A vehicle collision avoidance control method and device

Abstract

The application provides a vehicle collision avoidance control method and device. In the execution of the method, the travel information of a first vehicle and a second vehicle is obtained first; then a collision time test statistic is calculated by using the travel information of the first vehicle and the travel information of the second vehicle; then the conditional allowable acceleration of the first vehicle and the second vehicle is calculated respectively; finally, the lateral acceleration and the longitudinal acceleration of the first vehicle and the second vehicle are adjusted respectively. In this way, the collision time test statistic is calculated by using the obtained travel information, then the conditional allowable acceleration of the first vehicle and the second vehicle is calculated, and the lateral acceleration and the longitudinal acceleration of the first vehicle and the second vehicle are adjusted respectively by using the calculated conditional allowable acceleration of the first vehicle and the second vehicle, so that the travel information of other vehicles can be perceived while the travel information of the vehicle is controlled, and the travel information of the vehicle can be adjusted in combination with the travel information of the vehicle and the travel information of other vehicles, so as to achieve the purpose of avoiding collision.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a vehicle collision avoidance control method and device. Background Technology

[0002] Autonomous driving, also known as driverless, computer-controlled, or wheeled mobile robot, is a cutting-edge technology that relies on computer and artificial intelligence to complete safe and efficient driving without human intervention. "Safety first" is the core concept and value of autonomous driving. The driving safety of high-level autonomous driving has always been a core issue of continuous concern within the industry.

[0003] Current technologies for achieving safe autonomous driving typically employ single-vehicle intelligent route planning. This approach can only ensure that the vehicle makes the optimal choice for itself, but cannot predict the driving trends of other vehicles; therefore, it cannot truly achieve safe autonomous driving. Alternatively, vehicle-to-infrastructure (V2I) route planning can be used, which relies on inter-vehicle communication and a robust network environment, placing extremely high demands on traffic infrastructure. In short, both of these methods have limitations in achieving safe autonomous driving and cannot effectively reduce the incidence of collisions between autonomous vehicles. Summary of the Invention

[0004] In view of this, embodiments of this application provide a vehicle collision avoidance control method and device, which aims to reduce the incidence of collision accidents between autonomous vehicles.

[0005] In a first aspect, embodiments of this application provide a vehicle collision avoidance control method, the method comprising:

[0006] Acquire the travel information of the first vehicle and the second vehicle; the travel information includes the travel trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scene;

[0007] The collision time test statistic is calculated using the travel information of the first vehicle and the travel information of the second vehicle.

[0008] The conditional allowable accelerations of the first vehicle and the second vehicle are calculated using the collision time test statistic and the travel information of the first vehicle and the second vehicle, respectively.

[0009] The lateral and longitudinal accelerations of the first and second vehicles are adjusted according to the conditional allowable acceleration of the first vehicle and the conditional allowable acceleration of the second vehicle, respectively, to avoid a collision.

[0010] Optionally, the step of calculating the collision time test statistic using the travel information of the first vehicle and the travel information of the second vehicle specifically includes:

[0011] The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively; the first time is the time required to reach the moment of collision relative to the target time of the first vehicle; the second time is the time required to reach the moment of collision relative to the target time of the second vehicle.

[0012] When the trajectory of the first vehicle is the same as that of the second vehicle, the collision time test statistic is calculated using the first formula; the first formula is:

[0013]

[0014] TTS(t) is the collision time test statistic at the target time; x A For the first time; x B For the second time; tr A (x, t) represents the trajectory of the first vehicle, tr B (x, t) represents the trajectory of the second vehicle.

[0015] Optionally, the step of calculating the first time and the second time using the driving trajectories of the first vehicle and the second vehicle respectively specifically includes:

[0016] The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively, according to the second formula; the second formula is:

[0017] tr i (x, t) = v i (t)*x i +p i (t), i = A, B

[0018] Where A represents the first vehicle and B represents the second vehicle; v i (t) represents the speeds of the first vehicle and the second vehicle; p i (t) represents the positions of the first vehicle and the second vehicle; tr i (x, t) represents the driving trajectories of the first vehicle and the second vehicle, where x i It refers to the first or second time.

