An obstacle avoidance method, system, terminal, and storage medium for electric vehicles.

Abstract

This application relates to an obstacle avoidance method, system, terminal, and storage medium for electric vehicles, belonging to the technical field of electric vehicle assisted driving. The method includes: acquiring the current state of the electric vehicle, which may be in a moving state or a non-moving state; when the current state is in a moving state, acquiring a vehicle body recognition command; acquiring a safe recognition range for the electric vehicle based on the vehicle body recognition command; determining whether an obstacle exists within the safe recognition range; if an obstacle exists, acquiring an acceleration limit command to limit the acceleration limit of the electric vehicle; if no obstacle exists, not acquiring an acceleration limit command. This application has the effect of preventing abnormal acceleration of the electric vehicle as much as possible, thereby improving the safety of electric vehicle driving.

Description

Technical Field

[0001] This application relates to the technical field of electric vehicle assisted driving, and in particular to an electric vehicle obstacle avoidance method, system, terminal and storage medium. Background Technology

[0002] Electric vehicles specifically refer to two-wheeled and three-wheeled lightweight electric bicycles, whose ease of use has made them popular among the general public.

[0003] When riding an electric vehicle, it is easy to encounter situations where the driver is not paying attention or the driver's reaction is not timely, resulting in the distance from obstacles or other vehicles or pedestrians being too small.

[0004] For some electric vehicle drivers, due to insufficient psychological resilience, they are prone to misoperating the accelerator during the above process, causing the vehicle to accelerate abnormally, which can easily lead to traffic accidents. Therefore, the driving safety of electric vehicles is relatively low. Summary of the Invention

[0005] In order to prevent abnormal acceleration of electric vehicles as much as possible and improve the safety of driving electric vehicles, this application provides an obstacle avoidance method, system, terminal and storage medium for electric vehicles.

[0006] Firstly, this application provides an obstacle avoidance method for electric vehicles, employing the following technical solution:

[0007] An obstacle avoidance method for electric vehicles includes:

[0008] Obtain the current state of the electric vehicle, which includes a moving state or a non-moving state;

[0009] When the current state is the motion state, a vehicle body recognition command is obtained;

[0010] The safe identification range of the electric vehicle is obtained based on the vehicle body recognition command;

[0011] Determine whether there are obstacles within the safety identification range;

[0012] If present, an acceleration limit instruction is obtained to limit the acceleration limit of the electric vehicle;

[0013] If it does not exist, the acceleration limit instruction will not be obtained.

[0014] By adopting the above technical solution, when the current state is in motion, a safe recognition range is obtained based on the vehicle body recognition command. Then, it is determined whether an obstacle exists within the safe recognition range. If an obstacle exists, an acceleration limit command is obtained to display the electric vehicle's acceleration limit. If no obstacle exists, no acceleration limit command is obtained, thus eliminating the need to limit the electric vehicle's acceleration limit. Therefore, when the electric vehicle senses an obstacle, the acceleration limit can be limited, thereby preventing abnormal acceleration of the electric vehicle as much as possible and improving the safety of electric vehicle driving.

[0015] Preferably, after obtaining the safe identification range of the electric vehicle based on the vehicle body recognition command, the method further includes:

[0016] The movement state of the electric vehicle is obtained, including forward or backward movement;

[0017] When the movement state is forward, obtain the offset direction of the electric vehicle;

[0018] The centralized scanning command is obtained based on the offset direction;

[0019] The security identification range corresponding to the offset direction is scanned based on the centralized scanning command.

[0020] By adopting the above technical solution, based on the offset direction of the electric vehicle, a centralized scanning command can be obtained to scan the corresponding safety identification range, thereby improving the effectiveness of identification.

[0021] Preferably, when the movement state is forward, it further includes:

[0022] Obtain the rear detection range of the electric vehicle;

[0023] Determine whether there is a vehicle within the rear detection range;

[0024] If they exist, then obtain the proximity distance between the vehicle and the electric vehicle;

[0025] Determine whether the approach distance gradually decreases;

[0026] If so, obtain the acceleration prompt information.

