Side collision warning control method and system

Abstract

The present invention relates to a lateral collision warning control method, system, electronic device and storage medium. The present invention obtains the moving state information of a moving target located on the side of the vehicle body in real time through a radar and camera sensor installed on the side of the vehicle; judges whether there is a collision risk between the vehicle and the moving target according to the moving state information of the vehicle; if there is a collision risk, reminds the driver to avoid it, or assists in controlling the vehicle to accelerate forward, change lanes or let the moving target give way according to the driver's avoidance behavior and the current position of the vehicle. By calculating the collision time, the vehicle is actively driven away from the dangerous area, reducing the collision risk and effectively reducing the damage caused by the collision.

Description

Technical Field

[0001] The present invention relates to the technical field of assisted driving, and in particular to a lateral collision warning control method and system. Background Art

[0002] With the improvement of people's living standards, cars have gradually become the main means of transportation in daily life. People's work, life, and production are all highly involved in cars. With the increase in car sales, car traffic accidents are becoming more and more serious, and car safety has become an important issue for people to consider. In the early days of car development, due to technical and cost constraints, many car designs and developments did not take car safety issues into consideration, resulting in a high number of deaths in traffic accidents in the early years; with the development of modern technology, people's awareness of protection has increased, and various countries have paid more and more attention to car safety issues. The number of car safety regulations in various countries has increased and has become more and more stringent, which has promoted the attention of car manufacturers to car safety.

[0003] The safety of automobiles mainly considers the damage caused to vehicles and members after a collision. The collision accidents of automobiles under various traffic conditions can be summarized into the following forms: frontal collision, side collision, rear-end collision, rollover, etc. In the past, both regulations and automobile manufacturers focused on frontal collisions. With the development of technology, the industry's attention to side collisions has gradually increased. Since the promulgation of the US Federal Motor Vehicle Safety Regulation FMVSS214 in 1990, various countries have successively introduced relevant laws and regulations to improve automobile side collision protection. For example, Europe introduced ECE R95 in 1995. Japan's research on side collisions began in the 1990s, and relevant regulations were included in Japan's safety standards in 1998. my country's side collision regulations are based on ECE R95, and refer to relevant Japanese regulations, combined with my country's basic national conditions.

[0004] Since my country started research on automobile collision safety relatively late, and most of the research focused on the safety of the vehicle body structure and the injury characteristics of the front seat passengers when the vehicle is hit head-on, there are relatively few studies on the side collision of the vehicle. Side collision refers to a traffic accident when two vehicles collide, the collision position is in the engine compartment, front door, rear door or trunk, and the collision angle between the two vehicles is vertical. Side collision accidents are a common form of collision in automobile traffic accidents. Because the energy absorption space of the side structure of the vehicle is small, it is easy to cause greater damage to the occupants in the vehicle in a collision accident. Side collision is a form of traffic accident with a high frequency, high mortality rate and high injury rate. Statistics show that the probability of side collision in various types of automobile collision accidents is about 27%, second only to the 59% of head-on collision. When considering the occupant injury and property loss caused by the collision, the side collision also reaches a relatively high level, second only to the head-on collision.

[0005] The analysis of automobile traffic accidents shows that 80% of the traffic accidents are caused by the driver's untimely reaction and improper handling. If the driver can realize that a traffic accident will happen in advance and take corresponding correct measures before the accident occurs, most accidents can be avoided. It is particularly worth noting that long-term driving on the road will reduce the driver's ability to react to abnormal events in the outside world, making it more likely to cause traffic accidents; when driving at high speeds, traffic accidents are caused by the limit of human reaction ability. These traffic accidents caused by human factors cannot be effectively overcome by regulating driver behavior.

[0006] At present, the industry research focuses on reducing the damage to the vehicle and the passengers after the side collision, such as increasing the side collision stiffness, adding side airbags, etc., but these are passive safety. There are relatively few studies on actively avoiding side collisions. Summary of the invention

[0007] The present invention aims at solving the technical problems existing in the prior art and provides a lateral collision warning control method system, which can calculate the collision time, actively drive the vehicle away from the dangerous area, reduce the collision risk, and effectively reduce the damage caused by the collision.

