Vehicle collision avoidance method, system, electronic device, storage medium and vehicle

Abstract

The application discloses a vehicle anti-collision method and system, electronic equipment, a storage medium and a vehicle. The method comprises the following steps: obtaining a preset part of a vehicle and a target point on an obstacle closest to the preset part; obtaining a target line between the preset part and the target point; calculating an included angle between the target line and a preset reference line; if the included angle meets a preset condition, generating first warning information, which is used for prompting that the obstacle will cause the vehicle to collide. The vehicle anti-collision method judges whether the vehicle can pass through the obstacle without any collision by the included angle between the line between the preset part of the vehicle and the target point on the obstacle closest to the preset part and the reference line, does not need to collect specific shape and size data of the vehicle and the obstacle, can be suitable for any vehicle and any obstacle, and effectively improves the safety of vehicle driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Vehicles, and in particular to a vehicle anti-collision method and system, an electronic device, a storage medium and a vehicle. BACKGROUND

[0002] When passing through a road section with obstacles, the driver's naked eye judgment on whether the vehicle can smoothly pass through irregular obstacles in each direction is often not accurate enough, so it is easy to cause the vehicle body height to exceed the height of the height limit bar, the chassis to be too low, and the vehicle to be too biased to one side of the road, and to partially collide with the obstacles. Such collisions may cause damage to the car and the height limit bar, causing traffic congestion, or even serious chain traffic accidents. In the prior art, to solve the above problems, height acquisition devices are generally used to obtain the vehicle body height and the vehicle body height, and then comparison is made to determine whether the vehicle can smoothly pass through. However, this method has the problems of complex data processing process, low processing efficiency and low accuracy, and is only suitable for specified vehicles, with a small application range and no universality. SUMMARY

[0003] One object of the present application is to provide a vehicle anti-collision method, which has the advantages of being able to timely detect obstacles in front of the vehicle and accurately determine whether the vehicle can pass through the obstacles without any collision with the obstacles; and timely warning in the case of possible collision, thereby effectively improving the safety of vehicle driving and the driving experience of users.

[0004] Another object of the present application is to provide a vehicle anti-collision method, which has the advantages of setting the preset position at the highest point or the lowest point of the vehicle, and warning the collision of the roof and the bottom of the vehicle respectively, so that the driver user can clearly know which part or parts of the vehicle will collide with the obstacles, and the driver user can intervene and process.

[0005] Another object of the present application is to provide a vehicle anti-collision method, which has the advantages of calculating the horizontal distance between the vehicle and the obstacle through data processing if it has been detected that the vehicle cannot pass through the obstacle but the driver does not timely brake, thereby automatically triggering the brake operation to ensure the timeliness of brake control and further prevent the vehicle from colliding with the obstacle.

[0006] Another object of the present application is to provide a vehicle anti-collision method, which has the advantages of setting a first distance sensor at a preset position of the vehicle to obtain the shortest distance between the vehicle and the irregular obstacle, thereby preventing the vehicle from colliding with the irregular obstacle and further ensuring the accuracy of the determination result of whether the vehicle will collide with the obstacle.

[0007] Another object of the present application is to provide a vehicle anti-collision method, which has the advantage that the image information in front of the vehicle is collected by the image collection device, and the first distance sensor is turned on when the preset obstacle is identified in the image information, and the first distance sensor is turned off when the preset obstacle is not identified, so as to reduce the energy consumption of the first distance sensor, reduce the use of the first distance sensor as much as possible, and prolong the service life of the first distance sensor.

[0008] Another object of the present application is to provide a vehicle anti-collision method, which has the advantage that the image information in front of the vehicle is collected by the image collection device, and the first distance sensor is turned on when the preset obstacle is identified in the image information, and the first distance sensor is turned off when the preset obstacle is not identified, so as to reduce the energy consumption of the first distance sensor, reduce the use of the first distance sensor as much as possible, and prolong the service life of the first distance sensor.

[0009] Another object of the present application is to provide a vehicle anti-collision system, which has the advantage that the obstacle in front of the vehicle can be detected in time, and whether the vehicle can pass the obstacle without any collision with the obstacle can be accurately determined; at the same time, the alarm can be given in time in the case of possible collision, so as to effectively improve the safety of vehicle driving and the driving experience of the user.

[0010] Another object of the present application is to provide a vehicle, which has the advantage that the vehicle includes the vehicle anti-collision system as described above, and the obstacle in front of the vehicle can be detected in time, and whether the vehicle can pass the obstacle without any collision with the obstacle can be accurately determined; at the same time, the alarm can be given in time in the case of possible collision, so as to effectively improve the safety of vehicle driving and the driving experience of the user.