[0027] By adopting the above technical solution, it is possible to determine whether there is a vehicle behind the electric vehicle. If there is, by judging whether the approaching distance is gradually decreasing, an acceleration prompt can be obtained, thereby reminding the driver to accelerate, which can minimize the possibility of a vehicle approaching the electric vehicle from behind and causing a collision.

[0028] Preferably, after obtaining the acceleration prompt information, the method further includes:

[0029] Get the command to unlock the acceleration limit;

[0030] The maximum acceleration limit of the electric vehicle is temporarily unlocked based on the acceleration limit unlock command.

[0031] By adopting the above technical solution, the acceleration limit of an electric vehicle can be temporarily unlocked according to the acceleration limit unlocking command, enabling the electric vehicle to increase the distance between itself and vehicles behind it at a faster speed, thereby further improving the safety of the electric vehicle during driving.

[0032] Preferably, when an obstacle exists within the safety identification range, the system further includes:

[0033] Obtain the distance between the obstacle and the electric vehicle;

[0034] Determine whether the interval exceeds a preset distance;

[0035] If the limit is not exceeded, an emergency braking command is obtained to control the electric vehicle to perform emergency braking;

[0036] If the speed exceeds the limit, a braking warning message will be obtained to prompt the driver to apply the brakes.

[0037] By adopting the above technical solution, it is possible to determine whether the interval distance exceeds the preset distance, thereby determining whether emergency braking is required. If it does not exceed the preset distance, emergency braking is required. Therefore, an emergency braking command is obtained to control the electric vehicle to brake, thereby enabling timely braking and reducing the possibility of collisions between the electric vehicle and obstacles.

[0038] Preferably, after obtaining the brake warning information, the method further includes:

[0039] The braking reaction distance is obtained based on the interval distance and the preset distance;

[0040] Obtain the current speed of the electric vehicle;

[0041] The maximum reaction time is obtained based on the braking reaction distance and the current vehicle speed;

[0042] Record the time when the brake warning information is obtained;

[0043] Get the current time of active braking;

[0044] The actual reaction time is obtained based on the prompt time and the current time;

[0045] Determine whether the actual reaction time is equal to the maximum reaction time;

[0046] If so, the emergency braking command is obtained to control the electric vehicle to perform emergency braking.

[0047] By adopting the above technical solution, it is possible to determine whether the actual reaction time is equal to the maximum reaction time, and whether automatic braking is required after obtaining the braking warning information. If the actual reaction time is equal to the maximum reaction time, an emergency braking command is obtained to control the electric vehicle to brake, which can further improve the safety of electric vehicle driving.

[0048] Preferably, before obtaining the emergency braking command to control the electric vehicle to perform emergency braking, the method further includes:

[0049] Determine whether the interval distance is greater than or equal to the preset deceleration distance;

[0050] If so, a deceleration command is obtained to control the electric vehicle to decelerate;

[0051] If not, proceed to the next step.

[0052] By adopting the above technical solution, when the interval distance is greater than or equal to the preset deceleration distance, a deceleration command is obtained to control the electric vehicle to decelerate, which can reduce the discomfort caused to the driver by emergency braking and improve the driving experience. Simultaneously, when the interval distance is less than the deceleration distance, an emergency braking command is obtained to control the electric vehicle to brake, which can improve driving safety.

[0053] Secondly, this application provides an obstacle avoidance system for electric vehicles, which adopts the following technical solution:

[0054] An electric vehicle obstacle avoidance system includes:

[0055] The status acquisition module is used to acquire the current status of the electric vehicle, which includes a moving state or a non-moving state.

[0056] The first instruction acquisition module is used to acquire a vehicle body recognition instruction when the current state is a motion state;

[0057] The range acquisition module is used to obtain the safe identification range of the electric vehicle based on the vehicle body recognition command;

[0058] The judgment module is used to determine whether there are obstacles within the safety identification range;

[0059] The instruction control module is configured to acquire an acceleration limit instruction to limit the acceleration limit of the electric vehicle if an obstacle exists within the safety recognition range; and to not acquire the acceleration limit instruction if no obstacle exists within the safety recognition range.