[0008] The technical solution of the present invention to solve the above technical problems is as follows:

[0009] In a first aspect, the present invention provides a side collision warning control method, comprising:

[0010] The radar and camera sensors installed on the side of the vehicle are used to obtain the moving state information of the moving target located on the side of the vehicle in real time;

[0011] Based on the movement state information of the host vehicle and the moving target, determine whether there is a collision risk between the host vehicle and the moving target;

[0012] If there is a collision risk, remind the driver to avoid it, or assist in controlling the host vehicle to accelerate forward, change lanes, or make the moving target yield according to the driver's operation.

[0013] Furthermore, the movement state information includes the moving direction and moving speed of the moving target.

[0014] Furthermore, determining whether there is a collision risk between the host vehicle and the moving target based on the movement state information of the host vehicle and the moving target includes:

[0015] Based on the movement state information of the host vehicle and the moving target, fit the historical movement trajectories of the host vehicle and the moving target, and predict and draw the movement trajectories of the host vehicle and the moving target within a specified future time period according to the historical movement trajectories;

[0016] Based on the movement trajectories of the host vehicle and the moving target within a specified future time period, and the minimum safe movement space of the host vehicle and the moving target, determine whether there is an overlap in the movement spaces of the two at a certain future moment when the host vehicle and the moving target operate according to the current movement state;

[0017] If there is an overlapping movement space, it is considered that there is a collision risk between the host vehicle and the moving target.

[0018] Furthermore, if there is a collision risk, reminding the driver to avoid it includes:

[0019] According to the current movement state information of the host vehicle, calculate the time point T1 when the host vehicle just enters the overlapping movement space and the time point T2 when the host vehicle completely exits the overlapping movement space;

[0020] According to the current movement state information of the moving target, calculate the time point T3 when the moving target just enters the overlapping movement space and the time point T4 when the moving target completely exits the overlapping movement space;

[0021] If T1 < T3 < T2, then: if the current time t is less than the first preset threshold from the time point T3, execute a first-level collision warning to remind the driver to avoid; if the current time t is less than the second preset threshold from the time point T3, execute a second-level collision warning and execute seat belt warning and side airbag preparation;

[0022] The first preset threshold is greater than the second preset threshold.

[0023] Furthermore, the first-level collision warning includes: voice and text reminders through the vehicle instrument or vehicle multimedia at a first preset frequency;

[0024] The secondary collision warning includes: voice and text reminders and steering wheel vibrations through the vehicle instrument or vehicle multimedia at a second preset frequency;

[0025] The second preset frequency is higher than the first preset frequency.

[0026] Furthermore, according to the driver's operation, the vehicle is controlled to accelerate, change lanes, or let the moving object give way, including:

[0027] Calculate the distance S that the vehicle needs to move from the current position to when the vehicle completely drives out of the overlapping motion space; and use the speed distance formula to calculate the acceleration a required for collision avoidance;

[0028] If the safety distance in front of the ego vehicle is greater than S, the driver's requested acceleration a' is continuously monitored. If the driver's requested acceleration a'≥ the acceleration a required for collision avoidance, the ego vehicle is accelerated forward by the driver's requested acceleration a'. If the driver's requested acceleration a'<the acceleration a required for collision avoidance or the driver's requested acceleration a'=0, the ego vehicle is accelerated forward by the acceleration a required for collision avoidance.

[0029] If the safety distance in front of the ego vehicle is less than S and there is a safety area in the adjacent lane, the ego vehicle is controlled to change lanes to the adjacent lane;

[0030] If the safety distance in front of the vehicle is less than S and there is no safety area in the adjacent lane, a warning is given to the moving object to let it give way to avoid collision.

[0031] Furthermore, the method of warning the moving object may include, but is not limited to, requesting the roadside unit RSU to turn the light on the path of the moving object to red, or informing the moving object to stop through V2X to avoid collision.

[0032] In a second aspect, the present invention provides a side collision warning control system, comprising:

[0033] A data acquisition module is used to acquire the moving state information of the moving target object located at the side of the vehicle body in real time;

[0034] A risk judgment module is used to judge whether there is a collision risk between the vehicle and the moving target according to the moving state information of the vehicle and the moving target;

[0035] The early warning control module is used to remind the driver to avoid the collision when there is a risk of collision, or to assist in controlling the vehicle to accelerate, change lanes or let moving objects give way based on the driver's avoidance behavior.