[0019] Optionally, the step of calculating the conditional allowable acceleration of the first vehicle and the second vehicle using the collision time test statistic and the travel information of the first vehicle and the second vehicle respectively includes:

[0020] Using the collision time test statistic, the travel information of the first vehicle and the second vehicle, the conditional allowable acceleration of the first vehicle and the second vehicle is calculated according to the third formula; the third formula is:

[0021]

[0022] Where A represents the first vehicle and B represents the second vehicle; v i (t) represents the speeds of the first vehicle and the second vehicle; p i (t) represents the positions of the first vehicle and the second vehicle; p int =tr A (x A ,t1)=tr B (x B t1) represents the point at which the first vehicle and the second vehicle collided; is the preset value; TTS(t) is the collision time test statistic for the target time.

[0023] Optionally, the method further includes:

[0024] The first vehicle and the second vehicle complete their own path planning and vehicle body control in autonomous driving mode, and output their respective vehicle travel information.

[0025] Secondly, embodiments of this application provide a vehicle collision avoidance control device, the device comprising: an acquisition module, a calculation module, and an adjustment module;

[0026] The acquisition module is specifically used to acquire the travel information of the first vehicle and the second vehicle; the travel information includes the travel trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scene;

[0027] The calculation module is used to calculate the collision time test statistic using the travel information of the first vehicle and the second vehicle; and to calculate the conditional allowable acceleration of the first vehicle and the second vehicle using the collision time test statistic and the travel information of the first vehicle and the second vehicle, respectively.

[0028] The adjustment module is used to adjust the lateral acceleration and longitudinal acceleration of the first vehicle and the second vehicle respectively according to the conditional allowable acceleration of the first vehicle and the conditional allowable acceleration of the second vehicle, so as to avoid a collision.

[0029] Optionally, the calculation module is specifically used for:

[0030] The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively; the first time is the time required to reach the moment of collision relative to the target time of the first vehicle; the second time is the time required to reach the moment of collision relative to the target time of the second vehicle.

[0031] When the trajectory of the first vehicle is the same as that of the second vehicle, the collision time test statistic is calculated using the first formula; the first formula is:

[0032]

[0033] TTS(t) is the collision time test statistic at the target time; x A For the first time; x B For the second time; tr A (x, t) represents the trajectory of the first vehicle, tr B (x, t) represents the trajectory of the second vehicle.

[0034] Optionally, the calculation module further includes a first calculation unit, the first calculation unit being used for:

[0035] The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively, according to the second formula; the second formula is:

[0036] tr i (x, t) = v i (t)*x i +p i (t), i = A, B

[0037] Where A represents the first vehicle and B represents the second vehicle; v i (t) represents the speeds of the first vehicle and the second vehicle; p i (t) represents the positions of the first vehicle and the second vehicle; tr i (x, t) represents the driving trajectories of the first vehicle and the second vehicle, where x i It refers to the first or second time.

[0038] Optionally, the calculation module further includes a second calculation unit, the second calculation unit being used for:

[0039] Using the collision time test statistic, the travel information of the first vehicle and the second vehicle, the conditional allowable acceleration of the first vehicle and the second vehicle is calculated according to the third formula; the third formula is:

[0040]

[0041] Where A represents the first vehicle and B represents the second vehicle; v i (t) represents the speeds of the first vehicle and the second vehicle; p i (t) represents the positions of the first vehicle and the second vehicle; p int =tr A (x A ,t1)=tr B (x B t1) represents the point at which the first vehicle and the second vehicle collided; is the preset value; TTS(t) is the collision time test statistic for the target time.

[0042] Optionally, the device may further include a control module and an output module;

[0043] The planning and control module is used to control the first vehicle and the second vehicle to complete the path planning and body control of the vehicle in autonomous driving mode.