[0060] By adopting the above technical solution, based on the information transmission between various modules, when the current state is in motion, a safe recognition range is obtained according to the vehicle body recognition command. Then, it is determined whether there is an obstacle within the safe recognition range. If an obstacle exists, an acceleration limit command is obtained to display the acceleration limit of the electric vehicle. If no obstacle exists, no acceleration limit command is obtained, thus eliminating the need to limit the acceleration limit of the electric vehicle. Therefore, when the electric vehicle senses an obstacle, the acceleration limit can be limited, thereby preventing abnormal acceleration of the electric vehicle as much as possible and improving the safety of electric vehicle driving.

[0061] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0062] A smart terminal, comprising:

[0063] Memory is used to store computer programs that can run on a processor;

[0064] The processor, when running the computer program, is capable of performing the steps of any of the methods described above.

[0065] By adopting the above technical solution, the memory can store information, the processor can retrieve the information and issue control instructions, ensuring the orderly execution of the program and achieving the effect of the above solution.

[0066] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0067] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the methods described above.

[0068] By adopting the above technical solution, when the computer-readable storage medium is loaded into any computer, any computer can execute the electric vehicle obstacle avoidance method provided in this application.

[0069] In summary, this application includes at least one of the following beneficial technical effects:

[0070] 1. Determine if there are obstacles within the safety recognition range. If an obstacle exists, obtain an acceleration limit command to display the electric vehicle's acceleration limit. If no obstacle exists, do not obtain an acceleration limit command, thus eliminating the need to limit the electric vehicle's acceleration limit. This allows the system to limit the acceleration limit when the electric vehicle senses an obstacle, thereby preventing abnormal acceleration and improving driving safety.

[0071] 2. Determine if there is a vehicle behind the electric vehicle. If there is, by judging whether the approaching distance is gradually decreasing, an acceleration prompt can be obtained to remind the driver to accelerate, thereby minimizing the possibility of a vehicle approaching the electric vehicle from behind and causing a collision.

[0072] 3. Determining whether the actual reaction time is equal to the maximum reaction time allows for a determination of whether automatic braking is necessary after receiving a braking warning. If the actual reaction time is equal to the maximum reaction time, an emergency braking command is issued to control the electric vehicle to brake, which can further improve the safety of electric vehicle operation. Attached Figure Description

[0073] Figure 1 This is a flowchart illustrating an obstacle avoidance method for an electric vehicle provided in an embodiment of this application;

[0074] Figure 2 This is a flowchart illustrating steps S11 to S14 in one embodiment of this application;

[0075] Figure 3 This is a flowchart illustrating steps S21 to S25 in one embodiment of this application;

[0076] Figure 4 This is a flowchart illustrating steps S31 to S32 in one embodiment of this application;

[0077] Figure 5 This is a flowchart illustrating steps S41 to S44 in one embodiment of this application;

[0078] Figure 6 This is a flowchart illustrating steps S51 to S58 in one embodiment of this application;

[0079] Figure 7 This is a flowchart illustrating steps S61 to S63 in one embodiment of this application;

[0080] Figure 8 This is a structural block diagram of an electric vehicle obstacle avoidance system provided in an embodiment of this application.

[0081] Explanation of reference numerals in the attached figures:

[0082] 1. Status acquisition module; 2. First instruction acquisition module; 3. Range acquisition module; 4. Judgment module; 5. Instruction control module. Detailed Implementation

[0083] The following is in conjunction with the appendix Figures 1 to 8 This application will be described in further detail.

[0084] This application discloses an obstacle avoidance method for electric vehicles.

[0085] Reference Figure 1 Electric vehicle obstacle avoidance methods include:

[0086] S1. Obtain the current state of the electric vehicle;

[0087] S2. When the current state is in motion, obtain the vehicle body recognition command;

[0088] S3. Obtain the safe identification range of electric vehicles based on vehicle body recognition commands;

[0089] S4. Determine if there are obstacles within the safe identification range;

[0090] S5. If it exists, obtain the acceleration limit instruction to limit the acceleration limit of the electric vehicle;

[0091] S6. If it does not exist, the acceleration limit instruction will not be obtained.