[0036] Furthermore, the motion state information includes a moving direction and a moving speed of the moving target object.

[0037] Further, the risk judgment module is specifically configured to:

[0038] According to the movement state information of the host vehicle and the moving target, fit the historical movement trajectories of the host vehicle and the moving target, and predict and draw the movement trajectories of the host vehicle and the moving target within a specified future time period based on the historical movement trajectories;

[0039] According to the movement trajectories of the host vehicle and the moving target within a specified future time period, and the minimum safe movement space of the host vehicle and the moving target, determine whether there is an overlap in the movement spaces of the two at a certain future moment when the host vehicle and the moving target run according to the current movement state;

[0040] If there is an overlapping movement space, it is considered that there is a collision risk between the host vehicle and the moving target.

[0041] Further, the warning control module is further configured to:

[0042] According to the current movement state information of the host vehicle, calculate the time point T1 when the host vehicle just enters the overlapping movement space and the time point T2 when the host vehicle completely exits the overlapping movement space;

[0043] According to the current movement state information of the moving target, calculate the time point T3 when the moving target just enters the overlapping movement space;

[0044] If T1 < T3 < T2, then: if the current time t is less than the first preset threshold from the time point T3, execute a first-level collision warning to remind the driver to avoid; if the current time t is less than the second preset threshold from the time point T3, execute a second-level collision warning, and execute a seat belt warning and side airbag preparation;

[0045] The first preset threshold is greater than the second preset threshold.

[0046] Further, the first-level collision warning includes: voice and text reminders through the on-vehicle instrument or on-vehicle multimedia at a first preset frequency;

[0047] The second-level collision warning includes: voice and text reminders, steering wheel vibration through the on-vehicle instrument or on-vehicle multimedia at a second preset frequency;

[0048] The second preset frequency is higher than the first preset frequency.

[0049] Further, the warning control module is further configured to:

[0050] Calculate the distance S that the host vehicle needs to move from the current position to when it completely exits the overlapping movement space; and calculate the acceleration a required for collision avoidance using the speed-distance formula;

[0051] If the safety distance in front of the ego vehicle is greater than S, the driver's requested acceleration a' is continuously monitored. If the driver's requested acceleration a'≥ the acceleration a required for collision avoidance, the ego vehicle is accelerated forward by the driver's requested acceleration a'. If the driver's requested acceleration a'<the acceleration a required for collision avoidance or the driver's requested acceleration a'=0, the ego vehicle is accelerated forward by the acceleration a required for collision avoidance.

[0052] If the safety distance in front of the ego vehicle is less than S and there is a safety area in the adjacent lane, the ego vehicle is controlled to change lanes to the adjacent lane;

[0053] If the safety distance in front of the vehicle is less than S and there is no safety area in the adjacent lane, a warning is given to the moving object to let it give way to avoid collision.

[0054] The warning methods include but are not limited to requesting the roadside unit RSU to turn the lights on the path of the moving object to red, or informing the moving object to stop through V2X to avoid collision.

[0055] In a third aspect, the present invention provides an electronic device, comprising:

[0056] Memory for storing computer software programs;

[0057] The processor is used to read and execute the computer software program, thereby implementing the side collision warning control method described in the first aspect of the present invention.

[0058] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium, wherein the storage medium stores a computer software program for implementing the side collision warning control method described in the first aspect of the present invention.

[0059] The beneficial effect of the present invention is that the risk of lateral collision can be effectively judged through the present invention, and the vehicle can be actively driven away from the dangerous area, thereby reducing the risk of collision and effectively reducing the damage caused by the collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic flow chart of a side collision warning control method provided by an embodiment of the present invention;

[0061] Figure 2 A schematic diagram of the structure of a side collision warning control system provided by an embodiment of the present invention;

[0062] Figure 3 A schematic diagram of an electronic device according to an embodiment of the present invention;

[0063] Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0065] Example 1

[0066] like Figure 1 As shown, an embodiment of the present invention provides a side collision warning control method, comprising the following steps:

[0067] Step 1: Obtain the movement status information of the moving target located on the side of the vehicle body in real time through the radar and camera sensors installed on the side of the vehicle; generally, the movement status information includes the moving direction and moving speed of the moving target.