[0044] The output module is used to output the travel information of each vehicle.

[0045] This application provides a vehicle collision avoidance control method. When executing the method, firstly, the travel information of a first vehicle and a second vehicle is acquired; the travel information includes the driving trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scenario; then, a collision time check statistic is calculated using the travel information of the first vehicle and the second vehicle; next, the conditional allowable acceleration of the first vehicle and the second vehicle is calculated using the collision time check statistic and the travel information of the first and second vehicles, respectively; finally, the lateral and longitudinal accelerations of the first and second vehicles are adjusted according to the conditional allowable accelerations of the first and second vehicles, respectively, to avoid a collision. In this way, by calculating the collision time check statistic using the acquired travel information, then calculating the conditional allowable accelerations of the first and second vehicles, and adjusting the lateral and longitudinal accelerations of the first and second vehicles using the calculated conditional allowable accelerations, it is possible to perceive the travel information of other vehicles while controlling the travel information of the vehicle itself, and to adjust the travel information of the vehicle itself in combination with the travel information of other vehicles, thereby achieving the purpose of avoiding collisions. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the 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.

[0047] Figure 1 A flowchart of a vehicle collision avoidance control method provided in an embodiment of this application;

[0048] Figure 2 A flowchart of another vehicle collision avoidance control method provided in this application embodiment;

[0049] Figure 3 This is a schematic diagram of a vehicle collision avoidance control device provided in an embodiment of this application. Detailed Implementation

[0050] Autonomous driving, also known as driverless, computer-controlled, or wheeled mobile robot, is a cutting-edge technology that relies on computer and artificial intelligence to complete safe and efficient driving without human intervention. "Safety first" is the core concept and value of autonomous driving. The driving safety of high-level autonomous driving has always been a core issue of continuous concern within the industry.

[0051] Current technologies for achieving safe autonomous driving typically employ single-vehicle intelligent route planning. This approach can only ensure that the vehicle makes the optimal choice for itself, but cannot predict the driving trends of other vehicles; therefore, it cannot truly achieve safe autonomous driving. Alternatively, vehicle-to-infrastructure (V2I) route planning can be used, which relies on inter-vehicle communication and a robust network environment, placing extremely high demands on traffic infrastructure. In short, both of these methods have limitations in achieving safe autonomous driving and cannot effectively reduce the incidence of collisions between autonomous vehicles.

[0052] In view of this, the inventors of this application considered that if it is possible to adjust the driving state of one's own vehicle while sensing the driving trends of other vehicles without adopting vehicle-road cooperative route planning, then the driving state of one's own vehicle can be adjusted according to the driving trends of other vehicles, thereby avoiding vehicle collisions. Therefore, the solution proposed in this application is proposed.

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0054] See Figure 1 , Figure 1 A flowchart of a vehicle collision avoidance control method provided in this application embodiment includes:

[0055] S101. Obtain the travel information of the first vehicle and the second vehicle; the travel information includes the travel trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scene.

[0056] The first and second vehicles are in the same traffic scenario, meaning there is a possibility of a collision between them in the near future. For example, vehicles traveling in different directions at the same intersection can be identified as belonging to the same traffic scenario by the intelligent driving cloud data collection module, which matches the current positions of the two vehicles with a high-precision map. Vehicle travel information can include driving trajectory, position, speed, acceleration, heading angle, and corresponding timestamps.

[0057] S102. Calculate the collision time test statistic using the travel information of the first vehicle and the travel information of the second vehicle.

[0058] Calculating the collision time test statistic is for the purpose of calculating the conditionally permissible acceleration of the vehicles. This calculation first requires calculating the time required from the target time relative to the first vehicle and the target time relative to the second vehicle, where the target time is the current time of the vehicles. The time required from the target time relative to the first vehicle and the target time relative to the second vehicle can be calculated based on their respective trajectories. Specifically, this can be done using the first formula:

[0059]

[0060] TTS(t) is the collision time test statistic for the vehicle at the current moment; x A x represents the time required from the target time relative to the time of the collision to the time when the first vehicle occurs; B The time required to reach the collision point relative to the target time of the second vehicle; tr A (x, t) represents the trajectory of the first vehicle, tr B (x, t) represents the trajectory of the second vehicle.