[0092] Specifically, during obstacle avoidance, to reduce energy consumption, constant operation is unnecessary. Therefore, the first step is to acquire the electric vehicle's current state, which can be either in motion or inactive. This state is obtained through speed sensors installed on the wheels of the electric vehicle. If the speed sensor detects a rotational speed, it indicates a motion state; otherwise, it indicates an inactive state. Initially, the detection method also considers a motion state as the detected rotational speed being greater than or equal to a preset value, and an inactive state otherwise.

[0093] Therefore, when the current state is non-moving, the electric vehicle is in a stationary or low-speed moving state, such as when the speed is less than or equal to 5 km / h, which is a low-speed moving state. At this time, the driver has enough time to react to the obstacle, so no additional operation is required.

[0094] If the vehicle is in motion, a vehicle recognition command can be obtained at this time. For example, when the ECU (Electronic Control Unit) of the electric vehicle detects that the vehicle is in motion, it can issue a vehicle recognition command and control the scanning radar on the electric vehicle to obtain the safe recognition range of the electric vehicle based on the vehicle recognition command. For example, the safe recognition range can be a fan-shaped area in front of the front of the electric vehicle, and the size of the range can be set according to the actual situation.

[0095] Once the safety identification range is acquired, the scanning radar generates a corresponding sensing signal when an obstacle is present within the range. This signal is then transmitted to the ECU to determine if an obstacle exists within the safety identification range. In other words, if the ECU receives the sensing signal, it indicates the presence of an obstacle; otherwise, it indicates the absence of an obstacle. Of course, in practical applications, other methods can be used to acquire the safety identification range and determine obstacles.

[0096] If an obstacle is present within the safety detection range, an acceleration limit command is issued to prevent the driver from accidentally operating the accelerator pedal, causing abnormal acceleration and potentially leading to a traffic accident. This means the ECU issues an acceleration limit command and controls the electric vehicle's power system to restrict acceleration by limiting it to a preset value. This value can be set according to actual conditions, preventing the electric vehicle from suddenly accelerating to a high speed, or even preventing it from accelerating at all. For example, if the electric vehicle's speed is 30 km / h, and the acceleration limit is set to 20 km / h, it cannot accelerate further. If the limit is set to 31 km / h, even with the accelerator fully depressed, the electric vehicle's maximum acceleration will only reach 31 km / h.

[0097] When there are no obstacles within the safe detection range, the electric vehicle can be driven normally, meaning it can accelerate normally, so no acceleration limit command is obtained. Therefore, through this method, when the electric vehicle senses an obstacle, the acceleration limit can be restricted, thereby preventing abnormal acceleration and improving the safety of electric vehicle driving.

[0098] Reference Figure 2 To further improve the directionality of obtaining the safety identification range, in another embodiment, after obtaining the safety identification range of the electric vehicle based on the vehicle body identification command, the method further includes:

[0099] S11. Obtain the movement status of the electric vehicle;

[0100] S12. When the movement state is forward, obtain the offset direction of the electric vehicle;

[0101] S13. Obtain centralized scanning instructions based on the offset direction;

[0102] S14. Based on the centralized scanning command, scan the security identification range corresponding to the offset direction.

[0103] Specifically, after obtaining the safe recognition range of the electric vehicle based on the vehicle body recognition command, the movement state of the electric vehicle is obtained. The movement state includes forward or backward movement, which can be obtained by obtaining the gear position of the electric vehicle. If the gear is forward, the movement state is forward, and if the gear is reverse, the movement state is backward movement.

[0104] When the movement state is backward, no other operation is required. When the movement state is forward, the offset direction of the electric vehicle is obtained, which can be obtained by detecting it with a gyroscope. Then, a centralized scan command is obtained based on the offset direction, meaning that the centralized scan command includes the offset direction.

[0105] Finally, the radar scans the safety recognition range corresponding to the offset direction according to the centralized scanning command. For example, when the offset direction is directly in front of the electric vehicle, the scanning radar frequency will be concentrated on the front of the vehicle; if the gyroscope detects that the vehicle is moving slightly to the left front, then the scanning radar frequency will be concentrated on the left front of the vehicle; similarly, if it is moving to the right front, then the frequency will be concentrated on the right front of the vehicle. The safety recognition range is the sum of the range of the front of the vehicle, the range of the left front, and the range of the right front.