[0068] In this embodiment, a radar or a camera may be installed on the side of the vehicle (eg, the B-pillar of the vehicle) to detect and sense moving targets on the side of the vehicle. The moving targets here are motor vehicles, non-motor vehicles, and pedestrians.

[0069] Step 2: Determine whether there is a collision risk between the vehicle and the moving target object based on the moving state information of the vehicle and the moving target object. The moving state information of the vehicle can be obtained through the vehicle body control system.

[0070] Step 3: If there is a risk of collision, the driver is reminded to avoid the collision, or the vehicle is assisted in accelerating or changing lanes according to the driver's operation.

[0071] As a preferred embodiment, judging whether there is a collision risk between the vehicle and the moving target object according to the moving state information of the vehicle and the moving target object in step 2 includes the following sub-steps:

[0072] Step 2-1, fitting the historical movement trajectories of the vehicle and the moving target according to the movement state information of the vehicle and the moving target, and predicting and drawing the movement trajectories of the vehicle and the moving target in a specified future time period according to the historical movement trajectories;

[0073] Step 2-2, based on the movement trajectories of the ego vehicle and the moving target within a specified time period (e.g., 3 seconds, 5 seconds, or 10 seconds) in the future and the minimum safe movement space of the ego vehicle and the moving target, determine whether the movement spaces of the ego vehicle and the moving target overlap at a certain moment in the future when the ego vehicle and the moving target are running according to the current movement state;

[0074] It should be understood that the minimum safe movement space mentioned here can be the minimum circumscribed rectangular frame of the target object, or the space contained in the outer contour of the target object. A collision will occur when the minimum safe movement space of the target object is touched.

[0075] Step 2-3: If there is an overlapping movement space, it is considered that there is a collision risk between the host vehicle and the moving target.

[0076] As a preferred embodiment, if there is a collision risk as described in step 3, reminding the driver to avoid it includes the following sub-steps:

[0077] Step 3-1: According to the current movement state information of the host vehicle, calculate the time point T1 when the host vehicle just enters the overlapping movement space and the time point T2 when the host vehicle completely exits the overlapping movement space;

[0078] Step 3-2: According to the current movement state information of the moving target, calculate the time point T3 when the moving target just enters the overlapping movement space;

[0079] Step 3-3: If T1 < T3 < T2, then: if the current time t is less than the first preset threshold from the time point T3, execute a first-level collision warning to remind the driver to avoid; if the current time t is less than the second preset threshold from the time point T3, execute a second-level collision warning, and execute seat belt warning and side airbag preparation.

[0080] Here, the first preset threshold is greater than the second preset threshold. For example, the first preset threshold is 3 seconds and the second preset threshold is 1.5 seconds. The first preset threshold and the second preset threshold can be set manually.

[0081] The first-level collision warning includes: voice and text reminders through the on-vehicle instrument or on-vehicle multimedia at a first preset frequency; the second-level collision warning includes: voice and text reminders, steering wheel vibration through the on-vehicle instrument or on-vehicle multimedia at a second preset frequency; the second preset frequency is higher than the first preset frequency.

[0082] For example, the first-level collision warning is issued by means of instrument text "Please pay attention to the side collision risk", voice "Please pay attention to the side collision risk", etc. The second-level collision warning is issued by means of more urgent voice alarm, seat belt and steering wheel vibration, etc., and at the same time, seat belt warning and side airbag are prepared in advance.