[0061] In the above formula The meaning can be understood as if any x A x B >0 indicates that before the collision occurred and the first vehicle was still x meters away from the collision point. AA short period of time; before the collision and when the second vehicle was x meters away from the collision. B For a period of time, and tr A (x, t) = tr B (x, t) represents the two vehicles traveling on the same trajectory; only in this case is the collision time test statistic valid. In other cases, the collision time test statistic is infinite and its value is invalid. For example, if x... A <0 or x B <0 indicates that the collision time test statistic is relatively invalid after the collision has occurred.

[0062] S103. Calculate the conditional allowable acceleration of the first vehicle and the second vehicle using the collision time test statistic and the travel information of the first vehicle and the second vehicle, respectively.

[0063] The vehicle travel information used to calculate the conditional allowable acceleration includes speed, position, and the point of collision between the two vehicles. The conditional allowable acceleration of the two vehicles is calculated using the collision time test statistic, the travel information of the first and second vehicles, and a third formula:

[0064]

[0065] Where A represents the first vehicle and B represents the second vehicle; v i (t) represents the speeds of the first and second vehicles; p i (t) represents the positions of the first and second vehicles; p int =tr A (x A ,t1)=tr B (xB, t1) represents the location where the first and second vehicles collided; This is a preset value, which can be determined based on expert experience or trained and optimized based on actual data measurement results.

[0066] S104. Adjust the lateral acceleration and longitudinal acceleration of the first vehicle and the second vehicle respectively according to the conditional allowable acceleration of the first vehicle and the conditional allowable acceleration of the second vehicle to avoid a collision.

[0067] Based on the driving information of the two vehicles, the conditional allowable acceleration of the first vehicle and the conditional allowable acceleration of the second vehicle are calculated. Then, the conditional allowable acceleration of the first vehicle is fed back to the first vehicle, and the conditional allowable acceleration of the second vehicle is fed back to the second vehicle, so as to adjust the lateral acceleration and longitudinal acceleration of the first vehicle and the second vehicle respectively, in order to avoid a collision.

[0068] This application provides a vehicle collision avoidance control method. When executing the method, firstly, the travel information of a first vehicle and a second vehicle is acquired; the travel information includes the driving trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scenario; then, a collision time check statistic is calculated using the travel information of the first vehicle and the second vehicle; next, the conditional allowable acceleration of the first vehicle and the second vehicle is calculated using the collision time check statistic and the travel information of the first and second vehicles, respectively; finally, the lateral and longitudinal accelerations of the first and second vehicles are adjusted according to the conditional allowable accelerations of the first and second vehicles, respectively, to avoid a collision. In this way, by calculating the collision time check statistic using the acquired travel information, then calculating the conditional allowable accelerations of the first and second vehicles, and adjusting the lateral and longitudinal accelerations of the first and second vehicles using the calculated conditional allowable accelerations, it is possible to perceive the travel information of other vehicles while controlling the travel information of the vehicle itself, and to adjust the travel information of the vehicle itself in combination with the travel information of other vehicles, thereby achieving the purpose of avoiding collisions.

[0069] In an optional embodiment of this application, a first time and a second time are used when calculating the collision time test statistic. The first time is the time required from the target time of the first vehicle to the time of the collision, and the second time is the time required from the target time of the second vehicle to the time of the collision. The first time and the second time can be calculated using a second formula, which is:

[0070] tr i (x, t) = v i (t)*x i +p i (t), i = A, B

[0071] Where A represents the first vehicle and B represents the second vehicle; v i (t) represents the speeds of the first vehicle and the second vehicle; p i (t) represents the positions of the first vehicle and the second vehicle; tr i (x, t) represents the driving trajectories of the first vehicle and the second vehicle, where x i This refers to either the first or second time point. Of the parameters used in this formula, only the first or second time point is known; therefore, the first and second time points can be calculated using this formula.