[0106] Therefore, by determining the corresponding scanning range based on the electric vehicle's direction of travel, the safety identification range in the corresponding direction can be obtained, which can improve the accuracy of identification and reduce unnecessary energy consumption.

[0107] Reference Figure 3 Furthermore, while ensuring the safety of the electric vehicle in front as much as possible, it is also necessary to ensure the safety of the electric vehicle behind as much as possible. Therefore, in another embodiment, when the movement state is forward, it also includes:

[0108] S21. Obtain the rear detection range of the electric vehicle;

[0109] S22. Determine whether there are vehicles within the rear detection range;

[0110] S23. If it exists, obtain the approach distance between the vehicle and the electric vehicle;

[0111] S24. Determine if the approaching distance is gradually decreasing;

[0112] S25. If so, obtain the acceleration prompt information.

[0113] Specifically, when the movement is forward, the rear detection range of the electric vehicle is obtained in the same way as the safety recognition range. Of course, it can also be obtained by a camera set at the rear of the electric vehicle. The range captured by the camera is the rear detection range, which is the range that may pose a danger to the electric vehicle.

[0114] Then, determine whether there is a vehicle in the rear detection range. The method of determination is the same as the method of determining whether there is an obstacle in the safety recognition range. If it is through a camera, that is, through an image recognition algorithm, determine whether there is a vehicle in the captured photo.

[0115] If no vehicle is detected in the rear detection range, no further action is required. If a vehicle is detected in the rear detection range, the approach distance between the vehicle and the electric vehicle can be obtained using a distance sensor or a laser rangefinder. The approach distance is the distance between the rear of the vehicle and the electric vehicle.

[0116] Next, it is determined whether the approaching distance is gradually decreasing. That is, the approaching distance is obtained in real time, and the size of the obtained distance value is continuously compared with the previous distance value. If the current distance value is less than the previous distance value, it proves that the approaching distance is constantly decreasing, which means that the vehicle is constantly approaching the electric vehicle.

[0117] If the approaching distance does not gradually decrease, it indicates that the distance between the vehicle behind and the electric vehicle is relatively safe, and no further action is required. If the approaching distance gradually decreases, an acceleration warning message should be provided. This warning can be delivered via corresponding colored lights, voice prompts, or other methods. This will remind the driver to accelerate in time, increase the distance from the vehicle behind, and thus maintain a safe distance as much as possible.

[0118] Reference Figure 4 Furthermore, in order to quickly increase the distance from vehicles behind, in another embodiment, after obtaining the acceleration prompt information, the following is also included:

[0119] S31. Obtain the command to unlock the acceleration limit;

[0120] S32. Temporarily unlock the maximum acceleration limit of the electric vehicle based on the acceleration limit unlock command.

[0121] Specifically, after receiving the acceleration prompt information, the acceleration limit unlock command is then obtained. This means that the electric vehicle has a preset overspeed function, which allows the electric vehicle to unlock the speed limit under normal conditions, thereby further increasing the upper limit beyond the maximum speed under normal conditions.

[0122] This allows the driver to temporarily unlock the maximum acceleration limit of the electric vehicle by accelerating the unlock command, enabling the driver to accelerate at a higher speed. Of course, when no vehicles are detected within the rear detection range, the maximum acceleration limit of the electric vehicle is deactivated again, and the electric vehicle can only travel at its normal maximum speed. For example, if the electric vehicle's normal maximum speed is 40 km / h, the maximum acceleration limit after unlocking is 50 km / h, and when it is locked again, the maximum speed of the electric vehicle returns to 40 km / h.

[0123] Furthermore, the above method enables electric vehicles to increase the distance between themselves and vehicles behind them at a faster speed, minimizing the possibility of rear-end collisions. In one possible implementation of this embodiment, after unlocking the maximum acceleration limit of the electric vehicle, the ECU can send a prompt message to the driver, alerting them to the upcoming automatic acceleration. The ECU can then control the electric vehicle to automatically accelerate to the maximum acceleration limit. Moreover, the prerequisite for the ECU to automatically accelerate is that the electric vehicle's current speed is its normal maximum speed.

