pedal opening information includes: Based on the current brake pedal opening information and the first vehicle speed, the trained braking model is called and input to obtain the predicted braking deceleration. The step of calling and inputting the trained braking model based on the current brake pedal opening information and the first vehicle speed to obtain the predicted braking deceleration includes: Based on the current brake pedal opening and the current vehicle speed, the trained braking model is invoked and input to obtain the predicted basic braking force. Based on the current brake pedal change rate and the current vehicle speed, the auxiliary braking configuration file is invoked, and the predicted auxiliary braking force is returned. The predicted basic braking force and the predicted auxiliary braking force are added together to obtain the predicted braking force; The predicted braking deceleration is calculated based on the predicted braking force, the current vehicle mass, and the dynamic model. Based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, the third vehicle speed, the first distance, and the second distance, it is determined whether the current vehicle has collided with the vehicle in front. If so, the current vehicle is decelerated at the critical braking deceleration. Conversely, it is determined whether the current vehicle will collide with the vehicle behind it but not with the vehicle in front, and a first determination result is obtained; Based on the first determination result, a control command is executed; the control command includes at least one of decelerating the current vehicle at the critical braking deceleration and decelerating the current vehicle at the expected braking deceleration; If the first determination result is that the current vehicle will collide with the vehicle behind it but not with the vehicle in front, the control command is to decelerate the current vehicle at the critical braking deceleration. If the first determination result is that the current vehicle will not collide with the vehicle behind it and will not collide with the vehicle in front it, the control command is to decelerate the current vehicle at the expected braking deceleration.

2. The method for avoiding vehicle collisions during manual driving according to claim 1, characterized in that, The first determination result includes at least one of the following: the current vehicle will collide with the vehicle behind it but will not collide with the vehicle in front of it, and the current vehicle will not collide with the vehicle behind it but will not collide with the vehicle in front of it.

3. The method for avoiding vehicle collisions during manual driving according to claim 1, characterized in that, The step of responding to a detected change in brake pedal opening by acquiring brake pedal opening information and calculating the expected braking deceleration of the current vehicle based on the brake pedal opening information includes: Obtain the environmental information surrounding the current vehicle; Based on the environmental information, the braking force environmental adjustment coefficient is calculated; The expected braking deceleration is obtained by multiplying the braking force environment adjustment coefficient and the predicted braking deceleration. The environmental information includes at least one of road type information, weather information, and road surface adhesion coefficient information.

4. The method for avoiding vehicle collisions during manual driving according to claim 1, characterized in that, Before executing the control command based on the first determination result, the method further includes: Based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, and the first distance, it is determined whether the current vehicle will collide with the vehicle in front, and a second determination result is obtained. Execute control commands based on the first and second judgment results; If the second determination result is that the current vehicle will collide with the vehicle in front, the control command is to decelerate the current vehicle at the critical braking deceleration.

5. The method for avoiding vehicle collisions during manual driving according to claim 1, characterized in that, After executing the control command based on the first determination result, the method further includes: Send communication requests and / or alarm messages to the vehicles behind.

6. An apparatus for avoiding vehicle collisions during manual driving, used to implement the method for avoiding vehicle collisions during manual driving as described in any one of claims 1 to 5, characterized in that, The device includes: The first acquisition module is used to acquire the first speed of the current vehicle, the second speed of at least one vehicle in front of the current vehicle within a preset collision range in front of the current vehicle, and the third speed of at least one vehicle in rear of the current vehicle within a preset collision range behind the current vehicle. The second acquisition module is used to acquire the first distance between the current vehicle and the vehicle in front and the second distance between the current vehicle and the vehicle behind; The first calculation module is used to calculate the minimum braking force and the corresponding critical braking deceleration for the current vehicle to avoid a collision with the vehicle in front, based on the first vehicle speed, the second vehicle speed and the first distance. The second calculation module is used to obtain brake pedal opening information in response to detecting a change in brake pedal opening, and to calculate the expected braking deceleration of the current vehicle based on the brake pedal opening information. The management module is used to determine whether the current vehicle will collide with the vehicle behind it and not collide with the vehicle in front of it based on the expected braking deceleration, the first vehicle speed, the second vehicle speed, the third vehicle speed, the first distance, and the second distance, and to obtain a first judgment result; The control module is used to execute control commands based on the first judgment result; The control command includes at least one of decelerating the current vehicle at the critical braking deceleration and decelerating the current vehicle at the expected braking deceleration.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for avoiding vehicle collisions for manual driving as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the method for avoiding vehicle collisions for manual driving as described in any one of claims 1 to 5.

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