[0011] Another object of the present application is to provide an electronic device, which has the advantage that the vehicle anti-collision method is executed by the electronic device, and the obstacle in front of the vehicle can be detected in time, and whether the vehicle can pass the obstacle without any collision with the obstacle can be accurately determined; at the same time, the alarm can be given in time in the case of possible collision, so as to effectively improve the safety of vehicle driving and the driving experience of the user.

[0012] Another object of the present application is to provide a storage medium, which has the advantage of providing storage for computer instructions required to perform a vehicle collision avoidance method, so that an obstacle in front of a vehicle can be detected in time and it can be determined accurately whether the vehicle can pass the obstacle without any collision with the obstacle; meanwhile, in the case of possible collision, an alarm can be given in time, so as to effectively improve the safety of vehicle driving and the driving experience of users.

[0013] The present application solves the above technical problems by the following technical solutions:

[0014] The first aspect of the present application provides a vehicle collision avoidance method, comprising the following steps:

[0015] obtaining a target point on an obstacle closest to a preset part of a vehicle;

[0016] obtaining a target line between the preset part and the target point;

[0017] calculating an included angle between the target line and a preset reference line;

[0018] if the included angle meets a preset condition, generating a first alarm information, the first alarm information being used to prompt that the obstacle will cause the vehicle to collide.

[0019] The second aspect of the present application provides a vehicle collision avoidance system, comprising:

[0020] a data acquisition unit, configured to obtain a target point on an obstacle closest to a preset part of a vehicle;

[0021] a processor, which is in communication connection with the data acquisition unit;

[0022] the processor is configured to obtain a target line between the preset part and the target point, calculate an included angle between the target line and a preset reference line, and if the included angle meets a preset condition, generate a first alarm information, the first alarm information being used to prompt that the obstacle will cause the vehicle to collide.

[0023] The third aspect of the present application provides a vehicle, which comprises the vehicle collision avoidance system as described above.

[0024] The fourth aspect of the present application provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the vehicle collision avoidance method as described in the first aspect when executing the computer program.

[0025] The fifth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the vehicle anti-collision method according to the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The first flowchart of the vehicle anti-collision method of the embodiment 1 of the present application.

[0027] Figure 2 The schematic diagram of the step S11 of the vehicle anti-collision method of the embodiment 1 of the present application.

[0028] Figure 3 The schematic diagram of the vehicle anti-collision scene of a specific example of the embodiment 1 of the present application.

[0029] Figure 4 The second flowchart of the vehicle anti-collision method of the embodiment 1 of the present application.

[0030] Figure 5 The module schematic diagram of the vehicle anti-collision system of the embodiment 2 of the present application.

[0031] Figure 6 The structure schematic diagram of the electronic device for implementing the vehicle anti-collision method of the embodiment 4 of the present application. DETAILED DESCRIPTION

[0032] The present application will be further described in the following embodiments, but the present application is not limited in the scope of the embodiments.

[0033] Embodiment 1

[0034] When passing through the road section with obstacles, the result of the driver's judgment on whether the vehicle can smoothly pass through the irregular obstacles in each direction by naked eyes is often not accurate enough, so the situation that the vehicle body height exceeds the height of the height-limiting column, the vehicle chassis is too low, and the vehicle is too deviated to one side of the road to collide with the obstacles and cause accidents often occurs.

[0035] In order to overcome the above-mentioned defects existing at present, the embodiment provides a vehicle anti-collision method, specifically, the method judges whether the vehicle can pass through the obstacles without any collision by the included angle between the line connecting the preset part of the vehicle and the target point closest to the preset part of the obstacles and the reference line, can timely detect the obstacles in front of the vehicle and accurately determine whether the vehicle can pass through the obstacles without any collision with the obstacles; at the same time, timely alarm is given in the case that the collision may occur, thereby effectively improving the safety of vehicle driving and the driving experience of the user.

[0036] As Figure 1As shown, the embodiment discloses a vehicle anti-collision method, comprising the following steps:

[0037] S11, obtaining a preset part of a vehicle and a target point on an obstacle closest to the preset part;

[0038] S12, obtaining a target line between the preset part and the target point;

[0039] S13, calculating an included angle between the target line and a preset reference line;

[0040] S14, if the included angle meets a preset condition, generating a first warning information, the first warning information being used to prompt that the obstacle will cause the vehicle to collide.