[0124] Reference Figure 5 To ensure the safety of the electric vehicle during operation and reduce the likelihood of collisions with obstacles, in another embodiment, when an obstacle exists within the safety detection range, the following further method is included:

[0125] S41. Obtain the distance between the obstacle and the electric vehicle;

[0126] S42. Determine whether the interval distance exceeds the preset distance;

[0127] S43. If not exceeded, obtain an emergency braking command to control the electric vehicle to perform emergency braking;

[0128] S44. If the limit is exceeded, obtain braking warning information to prompt the driver to apply the brakes actively.

[0129] Specifically, when an obstacle exists within the safety detection range, the distance between the obstacle and the electric vehicle is obtained. This distance can be measured using a distance sensor or a laser rangefinder. Then, it is determined whether the distance exceeds a preset distance. The preset distance is the maximum braking distance of the electric vehicle at its maximum speed. Of course, the preset distance can also be other values ​​set according to actual conditions, such as a value less than the maximum braking distance.

[0130] If the limit is not exceeded, an emergency braking command is obtained to control the electric vehicle to perform emergency braking. That is, the ECU controls the electric vehicle's braking system to automatically perform emergency braking, so that the electric vehicle can stop in time.

[0131] If the interval exceeds the preset distance, it means there is still time for the driver to brake independently. Therefore, a braking warning message is obtained at this time to prompt the driver to brake actively. The warning can be a light warning, or it can be an audible warning or other means.

[0132] This will ensure the safety of electric vehicles during operation and reduce the likelihood of collisions with obstacles.

[0133] Reference Figure 6 To minimize the possibility of a collision due to the driver's failure to apply the brakes, in another embodiment, after obtaining the brake warning information, the method further includes:

[0134] S51. Obtain the braking reaction distance based on the interval distance and the preset distance;

[0135] S52. Obtain the current speed of the electric vehicle;

[0136] S53. The maximum reaction time is obtained based on the braking reaction distance and the current vehicle speed;

[0137] S54. Record the time when the brake warning information is obtained;

[0138] S55. Obtain the current time of active braking;

[0139] S56. Obtain the actual reaction time based on the prompt time and the current time;

[0140] S57. Determine whether the actual reaction time is equal to the maximum reaction time;

[0141] S58. If so, obtain an emergency braking command to control the electric vehicle to perform emergency braking.

[0142] Specifically, after obtaining the braking warning information, the braking reaction distance is obtained based on the interval distance and the preset distance. That is, the absolute value of the value obtained by subtracting the preset distance from the interval distance is the braking reaction distance. Within this distance, the driver can actively brake or decelerate.

[0143] Then, the current speed of the electric vehicle is obtained, which can be obtained by measuring the speed sensor. Then, the maximum reaction time is obtained based on the braking reaction distance and the current speed. That is, the maximum reaction time is the value obtained by dividing the braking reaction distance by the current speed, which is the maximum time left for the driver to actively brake or decelerate.

[0144] Next, the system records the time when the braking warning information is received. Then, it obtains the current time of the active braking, which can be obtained through the system's timing module. Finally, the actual reaction time is calculated based on the warning time and the current time, which is obtained by subtracting the warning time from the time before the braking action.

[0145] Then, it is determined whether the actual reaction time equals the maximum reaction time, that is, whether the driver actively applied the brakes within the maximum reaction time. If the actual reaction time equals the maximum reaction time, it proves that the driver did not actively apply the brakes. Therefore, in order to ensure driving safety as much as possible, an emergency braking command is obtained to control the electric vehicle to brake.

[0146] If the actual reaction time is less than the maximum reaction time, no further action is required. Conversely, if the actual reaction time exceeds the maximum reaction time, since emergency braking has already been initiated, no further action is necessary. This minimizes the possibility of a collision occurring due to the driver's failure to apply active braking.

[0147] Reference Figure 7 To improve the comfort of driving an electric vehicle, in another embodiment, before obtaining an emergency braking command to control the electric vehicle to perform emergency braking, the method further includes:

[0148] S61. Determine whether the interval distance is greater than or equal to the preset deceleration distance;

[0149] S62. If so, obtain a deceleration command to control the electric vehicle to decelerate;

[0150] S63. If not, proceed with the step of obtaining an emergency braking command to control the electric vehicle to perform emergency braking.

