Vehicle collision avoidance path determination method, determination device, storage medium and vehicle

Abstract

The application discloses a vehicle collision avoidance path determination method and device, a storage medium and a vehicle. The method comprises the following steps: acquiring position information, state information of a dangerous target, working condition information of the vehicle, and steering intention of the target object; based on the position information, the state information, the steering intention and the working condition information, a plurality of alternative avoidance paths are generated; according to the assignment information corresponding to each avoidance path, a detection area for detecting part of the avoidance paths is determined, each avoidance path in the detection area is detected, and a detection result is obtained; and the detection result in the detection area is that no collision occurs. Therefore, the vehicle can quickly and accurately prevent the vehicle from colliding with the dangerous target, and the safety of passengers in the vehicle is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a method, device, storage medium, and vehicle for determining a vehicle collision avoidance path. Background Technology

[0002] With the increasing number of cars on the road each year, traffic safety issues are becoming increasingly serious, and the demand for active safety features in automobiles is also becoming more and more significant. Active safety intervenes and controls the vehicle before a danger occurs, using braking or steering assistance to avoid or mitigate collisions, providing a layer of protection for the safety of drivers and pedestrians. In terms of collision avoidance, the prediction and selection of avoidance paths are both key and challenging aspects. Due to the limited computing power of the in-vehicle controller, when too many alternative escape paths are predicted, it increases the system's decision-making time, which to some extent affects the stability and efficiency of collision avoidance, and significantly reduces the accuracy of selecting avoidance paths.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a method, device, storage medium, and vehicle for determining a vehicle collision avoidance path, to at least solve the technical problem of slow speed in selecting the optimal avoidance path.

[0005] According to one aspect of the present invention, a method for determining a vehicle collision avoidance path is provided, comprising: acquiring location information, state information of a dangerous target, and operating condition information of the vehicle, as well as the steering intention of the target object, wherein the location information is the location information of the collision point when the vehicle and the dangerous target are about to collide; generating multiple alternative avoidance paths based on the location information, state information, steering intention, and operating condition information; determining a detection area for detecting some of the multiple avoidance paths according to the assignment information corresponding to each avoidance path, wherein the detection area includes an upper limit value and a lower limit value; detecting each avoidance path within the detection area to obtain a detection result, wherein the detection result includes collision occurred and no collision occurred; and controlling the vehicle to perform a collision avoidance operation based on the current avoidance path within the detection area when the detection result within the detection area is no collision and the upper limit value and the lower limit value meet preset conditions.

[0006] Optionally, multiple alternative avoidance paths are generated based on location information, status information, steering intention, and operating condition information, including: determining the trajectory of the dangerous target based on location information and status information, wherein the status information includes at least one of the following: the speed, acceleration, heading angle, and coordinate information of the dangerous target's location; generating multiple avoidance paths based on steering intention, operating condition information, and the trajectory, wherein the operating condition information includes at least one of the following: the vehicle's speed, acceleration, heading angle, curvature, rate of change of curvature, and coordinate information of the vehicle's location.

[0007] Optionally, multiple avoidance paths are generated based on steering intention, operating condition information, and motion trajectory, including: determining the longitudinal and lateral spacing distances of the multiple avoidance paths based on the vehicle speed; generating multiple avoidance paths based on steering intention, longitudinal spacing distance, lateral spacing distance, and motion trajectory, wherein the endpoints of the multiple avoidance paths are distributed around the collision point.

[0008] Optionally, based on the assignment information corresponding to each avoidance path, a detection area for detecting some of the avoidance paths among multiple avoidance paths is determined, including: sequentially numbering the multiple avoidance paths and determining the number of each avoidance path as the assignment information of the corresponding avoidance path; determining an initial target area based on the assignment information, wherein the lower boundary value of the initial target area is the starting number of the multiple avoidance paths, and the upper boundary value of the initial target area is the ending number of the multiple avoidance paths; determining the detection area based on the initial target area using a bisection method, wherein the lower boundary value of the detection area is the starting number, and the upper boundary value of the detection area is an integer value that is half the sum of the starting number and the ending number, or the lower boundary value of the detection area is an integer value that is half the sum of the starting number and the ending number, and the upper boundary value of the detection area is the ending number.

[0009] Optionally, the method includes: detecting the detection area, wherein the next boundary value of the detection area is the starting number, and the previous boundary value of the detection area is an integer value that is half the sum of the starting number and the ending number; if the detection result indicates a collision, the next boundary value of the current detection area is incremented by 1, and the detection area with the redefined next boundary value is detected.