[0041] In the embodiment, the obstacle in the steps S11 and S12 includes but is not limited to a height-limiting bar above the vehicle, branches extending to the road, and various artificial or natural roadblocks on the road surface. In the step S11, the obtained target point is the target point on the obstacle closest to the preset part, so as long as it is judged that the target point will not collide with the vehicle, it can be ensured that the part on the obstacle farther from the preset position of the vehicle will also not cause the vehicle to collide.

[0042] The preset part of the vehicle includes the highest point of the vehicle or the lowest point of the vehicle, when the preset part is the highest point of the vehicle, the method in the embodiment is used to judge whether the vehicle will collide with the obstacle above it; when the preset part is the lowest point of the vehicle, the method in the embodiment is used to judge whether the vehicle will collide with the obstacle below it.

[0043] Correspondingly, in a specific embodiment, when the preset part includes the highest point of the vehicle, the first warning information is used to prompt that the obstacle will cause the roof of the vehicle to collide;

[0044] Or, when the preset part includes the lowest point of the vehicle, the first warning information is used to prompt that the obstacle will cause the bottom of the vehicle to collide.

[0045] By setting the preset part at the highest point or the lowest point of the vehicle, the collision of the roof and the bottom of the vehicle is warned respectively, so that the driver user can clearly know which part or parts of the vehicle will collide with the obstacle, and the driver user can intervene and process.

[0046] In another specific embodiment, the preset part of the vehicle is provided with a first distance sensor;

[0047] As shown, the step S11 specifically comprises: Figure 2

[0048] ​S111. Use a first distance sensor to scan the obstacle to collect several second distance values ​​between different parts of the obstacle and a preset part;

[0049] S112. Select the minimum value among several second distance values, and take the part of the obstacle corresponding to the minimum value as the target point.

[0050] By setting a first distance sensor at a preset position on the vehicle to obtain the shortest distance between the vehicle and irregular obstacles, collisions between the vehicle and irregular obstacles are prevented, further ensuring the accuracy of the determination of whether a collision will occur between the vehicle and the obstacle.

[0051] like Figure 3 As shown, this embodiment is described in detail using the highest point of the vehicle as the preset location and the road height restriction barrier as the obstacle. A lidar sensor 11 is used as the first distance sensor and installed at the highest point of the vehicle, with a vertically downward straight line serving as the sensor's baseline. However, it should be noted that this does not limit the technical means of implementing this embodiment to this specific location.

[0052] In this example, the preset conditions that need to be met can be: such as Figure 3 As shown in (1), if the included angle 21 is greater than 90°, it indicates that the vehicle can pass smoothly through the lowest point 31 of the height restriction barrier without needing to issue a warning; Figure 3 As shown in (2), if the included angle 22 is less than 90°, it indicates that the vehicle cannot pass through the height restriction barrier. At this time, the first alarm message is generated and sent to the vehicle to remind the driver that the height restriction barrier will cause the vehicle to collide.

[0053] In actual implementation, various objective factors may cause errors in the calculated included angle. Therefore, in order to allow for the existence of these errors, the benchmark angle for judgment can be further set to other values.

[0054] In this example, it is necessary to determine whether the highest point of the vehicle can successfully pass through the lowest point of the height restriction barrier. Therefore, a LiDAR sensor is set at the highest point of the vehicle to scan the height restriction barrier and obtain several second distance values ​​between the highest point of the vehicle and different parts of the barrier. After collecting all the second distance values, the minimum value is selected. The part of the height restriction barrier corresponding to this minimum value is the point closest to the vehicle and is therefore used as the target point.

[0055] In a regular obstacle such as the height-limit barrier in the present embodiment, there can be multiple minimum second distance values, and any one of the points corresponding to the minimum second distance values can be selected as the target point; in some irregular obstacles such as stones, there can be only one minimum value, and thus the point corresponding to the minimum value is the target point.

[0056] For steps S13 and S14, after the target point is determined, the angle formed by the ray from the laser radar to the target point relative to the preset reference line can be calculated, so as to perform the anti-collision judgment.

[0057] As a preferred embodiment, as shown in Figure 4 After step S14, the method in the present embodiment further includes:

[0058] S15, obtaining a first distance value between a preset part of the vehicle and the target point;

[0059] S16, calculating a horizontal distance between the vehicle and the obstacle according to the angle and the first distance value;

[0060] S17, obtaining a speed value of the vehicle;

[0061] S18, if the horizontal distance is less than a braking distance threshold value and the speed value is greater than a braking speed threshold value, generating a control instruction to brake the vehicle urgently;

[0062] The braking distance threshold value and / or the braking speed threshold value are preset fixed values or are set according to the type of the vehicle.