[0151] Specifically, before receiving an emergency braking command to control the electric vehicle to perform emergency braking, it is determined whether the interval distance is greater than or equal to a preset deceleration distance, wherein the deceleration distance is less than the preset distance, and the deceleration distance is the preset distance between the electric vehicle and the obstacle.

[0152] If the interval distance is greater than or equal to the preset deceleration distance, a deceleration command can be obtained to control the electric vehicle to slow down. This involves first controlling the electric vehicle's braking system via the ECU to reduce speed, for example, by decreasing the engine speed or by applying the brakes gradually. Once the speed has decreased, direct braking is then applied, thus reducing the discomfort caused to the driver by direct braking.

[0153] If the interval distance is less than the preset deceleration distance, it means that there is no time for deceleration buffering and braking needs to be performed directly. Therefore, the step of obtaining an emergency braking command to control the electric vehicle to perform emergency braking is executed at this time.

[0154] Therefore, by using the above methods, the discomfort caused to the driver by direct braking can be reduced, while ensuring the safety of electric vehicles during operation as much as possible.

[0155] The implementation principle of an obstacle avoidance method for electric vehicles according to an embodiment of this application is as follows: First, the current state of the electric vehicle is obtained. When the current state is in motion, a vehicle body recognition command is obtained, and the safe recognition range of the electric vehicle is obtained based on the vehicle body recognition command. Next, it is determined whether there is an obstacle within the safe recognition range. If an obstacle exists, an acceleration limit command is obtained to display the acceleration limit of the electric vehicle. If no obstacle exists, no acceleration limit command is obtained, thus eliminating the need to limit the acceleration limit of the electric vehicle. Therefore, when the electric vehicle senses an obstacle, the acceleration limit can be limited, thereby preventing abnormal acceleration of the electric vehicle as much as possible and improving the safety of driving the electric vehicle.

[0156] This application also discloses an electric vehicle obstacle avoidance system that can achieve the same technical effect as the electric vehicle obstacle avoidance method described above.

[0157] Reference Figure 8 The electric vehicle obstacle avoidance system includes:

[0158] The state acquisition module 1 is used to acquire the current state of the electric vehicle, which includes a moving state or a non-moving state.

[0159] The first instruction acquisition module 2 is used to acquire vehicle body recognition instructions when the current state is in motion.

[0160] Range acquisition module 3 is used to obtain the safe identification range of electric vehicles based on vehicle body recognition instructions;

[0161] Module 4 is used to determine whether there are obstacles within the safe identification range;

[0162] The instruction control module 5 is used to acquire an acceleration limit instruction to limit the acceleration limit of the electric vehicle if there is an obstacle within the safe identification range; it is also used not to acquire an acceleration limit instruction if there is no obstacle within the safe identification range.

[0163] Specifically, the state acquisition module 1 first acquires the current state of the electric vehicle and sends it to the first instruction acquisition module 2 connected to it. The current state includes a moving state or a non-moving state. When the current state is a moving state, the first instruction acquisition module 2 acquires the vehicle body recognition instruction and sends it to the range acquisition module 3 connected to it.

[0164] Then, the range acquisition module 3 obtains the safe recognition range of the electric vehicle according to the vehicle body recognition instruction and sends it to the judgment module 4 connected to it. Then, the judgment module 4 judges whether there is an obstacle within the safe recognition range and sends the judgment result to the instruction control module 5 connected to it.

[0165] If there is an obstacle within the safety recognition range, the command control module 5 obtains an acceleration limit command to limit the acceleration limit of the electric vehicle; if there is no obstacle within the safety recognition range, the command control module 5 does not obtain an acceleration limit command, and therefore there is no need to limit the acceleration limit of the electric vehicle.

[0166] This allows for the limitation of acceleration limits when an electric vehicle senses an obstacle, thereby preventing abnormal acceleration and improving the safety of driving an electric vehicle.