[0010] Optionally, the method further includes: during the detection of avoidance paths within the detection area, determining whether the next boundary value of the detection area is greater than or equal to the previous boundary value; if so, stopping the detection of the current detection area.

[0011] Optionally, multiple alternative avoidance paths are generated based on location information, status information, turning intention, and operating condition information. This includes generating multiple alternative avoidance paths according to preset rules based on location information, status information, turning intention, and operating condition information. The preset rules include at least one of the following: ranking the probability of collision for each avoidance path, ranking the economic losses caused by collision for each avoidance path, and ranking the magnitude of legal liability caused by collision for each avoidance path.

[0012] According to another aspect of the present invention, a vehicle collision avoidance path determination device is also provided, comprising: an acquisition unit, configured to acquire location information, state information of a dangerous target, and operating condition information of the vehicle, as well as the steering intention of the target object, wherein the location information is the location information of the collision point when the vehicle and the dangerous target are about to collide; a generation unit, configured to generate multiple alternative avoidance paths based on the location information, state information, steering intention, and operating condition information; a determination unit, configured to determine a detection area for detecting some of the multiple avoidance paths according to the assignment information corresponding to each avoidance path, wherein the detection area includes an upper limit value and a lower limit value; a detection unit, configured to detect each avoidance path within the detection area and obtain a detection result, wherein the detection result includes collision occurred and no collision occurred; and a control unit, configured to control the vehicle to perform a collision avoidance operation based on the current avoidance path within the detection area when the detection result within the detection area is no collision and the upper limit value and the lower limit value meet preset conditions.

[0013] According to another aspect of the present invention, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein, when the program is running, the device where the non-volatile storage medium is located executes the above-described method for determining a vehicle collision avoidance path.

[0014] According to another aspect of the present invention, a vehicle is also provided, which performs collision avoidance operations using the method for determining the vehicle collision avoidance path described above.

[0015] In the technical solution of this application, the collision point when a vehicle is about to collide with a dangerous target is obtained. Based on the detected position, status, steering intention, and operating condition information of the vehicle and the dangerous target, multiple alternative collision avoidance paths are generated. Furthermore, the collision avoidance paths are detected to form detection areas based on the corresponding value information. The avoidance path is then determined by partitioning the detection areas based on their upper and lower bounds. This allows the vehicle to quickly and accurately prevent collisions with dangerous targets, thus ensuring the safety of passengers inside the vehicle. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a hardware structure block diagram of a computer terminal for a method of determining an optional vehicle collision avoidance path according to an embodiment of the present invention.

[0018] Figure 2 This is a flowchart of an optional vehicle collision avoidance path determination method according to an embodiment of the present invention;

[0019] Figure 3 This is a structural block diagram of an optional vehicle collision avoidance path determination device according to an embodiment of the present invention;

[0020] Figure 4 This is a flowchart of an optional vehicle collision avoidance path determination method according to an embodiment of the present invention;

[0021] Figure 5 This is a flowchart of an optional method for determining a vehicle collision avoidance path according to an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] According to an embodiment of the present invention, a method for determining a vehicle collision avoidance path is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] This method embodiment can be executed in an electronic device or similar computing device that includes memory and a processor within a vehicle. Taking an electronic device running in a vehicle as an example, such as... Figure 1 As shown, the vehicle's electronic devices may include one or more processors 102 (processors may include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microprocessors (MCUs), programmable logic devices (FPGAs), neural network processors (NPUs), tensor processors (TPUs), artificial intelligence (AI) type processors, etc.) and a memory 104 for storing data. Optionally, the vehicle's electronic devices may also include a transmission device 106 for communication functions, an input / output device 108, and a display device 110. Those skilled in the art will understand that... Figure 1 The structures shown are for illustrative purposes only and do not limit the structure of the electronic devices in the vehicle described above. For example, the vehicle's electronic devices may include more or fewer components than those described above, or have a different configuration than those described above.