[0083] As a preferred embodiment, assisting in controlling the host vehicle to accelerate forward or change lanes according to the driver's operation includes the following sub-steps:

[0084] Step 3-4: Calculate the distance S that the host vehicle needs to move from the current position to when it completely exits the overlapping movement space; and calculate the acceleration a required for collision avoidance using the speed-distance formula (as shown in the following formula):

[0085]

[0086] Let \(t_0\) be the current moment and \(v_0\) be the speed of the host vehicle at the current moment;

[0087] Step 3 - 5: If the safe distance in front of the host vehicle is greater than \(S\), continuously monitor the driver's requested acceleration \(a'\). If \(a'\geq a\), control the host vehicle to accelerate forward with an acceleration of \(a'\). If \(a'<a\) or \(a' = 0\), control the host vehicle to accelerate forward with an acceleration of \(a\);

[0088] Step 3 - 6: If the safe distance in front of the host vehicle is less than \(S\) and there is a safe area in the adjacent lane, control the host vehicle to change lanes to the adjacent lane;

[0089] As a preferred embodiment, Step 3 further includes: If there is a collision risk, according to the driver's operation, use V2X technology to make the moving target yield.

[0090] Furthermore, the following sub - steps are also included in this step:

[0091] Step 3 - 7: If the safe distance in front of the host vehicle is less than \(S\) and there is no safe area in the adjacent lane, give a warning to the moving target to avoid collision.

[0092] The method of warning the moving target may include, but is not limited to, requesting the roadside unit RSU to turn the lights on the path of the moving target into red lights, or informing the moving target to stop through V2X to avoid collision.

[0093] It should be understood that the prerequisite for making the moving target yield through V2X technology is that the moving target should support V2X technology, that is, motor vehicles, non - motor vehicles or pedestrians should be equipped with terminal devices that can receive the warning information sent by the host vehicle through V2X technology.

[0094] This method calculates the time - to - collision, actively makes the vehicle drive away from the dangerous area, reduces the collision risk, and effectively reduces the harm caused by collisions.

[0095] Embodiment 2

[0096] As Figure 2 shown, the embodiment of the present invention provides a lateral collision warning control system, including:

[0097] A data acquisition module, configured to acquire the movement state information of the moving target located on the side of the vehicle body in real time; the movement state information includes the moving direction and moving speed of the moving target;

[0098] A risk judgment module, configured to judge whether there is a collision risk between the host vehicle and the moving target according to the movement state information of the host vehicle and the moving target;

[0099] The early warning control module is used to remind the driver to avoid when there is a collision risk, or to assist in controlling the host vehicle to accelerate forward, change lanes, or make the moving target yield according to the driver's avoidance behavior.

[0100] Preferably, the data acquisition module can be a radar or a camera installed on the side of the vehicle (for example, the B-pillar of the vehicle). If a camera is used, the moving speed and moving direction of the moving target can be calculated according to the relative position relationship between the moving target and the fixed ground object in the frame image between two adjacent frames.

[0101] As a preferred embodiment, the risk judgment module includes:

[0102] The trajectory fitting and prediction module fits the historical moving trajectories of the host vehicle and the moving target according to the moving state information of the host vehicle and the moving target, and predicts and draws the moving trajectories of the host vehicle and the moving target within a specified future time period based on the historical moving trajectories;

[0103] The first judgment module judges whether there is an overlap in the moving spaces of the host vehicle and the moving target at a certain future moment when the host vehicle and the moving target run according to the current moving state, based on the moving trajectories of the host vehicle and the moving target within a specified future time period (such as 3 seconds, 5 seconds, or 10 seconds), and the minimum safe moving space of the host vehicle and the moving target.

[0104] It should be understood that the minimum safe moving space described here can be the minimum circumscribed rectangle of the target object, or the space included in the outer contour of the target object. Collision will occur when the minimum safe moving space of the target object is touched. If there is an overlapping moving space in the moving trajectories of the host vehicle and the moving target within the specified future time period, it is considered that there is a collision risk between the host vehicle and the moving target.

[0105] As a preferred embodiment, the early warning control module includes:

[0106] The time calculation module calculates the time point T1 when the host vehicle just enters the overlapping moving space and the time point T2 when the host vehicle completely exits the overlapping moving space according to the current moving state information of the host vehicle; calculates the time point T3 when the moving target just enters the overlapping moving space according to the current moving state information of the moving target;

[0107] The second judgment module, if T1 < T3 < T2, then: if the current time t is less than the first preset threshold from the time point T3, execute a first-level collision warning to remind the driver to avoid; if the current time t is less than the second preset threshold from the time point T3, execute a second-level collision warning and execute seat belt warning and side airbag preparation.