[0072] In an optional embodiment of this application, the first vehicle and the second vehicle use their respective vehicle control modules to complete path planning and vehicle body control in autonomous driving mode, and output their respective vehicle travel information. Furthermore, this solution can calculate the conditional allowable acceleration based on the output travel information of each vehicle, and adjust the vehicle's driving state according to the conditional allowable acceleration.

[0073] See Figure 2 , Figure 2 This application provides another vehicle collision avoidance control method flowchart, applied to an autonomous vehicle collision avoidance scenario based on the intelligent driving cloud platform. Taking vehicle A and vehicle B as examples, the planning and control modules of vehicles A and B are responsible for implementing path planning and vehicle body control functions for their respective vehicles in autonomous driving mode, and outputting the driving information of their respective vehicles, including driving trajectory, position, speed, acceleration, heading angle, and corresponding timestamps. The intelligent driving cloud data acquisition module is used to collect driving information of adjacent autonomous vehicles in the same traffic scenario. The collision time calculation module uses the speed and position of the two vehicles with potential collision to calculate the collision time test statistic and transmits the result to the conditional allowable acceleration calculation module. The conditional allowable acceleration calculation module uses the TTS result and the speed and position of the two vehicles to calculate the conditional allowable acceleration of the two vehicles with potential collision. The intelligent driving cloud platform sends the calculated conditional allowable acceleration CRA(t, i), i = A, B to the planning and control modules of the two vehicles respectively to realize the closed-loop control logic under the global traffic safety state. As time goes by, the next round of iterative calculation begins, repeating the cycle until the moment of collision or the moment when there is no possibility of collision.

[0074] The above are some specific implementations of a vehicle collision avoidance control method provided in the embodiments of this application. Based on this, this application also provides a corresponding vehicle collision avoidance control device. The device provided in the embodiments of this application will be described below from the perspective of functional modularity.

[0075] See Figure 3 , Figure 3 This is a schematic diagram of a vehicle collision avoidance control device provided in an embodiment of the present application. The device includes: an acquisition module 301, a calculation module 302, and an adjustment module 303.

[0076] The acquisition module 301 is specifically used to acquire the travel information of the first vehicle and the second vehicle; the travel information includes the travel trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scene;

[0077] The calculation module 302 is used to calculate the collision time test statistic using the travel information of the first vehicle and the travel information of the second vehicle; and to calculate the conditional allowable acceleration of the first vehicle and the second vehicle using the collision time test statistic and the travel information of the first vehicle and the second vehicle, respectively.

[0078] The adjustment module 303 is used to adjust the lateral acceleration and longitudinal acceleration of the first vehicle and the second vehicle respectively according to the conditional allowable acceleration of the first vehicle and the conditional allowable acceleration of the second vehicle, so as to avoid a collision.

[0079] This application provides a vehicle collision avoidance control device for executing a corresponding vehicle collision avoidance control method. When executing the method, firstly, the travel information of a first vehicle and a second vehicle is acquired; the travel information includes the driving trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scenario; then, a collision time check statistic is calculated using the travel information of the first vehicle and the second vehicle; next, the conditional allowable acceleration of the first vehicle and the second vehicle is calculated using the collision time check statistic and the travel information of the first and second vehicles, respectively; finally, the lateral acceleration and longitudinal acceleration of the first vehicle and the second vehicle are adjusted according to the conditional allowable acceleration of the first vehicle and the conditional allowable acceleration of the second vehicle, respectively, to avoid a collision. In this way, by calculating the collision time test statistic based on the acquired travel information, and then calculating the conditional allowable acceleration of the first and second vehicles, the lateral and longitudinal accelerations of the first and second vehicles are adjusted using the calculated conditional allowable accelerations of the first and second vehicles, respectively. This enables the vehicle to perceive the travel information of other vehicles while controlling its own travel information, and to adjust its own travel information by combining the travel information of its own vehicle with that of other vehicles, thereby achieving the goal of avoiding collisions.