[0063] If it has been detected that the vehicle cannot pass through the obstacle, but the driver does not brake in time, the method in the present embodiment can calculate the horizontal distance between the vehicle and the obstacle through data processing, so as to automatically trigger the braking operation to ensure the timeliness of the braking control and further prevent the vehicle from colliding with the obstacle.

[0064] Specifically, in some cases, the driver can not notice the first warning information or receive the first warning information but not brake in time, at this time, in order to further prevent the vehicle from colliding and ensure the safety of people and vehicles, urgent braking is needed. As shown in Figure 3 In the case where the minimum value of the second distance value and the angle are known, the horizontal distance between the vehicle and the height-limit barrier can be calculated, and the horizontal distance and the current speed of the vehicle are compared with the preset braking distance threshold value and braking speed threshold value, so as to determine whether a control instruction needs to be generated to brake urgently.

[0065] For different types of vehicles, due to the different vehicle shapes, inertia sizes, brake sensitivity and the like, when making the judgment, the brake distance threshold and the brake speed threshold can be set according to the actual situation, or a general brake distance threshold and a general brake speed threshold can be set for all vehicle types.

[0066] As another preferred embodiment, the vehicle is provided with an image acquisition device, and the method in the embodiment further comprises:

[0067] acquiring image information in front of the vehicle by using the image acquisition device;

[0068] if the image information is identified to include the preset obstacle, the first distance sensor is controlled to be turned on; otherwise, the first distance sensor is controlled to be turned off.

[0069] The image acquisition device is used to acquire the image information in front of the vehicle, and the first distance sensor is turned on when the image information is identified to include the preset obstacle, and the first distance sensor is turned off when the image information is not identified to include the preset obstacle, so as to reduce the energy consumption of the first distance sensor, reduce the use of the first distance sensor as much as possible, and prolong the service life of the first distance sensor.

[0070] In other words, in order to save the energy consumption of the laser radar sensor, in the embodiment, the laser radar sensor is usually in an off state, and only when the image acquisition device identifies that there is a preset obstacle in front, a corresponding instruction is generated to start the laser radar sensor to perform traversal scanning on the obstacle.

[0071] As a preferred embodiment, the method in the embodiment further comprises:

[0072] storing historical driving route information of the vehicle and obstacle information corresponding to the historical driving route information in advance;

[0073] acquiring current driving route information of the vehicle;

[0074] if the current driving route information matches the historical driving route information, and the corresponding obstacle information indicates that a collision of the vehicle will occur, a second warning information is generated, and the second warning information is used to prompt to re-plan the driving route.

[0075] In order to provide the anti-collision warning to the driver more timely, in the embodiment, the historical driving route information of the vehicle and the corresponding obstacle information are stored in the obstacle database in advance, the correlation between the driving route information and the obstacle is used to pre-judge whether there is an obstacle that will cause a collision on the current driving route of the driver, so as to timely intervene and remind the user to change the route early, and the driving experience of the user is effectively improved.

[0076] In the implementation process, when the current driving route set by the vehicle matches a pre-stored historical driving route, or the distance between the current driving route of the vehicle and the obstacle in the obstacle database is less than a preset distance threshold, it is necessary to determine whether the corresponding obstacle will collide with the vehicle. If it is identified that the obstacle will cause the vehicle to collide, a second warning information is generated to prompt the driver to re-plan the driving route.

[0077] In addition, the vehicle body of the vehicle in the embodiment is provided with a second distance sensor on both sides thereof;

[0078] The method of the embodiment further comprises:

[0079] The second distance sensor is used to obtain a third distance value of the vehicle body from the obstacle on both sides of the vehicle body.

[0080] If the third distance value is less than the lateral distance threshold, a third warning information is generated, and the third warning information is used to prompt that the vehicle obstacle will cause the vehicle body to collide.

[0081] The second distance sensor on both sides of the vehicle is used to detect the distance between the vehicle body and the obstacle on both sides of the road, and the vehicle is warned when the vehicle is too biased to one side, so that the user knows which side the vehicle will collide, thereby prompting the user to adjust to prevent lateral collision of the vehicle. For example, a vehicle is driving on a road with fences on both sides, and the second distance sensor detects the distance between the vehicle and the left and right fences in real time. If the vehicle is too close to the left fence and is likely to collide, a third warning information is generated to prompt the driver that a collision is likely to occur, and the vehicle needs to be moved to the opposite side to make the vehicle in a standard driving position. The same is true when the vehicle is too close to the right fence.