[0108] If the vehicle enters the overlapping motion space first, the distance S that the vehicle needs to move from the current position to when the vehicle completely exits the overlapping motion space is calculated; and the acceleration a required for collision avoidance is calculated using the speed distance formula (as shown in the following formula):

[0109]

[0110] t0 is the current moment, v0 is the vehicle speed at the current moment;

[0111] If the safety distance in front of the ego vehicle is greater than S, the driver's requested acceleration a' is continuously monitored. If the driver's requested acceleration a'≥ the acceleration a required for collision avoidance, the ego vehicle is accelerated forward by the driver's requested acceleration a'. If the driver's requested acceleration a'<the acceleration a required for collision avoidance or the driver's requested acceleration a'=0, the ego vehicle is accelerated forward by the acceleration a required for collision avoidance.

[0112] If the safety distance in front of the ego vehicle is less than S and there is a safety area in the adjacent lane, the ego vehicle is controlled to change lanes to the adjacent lane;

[0113] If the safety distance in front of the vehicle is less than S and there is no safety area in the adjacent lane, a warning is given to the moving object to let it give way to avoid collision.

[0114] The warning method may include, but is not limited to, requesting the roadside unit RSU to turn the lights on the path of the moving object to red, or informing the moving object to stop through V2X to avoid collision.

[0115] A lateral collision warning control system provided by this embodiment calculates the collision time and actively drives the vehicle away from the danger zone, thereby reducing the collision risk and effectively reducing the damage caused by the collision.

[0116] See also Figure 3 , Figure 3 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented:

[0117] Step 1: obtain the movement status information of the moving target located on the side of the vehicle body in real time through the radar and camera sensors installed on the side of the vehicle; the movement status information includes the moving direction and moving speed of the moving target.

[0118] Step 2: Determine whether there is a collision risk between the vehicle and the moving target object based on the moving state information of the vehicle and the moving target object. The moving state information of the vehicle can be obtained through the vehicle body control system.

[0119] Step 3: If there is a risk of collision, the driver is reminded to avoid the collision, or the vehicle is assisted in accelerating or changing lanes based on the driver's avoidance behavior.

[0120] See also Figure 4 , Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. Figure 4 As shown, this embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented:

[0121] Step 1: obtain the movement status information of the moving target located on the side of the vehicle body in real time through the radar and camera sensors installed on the side of the vehicle; the movement status information includes the moving direction and moving speed of the moving target.

[0122] Step 2: Determine whether there is a collision risk between the vehicle and the moving target object based on the moving state information of the vehicle and the moving target object. The moving state information of the vehicle can be obtained through the vehicle body control system.

[0123] Step 3: If there is a risk of collision, the driver is reminded to avoid the collision, or the vehicle is assisted in accelerating or changing lanes based on the driver's avoidance behavior.

[0124] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0126] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0127] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0129] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0130] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A lateral collision warning control method, characterized in that, it includes: Real-time obtaining the movement state information of a moving target located on the side of the vehicle body through a radar and a camera sensor installed on the side of the vehicle; Judging whether there is a collision risk between the host vehicle and the moving target according to the movement state information of the host vehicle and the moving target; If there is a collision risk, remind the driver to avoid it, or according to the driver's operation, assist in controlling the host vehicle to accelerate forward, change lanes or make the moving target give way; Judging whether there is a collision risk between the host vehicle and the moving target according to the movement state information of the host vehicle and the moving target includes: According to the movement state information of the host vehicle and the moving target, fitting the historical movement trajectories of the host vehicle and the moving target, and predicting and drawing the movement trajectories of the host vehicle and the moving target within a specified future time period according to the historical movement trajectories; According to the movement trajectories of the host vehicle and the moving target within a specified future time period, and the minimum safe movement space of the host vehicle and the moving target, judging whether there is an overlap in the movement spaces of the two at a certain future moment when the host vehicle and the moving target run according to the current movement state; If there is an overlapping movement space, it is considered that there is a collision risk between the host vehicle and the moving target; If there is a collision risk, reminding the driver to avoid it includes: Calculating the time point T1 when the host vehicle just enters the overlapping movement space and the time point T2 when the host vehicle completely exits the overlapping movement space according to the current movement state information of the host vehicle; Calculating the time point T3 when the moving target just enters the overlapping movement space according to the current movement state information of the moving target; If T1 < T3 < T2, then: if the current time t is less than the first preset threshold from the time point T3, execute a first-level collision warning to remind the driver to avoid; if the current time t is less than the second preset threshold from the time point T3, execute a second-level collision warning and execute seat belt warning and side airbag preparation; The first preset threshold is greater than the second preset threshold.

