A collision avoidance method and a collision avoidance device for a vehicle

Abstract

The application provides a collision avoidance method and device for a vehicle, the method comprising: obtaining an ultrasonic reflection time of each ultrasonic generator in a plurality of ultrasonic generators after a target vehicle is started in a predetermined gear; determining a slope of a road at a predetermined position in a travel direction of the target vehicle based on the ultrasonic reflection time of any two adjacent ultrasonic generators and a set interval; when the slope is greater than a maximum climbing angle in the predetermined gear, determining a vehicle front distance between the target vehicle and the road based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators; and when the vehicle front distance is less than a predetermined distance and a vehicle speed of the target vehicle is less than a predetermined vehicle speed, controlling an emergency braking device to brake the vehicle. Through the method and device, the collision situation of the vehicle in the road ahead can be accurately predicted, and corresponding control can be made in time, so that the vehicle collision can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent vehicles, in particular to a vehicle anti-collision method and device. BACKGROUND

[0002] During the driving or reversing process of a vehicle, in the case that the road condition in front of the vehicle changes, such as a steep slope appearing in front of the vehicle, there is usually a possibility of colliding with the chassis or shell of the vehicle, causing damage to the vehicle.

[0003] At present, it is usually through the experience of the driver to predict whether the vehicle will collide with the road condition in front and make corresponding control to avoid the vehicle from colliding. However, due to the lack of experience of some drivers, the driver's prediction error often occurs, and sometimes the driver cannot control the vehicle in time even if the driver's prediction is correct, resulting in the collision of the vehicle and unnecessary loss. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a vehicle anti-collision method and device, which can accurately predict the collision of the vehicle in front of the road condition and make corresponding control in time, thereby avoiding the collision of the vehicle.

[0005] In a first aspect, the embodiments of the present application provide a vehicle anti-collision method, which comprises:

[0006] After a target vehicle starts a predetermined gear, the ultrasonic reflection time of each ultrasonic generator in a plurality of ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle is obtained;

[0007] Based on the ultrasonic reflection time and the setting interval of any two adjacent ultrasonic generators in the plurality of ultrasonic generators, the slope of the road at a predetermined position in the travel direction of the target vehicle is determined;

[0008] When the slope is greater than the maximum climbing angle under the predetermined gear, the front vehicle distance between the target vehicle and the road is determined based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators;

[0009] When the front vehicle distance is less than a predetermined distance and the vehicle speed of the target vehicle is less than a predetermined vehicle speed, the emergency brake device on the target vehicle is controlled to brake the vehicle.

[0010] Optionally, the predetermined gear includes a forward gear and a reverse gear;

[0011] When the predetermined gear is a forward gear, the ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle are a plurality of front ultrasonic generators arranged at a front part of the target vehicle.

[0012] When the predetermined gear is a reverse gear, the ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle are a plurality of rear ultrasonic generators arranged at a rear part of the target vehicle.

[0013] Optionally, the step of determining the slope of the road at the predetermined position in the direction of travel of the target vehicle based on the ultrasonic reflection time and the arrangement interval of any two adjacent ultrasonic generators in the plurality of ultrasonic generators comprises:

[0014] For any two adjacent ultrasonic generators in the plurality of ultrasonic generators, determining a reflection distance difference of the any two adjacent ultrasonic generators based on the ultrasonic reflection time of the any two adjacent ultrasonic generators;

[0015] Determining a slope corresponding to the any two adjacent ultrasonic generators based on the reflection distance difference and the arrangement interval of the any two adjacent ultrasonic generators;

[0016] Selecting a plurality of intermediate slopes from all the slopes except the maximum slope and the minimum slope;

[0017] Determining an average value of the plurality of intermediate slopes as the slope of the road at the predetermined position in the direction of travel of the target vehicle.

[0018] Optionally, when the predetermined gear is a forward gear, the maximum climbing angle under the predetermined gear is a maximum climbing angle of the front part of the target vehicle; when the predetermined gear is a reverse gear, the maximum climbing angle under the predetermined gear is a maximum climbing angle of the rear part of the target vehicle.