[0080] In an optional embodiment of this application, the computing module 302 is specifically used for:

[0081] The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively; the first time is the time required to reach the moment of collision relative to the target time of the first vehicle; the second time is the time required to reach the moment of collision relative to the target time of the second vehicle.

[0082] When the trajectory of the first vehicle is the same as that of the second vehicle, the collision time test statistic is calculated using the first formula; the first formula is:

[0083]

[0084] TTS(t) is the collision time test statistic at the target time; x A For the first time; x B For the second time; tr A (x, t) represents the trajectory of the first vehicle, tr B (x, t) represents the trajectory of the second vehicle.

[0085] In an optional embodiment of this application, the calculation module 302 further includes a first calculation unit, which is used for:

[0086] The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively, according to the second formula; the second formula is:

[0087] tr i (x, t) = v i (t)*x i +p i (t), i = A, B

[0088] Where A represents the first vehicle and B represents the second vehicle; v i (t) represents the speeds of the first vehicle and the second vehicle; p i (t) represents the positions of the first vehicle and the second vehicle; tr i (x, t) represents the driving trajectories of the first vehicle and the second vehicle, where x i It refers to the first or second time.

[0089] In an optional embodiment of this application, the calculation module 302 further includes a second calculation unit, the second calculation unit being used for:

[0090] Using the collision time test statistic, the travel information of the first vehicle and the second vehicle, the conditional allowable acceleration of the first vehicle and the second vehicle is calculated according to the third formula; the third formula is:

[0091]

[0092] Where A represents the first vehicle and B represents the second vehicle; v i (t) represents the speeds of the first vehicle and the second vehicle; p i (t) represents the positions of the first vehicle and the second vehicle; p int =tr A (x A ,t1)=tr B (x B t1) represents the point at which the first vehicle and the second vehicle collided; is the preset value; TTS(t) is the collision time test statistic for the target time.

[0093] In an optional embodiment of this application, the device further includes a control module and an output module;

[0094] The planning and control module is used to control the first vehicle and the second vehicle to complete the path planning and body control of the vehicle in autonomous driving mode.

[0095] The output module is used to output the travel information of each vehicle.

[0096] In the embodiments of this application, the terms "first vehicle" and "second vehicle" are used only as name identifiers and do not represent the order of first and second.

[0097] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus a general-purpose hardware platform. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0098] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0099] The above description is merely an exemplary implementation of this application and is not intended to limit the scope of protection of this application.

Claims

1. A vehicle collision avoidance control method, characterized in that, The method includes: Acquire the travel information of the first vehicle and the second vehicle; the travel information includes the travel trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scene; The collision time test statistic is calculated using the travel information of the first vehicle and the travel information of the second vehicle. The conditional allowable accelerations of the first vehicle and the second vehicle are calculated using the collision time test statistic and the travel information of the first vehicle and the second vehicle, respectively. The lateral and longitudinal accelerations of the first and second vehicles are adjusted according to the allowable acceleration of the first vehicle and the allowable acceleration of the second vehicle, respectively, to avoid a collision. The calculation of the collision time verification statistic using the travel information of the first vehicle and the travel information of the second vehicle specifically includes: The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively; the first time is the time required to reach the moment of collision relative to the target time of the first vehicle; the second time is the time required to reach the moment of collision relative to the target time of the second vehicle. When the trajectory of the first vehicle is the same as that of the second vehicle, the collision time test statistic is calculated using the first formula; the first formula is: TTS(t) ; TTS(t) is the collision time test statistic at the target time. This refers to the first time. This refers to the second time. This represents the trajectory of the first vehicle. This represents the trajectory of the second vehicle.