[0082] The embodiment discloses a vehicle anti-collision method, which can timely detect the obstacle existing in front or top or bottom of the vehicle, and accurately determine whether the vehicle can smoothly pass through the obstacle by calculating the included angle between the preset part of the vehicle and the obstacle. In addition, whether the vehicle body on both sides is too close to the obstacle can be detected, so that timely warning and emergency braking can be performed when any part of the vehicle is likely to collide, thereby effectively improving the safety of vehicle driving and the driving experience of the user. The method in the embodiment can also store historical obstacle information and match based on the current driving route of the vehicle, so that the driving user can better plan his own driving route.

[0083] Embodiment 2

[0084] The embodiment discloses a vehicle anti-collision system, as shown in the accompanying drawings, comprising: Figure 5

[0085] ​The data acquisition unit 1 is configured to acquire a preset position of the vehicle and a target point on the obstacle closest to the preset position.

[0086] The processor 2 is in communication connection with the data acquisition unit;

[0087] The processor 2 is configured to acquire a target line between the preset position and the target point, calculate an included angle between the target line and a preset reference line, and generate a first warning information if the included angle meets a preset condition, where the first warning information is configured to prompt that the obstacle will cause the vehicle to collide.

[0088] In the embodiment, the obstacle includes, but is not limited to, a height-limiting bar above the vehicle, a branch extending to the road, and various artificial or natural roadblocks on the road surface. The target point acquired by the data acquisition unit 1 is the target point on the obstacle closest to the preset position, so as long as the processor 2 judges that the target point will not collide with the vehicle, it can be ensured that the part of the obstacle farther from the preset position of the vehicle will also not cause the vehicle to collide.

[0089] The preset position of the vehicle includes the highest point of the vehicle or the lowest point of the vehicle. When the preset position is the highest point of the vehicle, the processor 2 in the embodiment is configured to judge whether the vehicle will collide with the obstacle above it. When the preset position is the lowest point of the vehicle, the processor 2 in the embodiment is configured to judge whether the vehicle will collide with the obstacle below it.

[0090] Correspondingly, in a specific embodiment, when the preset position includes the highest point of the vehicle, the first warning information is configured to prompt that the obstacle will cause the roof of the vehicle to collide.

[0091] Or, when the preset position includes the lowest point of the vehicle, the first warning information is configured to prompt that the obstacle will cause the bottom of the vehicle to collide.

[0092] By setting the preset position at the highest point or the lowest point of the vehicle, the collision of the roof and the bottom of the vehicle is warned respectively, so that the driver user can clearly know which part or parts of the vehicle will collide with the obstacle, and the driver user can intervene.

[0093] In another specific embodiment, the vehicle preset position is provided with a first distance sensor 3; the first distance sensor 3 is included in the data acquisition unit 1;

[0094] The target point on the obstacle closest to the preset position acquired by the data acquisition unit 1 includes:

[0095] The first distance sensor 3 is called to traverse and scan the obstacle to acquire a plurality of second distance values between different parts of the obstacle and the preset position and store them in the database;

[0096] Processor 2 selects the minimum value among several second distance values ​​from the data and takes the part of the obstacle corresponding to the minimum value as the target point.

[0097] By setting a first distance sensor 3 at a preset position on the vehicle to obtain the shortest distance between the vehicle and the irregular obstacle, collisions between the vehicle and the irregular obstacle are prevented, further ensuring the accuracy of the determination of whether a collision will occur between the vehicle and the obstacle.

[0098] like Figure 3 As shown, this embodiment is described in detail using the highest point of the vehicle as the preset location and the road height restriction barrier as the obstacle. A lidar sensor 11 is used as the first distance sensor 3 and installed at the highest point of the vehicle, with a vertically downward straight line serving as the sensor's baseline. However, it should be noted that this does not limit the technical means of implementing this embodiment to this.

[0099] In this example, the preset conditions that need to be met can be: such as Figure 3 As shown in (1), if the included angle 21 is greater than 90°, it indicates that the vehicle can pass smoothly through the lowest point 31 of the height restriction barrier without needing to issue a warning; Figure 3 As shown in (2), if the included angle 22 is less than 90°, it indicates that the vehicle cannot pass through the height restriction barrier. At this time, the first alarm message is generated and sent to the vehicle to remind the driver that the height restriction barrier will cause the vehicle to collide.