[0026] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle recharging method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned vehicle recharging method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0027] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0028] Display device 110 can be, for example, a touchscreen liquid crystal display (LCD) and a touch display (also referred to as a "touchscreen" or "touch display screen"). The LCD allows a user to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows the user to interact with the GUI via finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, a call interface, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0029] Figure 2 This is a method for determining a vehicle collision avoidance path according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps: Step S102, acquiring location information, state information of the dangerous target, and operating condition information of the vehicle, as well as the steering intention of the target object, wherein the location information is the location information of the collision point when the vehicle and the dangerous target are about to collide; Step S104, generating multiple alternative avoidance paths based on the location information, state information, steering intention, and operating condition information; Step S106, determining a detection area for detecting some of the multiple avoidance paths according to the assignment information corresponding to each avoidance path, wherein the detection area includes the upper limit value and the lower limit value; Step S108, detecting each avoidance path within the detection area and obtaining the detection result, wherein the detection result includes collision occurred and no collision occurred; Step S1010, when the detection result within the detection area is no collision, and the upper limit value and the lower limit value meet the preset conditions, controlling the vehicle to perform a collision avoidance operation based on the current avoidance path within the detection area.

[0030] Through the above steps, the collision point when the vehicle is about to collide with a dangerous target is obtained. Based on the detected position, status, steering intention, and operating condition information of the vehicle and the dangerous target, multiple alternative collision avoidance paths are generated. Furthermore, the collision avoidance paths are detected to form detection areas based on the assigned values ​​corresponding to the paths. The final avoidance path is determined by partitioning the detection areas based on their upper and lower bounds. This allows the vehicle to quickly and accurately prevent collisions with dangerous targets, ensuring the safety of passengers inside the vehicle.

[0031] Optionally, multiple alternative avoidance paths are generated based on location information, status information, steering intention, and operating condition information. This includes: determining the trajectory of the hazardous target based on location and status information, wherein the status information includes at least one of the following: the hazardous target's speed, acceleration, heading angle, and coordinates of the hazardous target's location; and generating multiple avoidance paths based on steering intention, operating condition information, and the trajectory, wherein the operating condition information includes at least one of the following: the vehicle's speed, acceleration, heading angle, curvature, rate of change of curvature, and coordinates of the vehicle's location. This setting allows for the selection of safer avoidance paths based on the hazardous target's trajectory and the vehicle's own location information, effectively increasing the accuracy of the selected avoidance paths.

[0032] like Figure 4 As shown, multiple avoidance paths are generated based on steering intention, operating condition information, and motion trajectory. This includes: determining the longitudinal and lateral spacing of multiple avoidance paths based on the vehicle's speed; and generating multiple collision avoidance paths based on steering intention, longitudinal spacing, lateral spacing, and motion trajectory. The endpoints of these multiple avoidance paths are distributed around the collision point. This setup allows for the selection of reliable collision avoidance paths centered on the collision point based on the positional confidence between the vehicle and the hazardous target, effectively increasing the accuracy of the selected avoidance paths.

[0033] like Figure 5As shown, based on the assignment information corresponding to each avoidance path, a detection area is determined for detecting some of the multiple avoidance paths. This includes: sequentially numbering the multiple avoidance paths and determining the number of each avoidance path as the assignment information for the corresponding avoidance path; determining an initial target area based on the assignment information, wherein the lower boundary value of the initial target area is the starting number of the multiple avoidance paths, and the upper boundary value of the initial target area is the ending number of the multiple avoidance paths; determining the detection area based on the initial target area using a bisection method, wherein the lower boundary value of the detection area is the starting number, and the upper boundary value of the detection area is an integer value that is half the sum of the starting number and the ending number, or the lower boundary value of the detection area is an integer value that is half the sum of the starting number and the ending number, and the upper boundary value of the detection area is the ending number. In this embodiment, if the driver intends to turn, alternative collision avoidance paths are generated based on the vehicle's relevant information and the collision point coordinates. The endpoint of the collision avoidance path is used to surround the collision point, and the longitudinal and lateral intervals are selected based on the vehicle speed and the calibrated data. Figure 5 As shown, there are 5 intervals vertically and 5 intervals horizontally, for a total of 25 endpoints. The generated candidate paths are sorted by priority (from right to left, from top to bottom), and a binary search method is used to perform collision detection with the target predicted path in turn. The 25 endpoints correspond to 25 different collision avoidance paths. The binary search method improves the filtering speed and effectively prevents vehicle collisions.

[0034] Optionally, the method includes: detecting a detection area, wherein the lower bound value of the detection area is the starting number, and the upper bound value of the detection area is an integer value equal to half the sum of the starting number and the ending number; if the detection result indicates a collision, the lower bound value of the current detection area is incremented by 1, and the detection area with the redefined lower bound value is then detected. For example, in this embodiment, the initial state boundary value can be set to 1, and the upper bound value can be set to 25. First, the candidate path with a sequence number equal to (upper bound value + lower bound value) / 2 (rounded) and the predicted path of the dangerous target are selected for collision detection. If the detection result indicates no collision, the upper bound value is updated to the sequence number, and the above process is repeated; if the detection result indicates a collision, the lower bound value is updated to the sequence number plus 1, and the above process is repeated for collision detection. This setting effectively monitors vehicles, calculates based on their movement trajectory and the movement trajectory of dangerous targets, prevents the danger of vehicle collisions, protects the occupants of the vehicle, and effectively avoids economic losses.