2. The method according to claim 1, characterized in that, The movement state information includes the movement direction and movement speed of the moving target.

3. The method according to claim 1, characterized in that, The first-level collision warning includes: voice and text reminder through the on-vehicle instrument or on-vehicle multimedia at a first preset frequency; The second-level collision warning includes: voice and text reminder, steering wheel vibration through the on-vehicle instrument or on-vehicle multimedia at a second preset frequency; The second preset frequency is higher than the first preset frequency.

4. The method according to claim 1, characterized in that, According to the driver's operation, assisting in controlling the host vehicle to accelerate forward, change lanes or make the moving target give way, including: Calculating the distance S that the host vehicle needs to move from the current position to when the host vehicle completely exits the overlapping movement space; and calculating the acceleration a required for collision avoidance using the speed-distance formula; If the safe distance in front of the host vehicle is greater than S, continuously monitor the driver-requested acceleration a'. If a' ≥ a, control the host vehicle to accelerate forward with the acceleration a'. If a' < a or a' = 0, control the host vehicle to accelerate forward with the acceleration a; If the safe distance in front of the host vehicle is less than S and there is a safe area in the adjacent lane, control the host vehicle to change lanes to the adjacent lane; If the safe distance in front of the host vehicle is less than S and there is no safe area in the adjacent lane, give a warning to the moving target object to make it yield to avoid a collision; the method of giving a warning to the moving target object includes: requesting the roadside unit RSU to turn the lights on the path of the moving target object into red lights, or informing the moving target object to stop through V2X to avoid a collision.

5. A lateral collision warning control system Characterized in that It includes: A data acquisition module for real-time acquiring the movement state information of a moving target object located on the side of the vehicle body; A risk judgment module for judging whether there is a collision risk between the host vehicle and the moving target object according to the movement state information of the host vehicle and the moving target object; An early warning control module for reminding the driver to avoid when there is a collision risk, or assisting in controlling the host vehicle to accelerate forward, change lanes or make the moving target object yield according to the driver's operation; The risk judgment module is specifically used for: According to the movement state information of the host vehicle and the moving target object, fitting the historical movement trajectories of the host vehicle and the moving target object, and predicting and drawing the movement trajectories of the host vehicle and the moving target object within a specified future time period according to the historical movement trajectories; According to the movement trajectories of the host vehicle and the moving target object within a specified future time period, and the minimum safe movement space of the host vehicle and the moving target object, judging whether there is an overlap in the movement spaces of the two at a certain moment in the future when the host vehicle and the moving target object run according to the current movement state; If there is an overlapping movement space, it is considered that there is a collision risk between the host vehicle and the moving target object; The early warning control module includes: A time calculation module, which calculates the time point T1 when the host vehicle just enters the overlapping movement space and the time point T2 when the host vehicle completely exits the overlapping movement space according to the current movement state information of the host vehicle; calculates the time point T3 when the moving target object just enters the overlapping movement space according to the current movement state information of the moving target object; If T1 < T3 < T2, then: if the current time t is less than the first preset threshold from the time point T3, execute a first-level collision warning to remind the driver to avoid; if the current time t is less than the second preset threshold from the time point T3, execute a second-level collision warning and execute seat belt warning and side airbag preparation; The first preset threshold is greater than the second preset threshold.

6. An electronic device Characterized in that It includes: A memory for storing computer software programs; A processor for reading and executing the computer software program, thereby implementing a lateral collision warning control method according to any one of claims 1-4.

7. A non-transitory computer-readable storage medium Characterized in that The storage medium stores a computer software program for implementing a lateral collision warning control method according to any one of claims 1-4.

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