[0100] In actual implementation, various objective factors may cause errors in the calculated included angle. Therefore, in order to allow for the existence of these errors, the benchmark angle for judgment can be further set to other values.

[0101] In this example, it is necessary to determine whether the highest point of the vehicle can successfully pass through the lowest point of the height restriction barrier. Therefore, a lidar sensor is set at the highest point of the vehicle to scan the height restriction barrier and obtain several second distance values ​​between the highest point of the vehicle and different parts of the barrier. After the data acquisition unit 1 collects all the second distance values, the processor 2 selects the minimum value. The part of the height restriction barrier corresponding to this minimum value is the point closest to the vehicle's preset location, and is therefore used as the target point.

[0102] In regular obstacles such as height restriction barriers in this embodiment, there may be multiple minimum second distance values. The point corresponding to any one of the minimum second distance values ​​can be selected as the target point. In some irregular obstacles such as rocks, there may be only one minimum value. Therefore, the point corresponding to the minimum value is the required target point.

[0103] Once the target point is determined, the processor 2 can obtain the angle between the ray emitted from the lidar to the target point and the preset baseline, thereby making a collision avoidance judgment.

[0104] As a preferred embodiment, the system in this embodiment further includes:

[0105] Horizontal distance sensor 4 is used to acquire the first distance value between a preset part of the vehicle and the target point;

[0106] Speed ​​sensor 5 is used to acquire the vehicle's speed value;

[0107] Processor 2 is also used to calculate the horizontal distance between the vehicle and the obstacle based on the aforementioned included angle and the first distance value;

[0108] If the horizontal distance is less than the braking distance threshold and the speed value is greater than the braking speed threshold, a control command is generated to brake the vehicle urgently.

[0109] The braking distance threshold and / or braking speed threshold are preset fixed values ​​or set according to the vehicle type.

[0110] If the system detects that the vehicle cannot pass an obstacle, but the driver fails to brake in time, the system in this embodiment can calculate the horizontal distance between the vehicle and the obstacle through data processing, thereby automatically triggering braking to ensure timely braking control and further prevent the vehicle from colliding with the obstacle.

[0111] Specifically, in some situations, the driver may not notice the first warning message or may receive the first warning message but fail to brake in time. In such cases, emergency braking is necessary to further prevent a collision and ensure the safety of people and vehicles. For example... Figure 3 As shown, given the minimum value of the second distance and the aforementioned included angle, processor 2 can calculate the horizontal distance between the vehicle and the height restriction barrier. By comparing this horizontal distance and the vehicle's current speed with preset braking distance thresholds and braking speed thresholds, it can be determined whether a control command needs to be generated for emergency braking.

[0112] For different types of vehicles, due to differences in vehicle shape, inertia, and braking sensitivity, braking distance and braking speed thresholds can be set according to the actual situation when making judgments, or a universal braking distance and braking speed threshold can be set for all vehicle models.

[0113] As another preferred embodiment, the vehicle is equipped with an image acquisition device 6, which is used to acquire image information in front of the vehicle and send it to the processor 2;

[0114] If the processor 2 identifies that the image information includes the preset obstacle, the first distance sensor is controlled to be turned on; otherwise, the first distance sensor is controlled to be turned off.

[0115] The image information in front of the vehicle is acquired by the image acquisition device 6, and the first distance sensor 3 is turned on when it is identified that the image information includes the preset obstacle, and the first distance sensor 3 is turned off when it is not identified that the preset obstacle is included, so as to reduce the energy consumption of the first distance sensor 3, to reduce the use of the first distance sensor 3 as much as possible, and to prolong the service life of the first distance sensor 3.

[0116] In other words, in order to save the energy consumption of the laser radar sensor, in the embodiment, the laser radar sensor is usually in an off state, and only when the image acquisition device 6 identifies that there is a preset obstacle in front, the processor 2 generates a corresponding instruction to start the laser radar sensor to perform a traversal scan on the obstacle.

[0117] As a preferred embodiment, the processor 2 in the embodiment is further used for:

[0118] storing historical driving route information of the vehicle and obstacle information corresponding to the historical driving route information in advance;

[0119] acquiring current driving route information of the vehicle;

[0120] If the current driving route information matches the historical driving route information, and the corresponding obstacle information indicates that a collision of the vehicle will occur, a second warning information is generated, and the second warning information is used to prompt to re-plan the driving route.