[0035] Specifically, the method further includes: during the detection of avoidance paths within the detection area, determining whether the lower bound of the detection area is greater than or equal to the upper bound; if so, stopping the detection of the current detection area. In this embodiment, if the lower bound is greater than or equal to the upper bound, the above process is exited. If the collision prediction result of this path is no collision, then this path is the optimal avoidance path and is output to the subsequent planning and control module; if it is a collision, then it is output that there is no effective collision avoidance path in this group of candidate paths. This setting can effectively determine whether the avoidance path is effective, prevent the danger of vehicle collision, and protect the people inside the vehicle.

[0036] Optionally, based on location information, status information, turning intention, and operating condition information, multiple alternative avoidance paths are generated, including: generating multiple alternative avoidance paths according to preset rules based on location information, status information, turning intention, and operating condition information, wherein the preset rules include at least one of the following: ranking the probability of collision for each avoidance path, ranking the economic losses caused by collision for each avoidance path, and ranking the magnitude of legal liability caused by collision for each avoidance path. For example, such as... Figure 5 As shown, the generated alternative paths can also be sorted by priority (from right to left, from top to bottom). This effectively reduces economic losses from vehicles and dangerous targets, which can be pedestrians, moving vehicles, or walking animals, i.e., dangerous targets can be objects with irregular movement trajectories.

[0037] Embodiments of this application also provide a device for determining a vehicle collision avoidance path, such as... Figure 3 As shown, the vehicle collision avoidance path determination device includes: an acquisition unit 40, used to acquire position information, state information of the dangerous target, and operating condition information of the vehicle, as well as the steering intention of the target object, wherein the position information is the position information of the collision point when the vehicle and the dangerous target are about to collide; a generation unit 42, used to generate multiple alternative avoidance paths based on the position information, state information, steering intention, and operating condition information; a determination unit 44, used to determine a detection area for detecting some of the multiple avoidance paths according to the assignment information corresponding to each avoidance path, wherein the detection area includes an upper limit value and a lower limit value; a detection unit 46, used to detect each avoidance path within the detection area and obtain detection results, wherein the detection results include collision occurred and no collision occurred; and a control unit 48, used to control the vehicle to perform collision avoidance operations based on the current avoidance path within the detection area when the detection result within the detection area is no collision and the upper limit value and the lower limit value meet preset conditions.

[0038] An embodiment of this application also provides a non-volatile storage medium, which includes a stored program, wherein, when the program is running, it controls the device where the non-volatile storage medium is located to execute the above-described method for determining the vehicle collision avoidance path.

[0039] An embodiment of this application also provides a vehicle that performs collision avoidance operations using the above-described method for determining vehicle collision avoidance paths.

[0040] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0041] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0042] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0043] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0044] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0045] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0046] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for determining a vehicle collision avoidance path, characterized in that, include: The system acquires location information, status information of the dangerous target, operating condition information of the vehicle, and steering intention of the target object, wherein the location information is the location information of the collision point when the vehicle and the dangerous target are about to collide; Based on the location information, the status information, the turning intention, and the operating condition information, multiple alternative avoidance paths are generated; Based on the assignment information corresponding to each of the avoidance paths, a detection area is determined for detecting a portion of the avoidance paths among the multiple avoidance paths, wherein the detection area includes the previous value and the next value; Each of the avoidance paths within the detection area is detected to obtain detection results, wherein the detection results include collision occurred and no collision occurred; If the detection result within the detection area is that no collision has occurred, and the upper and lower bound values ​​meet preset conditions, the vehicle is controlled to perform a collision avoidance operation based on the current avoidance path within the detection area. Based on the assignment information corresponding to each of the avoidance paths, a detection region is determined for detecting a portion of the avoidance paths among the multiple avoidance paths, including: The multiple avoidance paths are sequentially numbered, and the number of each avoidance path is determined as the corresponding value information for the avoidance path; An initial target region is determined based on the assigned information, wherein the lower boundary value of the initial target region is the starting number of the multiple avoidance paths, and the upper boundary value of the initial target region is the ending number of the multiple avoidance paths; The detection region is determined using a bisection method based on the initial target region, wherein the lower boundary value of the detection region is the starting number, and the upper boundary value of the detection region is an integer value that is half the sum of the starting number and the ending number; or, the lower boundary value of the detection region is an integer value that is half the sum of the starting number and the ending number, and the upper boundary value of the detection region is the ending number.