[0167] This application also discloses an intelligent terminal, including a memory and a processor. The memory stores an intelligent computer program. The processor, when running the intelligent computer program, is capable of executing the steps of the aforementioned electric vehicle obstacle avoidance method. The intelligent computer program can use known processing procedures to perform a series of steps such as data detection and judgment, thereby enabling data querying.

[0168] This application also discloses a computer-readable storage medium that stores a computer program that can be loaded by a processor and executed as described above for the electric vehicle obstacle avoidance method. The computer-readable storage medium includes, for example, various media capable of storing program code, such as a USB flash drive, a portable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0169] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An obstacle avoidance method for electric vehicles, characterized in that, include: Obtain the current state of the electric vehicle, which includes a moving state or a non-moving state; When the current state is the motion state, a vehicle body recognition command is obtained; The safe identification range of the electric vehicle is obtained based on the vehicle body recognition command; Determine whether there are obstacles within the safety identification range; If present, an acceleration limit instruction is obtained to limit the acceleration limit of the electric vehicle; If it does not exist, the acceleration limit instruction will not be obtained; When an obstacle exists within the safety identification range, the system further includes: Obtain the distance between the obstacle and the electric vehicle; Determine whether the interval exceeds a preset distance; If the limit is not exceeded, an emergency braking command is obtained to control the electric vehicle to perform emergency braking; If the limit is exceeded, a braking warning message will be obtained to prompt the driver to apply the brakes. After obtaining the brake warning information, the process also includes: The braking reaction distance is obtained based on the interval distance and the preset distance; Obtain the current speed of the electric vehicle; The maximum reaction time is obtained based on the braking reaction distance and the current vehicle speed; Record the time when the brake warning information is obtained; Get the current time of active braking; The actual reaction time is obtained based on the prompt time and the current time; Determine whether the actual reaction time is equal to the maximum reaction time; If so, the emergency braking command is obtained to control the electric vehicle to perform emergency braking.

2. The obstacle avoidance method according to claim 1, characterized in that, After obtaining the safe identification range of the electric vehicle based on the vehicle body recognition command, the method further includes: The movement state of the electric vehicle is obtained, including forward or backward movement; When the movement state is forward, obtain the offset direction of the electric vehicle; The centralized scanning command is obtained based on the offset direction; The security identification range corresponding to the offset direction is scanned based on the centralized scanning command.

3. The obstacle avoidance method according to claim 2, characterized in that, When the movement state is forward, it also includes: Obtain the rear detection range of the electric vehicle; Determine whether there is a vehicle within the rear detection range; If they exist, then obtain the proximity distance between the vehicle and the electric vehicle; Determine whether the approach distance gradually decreases; If so, obtain the acceleration prompt information.

4. The obstacle avoidance method according to claim 3, characterized in that, After obtaining the acceleration prompt information, the method also includes: obtaining the acceleration limit unlock command; The maximum acceleration limit of the electric vehicle is temporarily unlocked based on the acceleration limit unlock command.

5. The obstacle avoidance method according to claim 1, characterized in that, Before obtaining the emergency braking command to control the electric vehicle to perform emergency braking, the method further includes: Determine whether the interval distance is greater than or equal to the preset deceleration distance; If so, a deceleration command is obtained to control the electric vehicle to decelerate; If not, proceed to the next step.

6. An electric vehicle obstacle avoidance system, based on the electric vehicle obstacle avoidance method according to any one of claims 1-5, characterized in that, include: The state acquisition module (1) is used to acquire the current state of the electric vehicle, which includes a moving state or a non-moving state. The first instruction acquisition module (2) is used to acquire a vehicle body recognition instruction when the current state is a motion state; Range acquisition module (3) is used to obtain the safe identification range of the electric vehicle based on the vehicle body recognition command; The judgment module (4) is used to determine whether there is an obstacle within the safety identification range; The instruction control module (5) is used to obtain an acceleration limit instruction to limit the acceleration limit of the electric vehicle if there is an obstacle within the safety identification range; It is also used to not acquire the acceleration limit command if there are no obstacles within the safety identification range.

7. A smart terminal, characterized in that, include: Memory is used to store computer programs that can run on a processor; The processor, when running the computer program, is capable of performing the steps of the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer program is stored that can be loaded by a processor and executed according to any one of claims 1 to 5.

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