[0121] In order to provide anti-collision warning to the driver more timely, in the embodiment, the historical driving route information of the vehicle and the corresponding obstacle information are stored in the obstacle database in advance, and whether there is an obstacle that will cause a collision on the current driving route of the driver is pre-judged through the association between the driving route information and the obstacle, so as to timely intervene and remind the user to change the route early, and the driving experience of the user is effectively improved.

[0122] In the specific implementation process, when the current driving route set by the vehicle matches a historical driving route stored in advance, or the distance between the current driving route of the vehicle and the obstacle in the obstacle database is less than a preset distance threshold, the processor 2 needs to determine whether the corresponding obstacle will collide with the vehicle, and if it is identified that the obstacle will cause a collision of the vehicle, a second warning information is generated to prompt the driver to re-plan the driving route.

[0123] In addition, the vehicle body of the vehicle in the embodiment is provided with a second distance sensor 7 on both sides, which is used to acquire a third distance value between the vehicle body and the obstacle;

[0124] If the third distance value is less than the lateral distance threshold value, the processor 2 generates third warning information, which is used to prompt that the vehicle obstacle will cause the vehicle body to collide.

[0125] The second distance sensor 7 on both sides of the vehicle is used to detect the distance between the measurement of the vehicle body and the obstacle on both sides of the road, and to warn the vehicle when the vehicle is too biased to one side, so that the user knows which side the vehicle will collide, prompting the user to adjust to prevent lateral collision of the vehicle. For example, a vehicle is driving on a road with fences on both sides, and the second distance sensor 7 detects the distance between the vehicle and the left and right fences in real time. If the vehicle is too close to the left fence and is likely to collide, the processor generates third warning information at this time to prompt the driver that a collision may occur and the vehicle needs to be moved to the opposite side to be in a normal driving position; the same is true when the vehicle is too close to the right fence.

[0126] The embodiment discloses a vehicle collision avoidance system, which can timely detect obstacles existing in the front top or bottom of the vehicle, and accurately determine whether the vehicle can smoothly pass through the obstacle by calculating the included angle between the preset part of the vehicle and the obstacle. In addition, it can also detect whether the vehicle body on both sides is too close to the obstacle, so as to timely alarm and emergency brake when any part of the vehicle may collide, effectively improving the safety of vehicle driving and the driving experience of the user. The system in the embodiment can also store historical obstacle information and match based on the current driving route of the vehicle, so that the driving user can better plan his own driving route.

[0127] Embodiment 3

[0128] The embodiment discloses a vehicle, which comprises the vehicle collision avoidance system as described in embodiment 2 and is used to realize the vehicle collision avoidance method as described in embodiment 1.

[0129] Through the above method, the vehicle in the embodiment can timely detect obstacles existing in the front top or bottom, and accurately determine whether it can smoothly pass through the obstacle by calculating the included angle between the preset part and the obstacle. In addition, it can also detect whether the vehicle body on both sides is too close to the obstacle, so as to timely alarm and emergency brake when any part of the vehicle may collide, effectively improving the safety of vehicle driving and the driving experience of the user. The vehicle in the embodiment can also store historical obstacle information and match based on the current driving route of the vehicle, so that the driving user can better plan his own driving route.

[0130] Embodiment 4

[0131] Figure 6This is a schematic diagram of an electronic device provided in Embodiment 4 of the present invention. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the vehicle collision avoidance method provided in Embodiment 1. Figure 6 The electronic device 40 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0132] like Figure 6 As shown, the electronic device 40 can be manifested as a general-purpose computing device, such as a server device. The components of the electronic device 40 may include, but are not limited to: at least one processor 41, at least one memory 42, and a bus 43 connecting different system components (including memory 42 and processor 41).

[0133] Bus 43 includes a data bus, an address bus, and a control bus.

[0134] The memory 42 may include volatile memory, such as random access memory (RAM) 421 and / or cache memory 422, and may further include read-only memory (ROM) 423.

[0135] The memory 42 may also include a program / utility 425 having a set (at least one) of program modules 424, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0136] The processor 41 executes various functional applications and data processing by running computer programs stored in the memory 42, such as the vehicle collision avoidance method provided in Embodiment 1 of the present invention.

[0137] Electronic device 40 can also communicate with one or more external devices 44 (e.g., keyboard, pointing device, etc.). This communication can be performed via input / output (I / O) interface 45. Furthermore, the model-generated device 40 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) via network adapter 46. As shown, network adapter 46 communicates with other modules of the model-generated device 40 via bus 43. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the model-generated device 40, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0138] It should be noted that, although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, according to an embodiment of the application, the features and functionalities of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functionalities of one unit / module described above can be further divided into units / modules embodied by several units / modules.