2. The method according to claim 1, characterized in that, The calculation of the first time and the second time using the driving trajectories of the first vehicle and the second vehicle respectively specifically includes: The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively, according to the second formula; the second formula is: ； Wherein, A represents the first vehicle and B represents the second vehicle; This represents the speeds of the first vehicle and the second vehicle; This represents the positions of the first vehicle and the second vehicle; The driving trajectories of the first vehicle and the second vehicle. For the first time and the second time.

3. The method according to claim 1, characterized in that, The calculation of the conditional allowable acceleration of the first vehicle and the second vehicle using the collision time test statistic and the travel information of the first vehicle and the second vehicle respectively includes: Using the collision time test statistic, the travel information of the first vehicle and the second vehicle, the conditional allowable acceleration of the first vehicle and the second vehicle is calculated according to the third formula; the third formula is: ； ； Wherein, A represents the first vehicle and B represents the second vehicle; This represents the speeds of the first vehicle and the second vehicle; This represents the positions of the first vehicle and the second vehicle; This represents the point where the first vehicle and the second vehicle collided. is the preset value; TTS(t) is the collision time test statistic for the target time.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: The first vehicle and the second vehicle complete their own path planning and vehicle body control in autonomous driving mode, and output their respective vehicle travel information.

5. A vehicle collision avoidance control device, characterized in that, The device includes: an acquisition module, a calculation module, and an adjustment module; The acquisition module is specifically used to acquire the travel information of the first vehicle and the second vehicle; the travel information includes the travel trajectory, position, and speed; the first vehicle and the second vehicle are in the same traffic scene; The calculation module is used to calculate the collision time test statistic using the travel information of the first vehicle and the second vehicle; and to calculate the conditional allowable acceleration of the first vehicle and the second vehicle using the collision time test statistic and the travel information of the first vehicle and the second vehicle, respectively. The adjustment module is used to adjust the lateral acceleration and longitudinal acceleration of the first vehicle and the second vehicle respectively according to the conditional allowable acceleration of the first vehicle and the conditional allowable acceleration of the second vehicle, so as to avoid a collision. The calculation module is specifically used for: The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively; the first time is the time required to reach the moment of collision relative to the target time of the first vehicle; the second time is the time required to reach the moment of collision relative to the target time of the second vehicle. When the trajectory of the first vehicle is the same as that of the second vehicle, the collision time test statistic is calculated using the first formula; the first formula is: TTS(t) ; TTS(t) is the collision time test statistic at the target time. This refers to the first time. This refers to the second time. This represents the trajectory of the first vehicle. This represents the trajectory of the second vehicle.

6. The apparatus according to claim 5, characterized in that, The computing module further includes a first computing unit, which is used for: The first time and the second time are calculated using the driving trajectories of the first vehicle and the second vehicle, respectively, according to the second formula; the second formula is: ； Wherein, A represents the first vehicle and B represents the second vehicle; This represents the speeds of the first vehicle and the second vehicle; This represents the positions of the first vehicle and the second vehicle; The driving trajectories of the first vehicle and the second vehicle. It refers to the first or second time.

7. The apparatus according to claim 5, characterized in that, The calculation module further includes a second calculation unit, which is used for: Using the collision time test statistic, the travel information of the first vehicle and the second vehicle, the conditional allowable acceleration of the first vehicle and the second vehicle is calculated according to the third formula; the third formula is: ； ； Wherein, A represents the first vehicle and B represents the second vehicle; This represents the speeds of the first vehicle and the second vehicle; This represents the positions of the first vehicle and the second vehicle; This represents the point where the first vehicle and the second vehicle collided. is the preset value; TTS(t) is the collision time test statistic for the target time.

8. The apparatus according to any one of claims 5-7, characterized in that, The device also includes a control module and an output module; The planning and control module is used to control the first vehicle and the second vehicle to complete the path planning and body control of the vehicle in autonomous driving mode. The output module is used to output the travel information of each vehicle.

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