2. The determination method according to claim 1, characterized in that, Based on the location information, the status information, the turning intention, and the operating condition information, multiple alternative avoidance paths are generated, including: The trajectory of the dangerous target is determined based on the location information and the state information, wherein the state information includes at least one of the following: the speed, acceleration, heading angle of the dangerous target, and the coordinate information of the location of the dangerous target; Based on the steering intention and the operating condition information, as well as the motion trajectory, multiple avoidance paths are generated, wherein the operating condition information includes at least one of the following: the vehicle's speed, acceleration, heading angle, curvature, rate of change of curvature, and coordinate information of the vehicle's position.

3. The determination method according to claim 2, characterized in that, Based on the steering intention, the operating condition information, and the motion trajectory, multiple avoidance paths are generated, including: The longitudinal and lateral spacing distances of the multiple avoidance paths are determined based on the vehicle speed. Multiple avoidance paths are generated based on the steering intention, the longitudinal interval distance, the lateral interval distance, and the motion trajectory, wherein the endpoints of the multiple avoidance paths are distributed around the collision point.

4. The determination method according to claim 1, characterized in that, The method includes: The detection area is detected, wherein the lower boundary value of the detection area is the starting number, and the upper boundary value of the detection area is an integer value that is half the sum of the starting number and the ending number; If the detection result indicates a collision, the next threshold value of the current detection area is incremented by 1, and the detection area for which the next threshold value has been redefined is then detected.

5. The determining method according to claim 1 or 4, characterized in that, The method further includes: During the detection of the avoidance path within the detection area, it is determined whether the next boundary value of the detection area is greater than or equal to the previous boundary value. If so, the detection of the current detection area is stopped.

6. The determination method according to claim 1, characterized in that, Based on the location information, the status information, the turning intention, and the operating condition information, multiple alternative avoidance paths are generated, including: Based on the location information, the status information, the turning intention, and the operating condition information, multiple alternative avoidance paths are generated according to preset rules. The preset rules include at least one of the following: ranking the probability of collision of each avoidance path, ranking the economic losses caused by collision of each avoidance path, and ranking the magnitude of legal liability caused by collision of each avoidance path.

7. A device for determining a vehicle collision avoidance path, characterized in that, The vehicle collision avoidance path determination device performs the vehicle collision avoidance path determination method according to any one of claims 1 to 6, including: The acquisition unit is used to acquire location information, status information of the dangerous target, operating condition information of the vehicle, and steering intention of the target object, wherein the location information is the location information of the collision point when the vehicle and the dangerous target are about to collide; The generation unit is used to generate multiple alternative avoidance paths based on the location information, the status information, the turning intention, and the operating condition information. The determining unit is configured to determine a detection region for detecting a portion of the multiple avoidance paths based on the assignment information corresponding to each avoidance path, wherein the detection region includes an upper value and a lower value. A detection unit is used to detect each of the avoidance paths within the detection area and obtain detection results, wherein the detection results include collision occurred and no collision occurred; The control unit is configured to control the vehicle to perform a collision avoidance operation based on the current avoidance path within the detection area when the detection result within the detection area is that no collision has occurred and the upper and lower bound values ​​meet preset conditions. Based on the assignment information corresponding to each of the avoidance paths, a detection region is determined for detecting a portion of the avoidance paths among the multiple avoidance paths, including: The multiple avoidance paths are sequentially numbered, and the number of each avoidance path is determined as the corresponding value information for the avoidance path; An initial target region is determined based on the assigned information, wherein the lower boundary value of the initial target region is the starting number of the multiple avoidance paths, and the upper boundary value of the initial target region is the ending number of the multiple avoidance paths; The detection region is determined using a bisection method based on the initial target region, wherein the lower boundary value of the detection region is the starting number, and the upper boundary value of the detection region is an integer value that is half the sum of the starting number and the ending number; or, the lower boundary value of the detection region is an integer value that is half the sum of the starting number and the ending number, and the upper boundary value of the detection region is the ending number.

8. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the non-volatile storage medium to perform the vehicle collision avoidance path determination method according to any one of claims 1 to 6.

9. A vehicle, characterized in that, The vehicle performs collision avoidance operations using the collision avoidance path determination method described in any one of claims 1 to 6.

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