[0139] Embodiment 5

[0140] The embodiment provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium. The program is executed by a processor to implement the vehicle anti-collision method provided in the embodiment 1.

[0141] More specifically, the readable storage medium can include, but is not limited to, a portable disc, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0142] In possible implementation manners, the application can also be implemented in the form of a program product, which includes program codes for causing a terminal device to execute the vehicle anti-collision method provided in the embodiment 1 when the program product is run on the terminal device.

[0143] The program codes for executing the application can be written in any combination of one or more programming languages, and can be executed completely on a user device, partially on a user device, as a separate software package, partially on a user device and partially on a remote device, or completely on a remote device.

[0144] Although the specific embodiments of the application are described above, those skilled in the art should understand that this is only an example, and the protection scope of the application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the application, and such changes and modifications all fall within the protection scope of the application.

Claims

1. A vehicle collision avoidance method characterized by, The method comprises the following steps: acquiring a preset part of a vehicle and a target point on an obstacle closest to the preset part; acquiring a target line between the preset part and the target point; calculating an included angle between the target line and a preset reference line; if the included angle meets a preset condition, generating a first warning information, the first warning information being used to prompt that the obstacle will cause the vehicle to collide; the preset part of the vehicle is provided with a first distance sensor; the vehicle is provided with an image acquisition device, and the image acquisition device is used to acquire image information in front of the vehicle; if it is identified that the image information includes a preset obstacle, the first distance sensor is controlled to be turned on; otherwise, the first distance sensor is controlled to be turned off.

2. The vehicle collision avoidance method according to claim 1, when the preset part includes a highest point of the vehicle, the first warning information is used to prompt that the obstacle will cause the roof of the vehicle to collide; or, when the preset part includes a lowest point of the vehicle, the first warning information is used to prompt that the obstacle will cause the bottom of the vehicle to collide.

3. The vehicle collision avoidance method according to claim 1 or 2, after the step of generating the first warning information, the method further comprises: acquiring a first distance value between the preset part of the vehicle and the target point; calculating a horizontal distance between the vehicle and the obstacle according to the included angle and the first distance value; acquiring a speed value of the vehicle; if the horizontal distance is less than a braking distance threshold value and the speed value is greater than a braking speed threshold value, generating a control instruction to brake the vehicle urgently; the braking distance threshold value and / or the braking speed threshold value are preset fixed values or are set according to the type of the vehicle.

4. The vehicle collision avoidance method according to claim 1, acquiring the target point on the obstacle closest to the preset part comprises: using the first distance sensor to scan the obstacle to acquire a plurality of second distance values between different parts of the obstacle and the preset part; selecting a minimum value of the plurality of second distance values, and taking a part of the obstacle corresponding to the minimum value as the target point.

5. The vehicle collision avoidance method according to claim 1, the method further comprises: pre-storing historical driving route information of a vehicle and obstacle information corresponding to the historical driving route information; acquiring current driving route information of the vehicle; if the current driving route information matches the historical driving route information, and the corresponding obstacle information indicates that the vehicle will collide, generating a second warning information, the second warning information being used to prompt to re-plan a driving route; and / or, second distance sensors are arranged on both sides of the vehicle body of the vehicle; the method further comprises: acquiring third distance values of the vehicle body of the vehicle from the obstacles on both sides of the vehicle body by using the second distance sensors; if the third distance values are less than a lateral distance threshold value, generating a third warning information, the third warning information being used to prompt that the obstacle will cause the vehicle body of the vehicle to collide. ​ 6. A vehicle collision avoidance system characterized by, ​ A data acquisition unit is configured to acquire a preset part of a vehicle and a target point on an obstacle closest to the preset part; A processor in communication with the data acquisition unit; The processor is configured to acquire a target line between the preset part and the target point, calculate an included angle between the target line and a preset reference line, and generate first warning information if the included angle meets a preset condition, the first warning information being configured to prompt that the obstacle will cause the vehicle to collide. The preset part of the vehicle is provided with a first distance sensor. The vehicle is provided with an image acquisition device configured to acquire image information in front of the vehicle and send the image information to the processor. The processor is configured to identify that the image information includes a preset obstacle, and control the first distance sensor to be turned on; otherwise, control the first distance sensor to be turned off.

7. A vehicle characterized by comprising: The vehicle comprises the vehicle anti-collision system according to claim 6.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the vehicle anti-collision method according to any one of claims 1 to 5.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the vehicle anti-collision method according to any one of claims 1 to 5.

Images