[0019] Optionally, the maximum climbing angle of the front part of the target vehicle is determined by:

[0020] Determining the maximum climbing angle of the front part of the target vehicle based on the height of the front bottom part of the target vehicle to the front wheel bottom horizontal plane and the vehicle body distance of the front bottom part of the target vehicle to the front wheel center;

[0021] The maximum climbing angle of the rear part of the target vehicle is determined by:

[0022] Determining the maximum climbing angle of the rear part of the target vehicle based on the height of the rear bottom part of the target vehicle to the rear wheel bottom horizontal plane and the vehicle body distance of the rear bottom part of the target vehicle to the rear wheel center.

[0023] Optionally, when the slope is greater than the maximum climbing angle of the target vehicle, the step of determining the front distance of the target vehicle from the road surface based on the ultrasonic wave reflection time of each of the plurality of ultrasonic wave generators comprises:

[0024] When the slope is greater than the maximum climbing angle of the target vehicle, the front distance of each of the plurality of ultrasonic wave generators from the road surface is determined based on the ultrasonic wave reflection time of each of the plurality of ultrasonic wave generators.

[0025] The minimum front distance of the front distances is determined as the front distance of the target vehicle from the road surface.

[0026] Optionally, when the slope is less than the maximum climbing angle of the target vehicle, the anti-collision method further comprises:

[0027] Generating a warning to remind the passenger of the impending collision.

[0028] In a second aspect, an embodiment of the present application provides an anti-collision device of a vehicle, the anti-collision device comprising:

[0029] An acquisition module configured to, after a target vehicle is started in a predetermined gear, acquire an ultrasonic wave reflection time of each of a plurality of ultrasonic wave generators corresponding to the predetermined gear and arranged on the target vehicle.

[0030] A slope determination module configured to determine a slope of a road surface at a predetermined position in a travel direction of the target vehicle based on the ultrasonic wave reflection time of any two adjacent ultrasonic wave generators of the plurality of ultrasonic wave generators and a setting interval.

[0031] A distance determination module configured to, when the slope is greater than a maximum climbing angle in the predetermined gear, determine a front distance of the target vehicle from the road surface based on the ultrasonic wave reflection time of each of the plurality of ultrasonic wave generators.

[0032] A braking module configured to, when the front distance is less than a predetermined distance and a vehicle speed of the target vehicle is less than a predetermined vehicle speed, control an emergency braking device on the target vehicle to brake the vehicle.

[0033] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating through the bus when the electronic device is running, and the machine-readable instructions being executed by the processor to perform the steps of the anti-collision method as described above.

[0034] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is run by a processor, the steps of the anti-collision method are executed.

[0035] The anti-collision method and the anti-collision device provided by the embodiments of the present application can accurately predict the collision situation of a vehicle in front road conditions and make corresponding control in time, so as to avoid the collision of the vehicle.

[0036] In order to make the above objectives, characteristics and advantages of the present application more apparent, clear and easy to understand, the following will specifically describe the preferred embodiments, and the accompanying drawings will be described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0038] Figure 1 A flow chart of an anti-collision method of a vehicle is shown;

[0039] Figure 2 A structural schematic diagram of an anti-collision device of a vehicle is shown;

[0040] Figure 3 A structural schematic diagram of an electronic device is shown. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the embodiments of the present application more apparent, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by those skilled in the art without creative labor belongs to the scope of the present application.

[0042] Currently, whether the vehicle will collide with the front road condition is usually predicted by the experience of the driver, and the corresponding control is made to avoid the vehicle from colliding.

[0043] Based on this, the embodiment of the present application provides a vehicle anti-collision method and a vehicle anti-collision device, which can accurately predict the collision of the vehicle in the front road condition and make corresponding control in time, thereby avoiding the vehicle from colliding.

[0044] Please refer to Figure 1 , Figure 1 A flowchart of a vehicle anti-collision method provided by the embodiment of the present application is shown in FIG. 1. Figure 1 The vehicle anti-collision method provided by the embodiment of the present application includes the following steps:

[0045] S101, after a target vehicle starts a predetermined gear, the ultrasonic wave reflection time of each ultrasonic wave generator in a plurality of ultrasonic wave generators corresponding to the predetermined gear and arranged on the target vehicle is acquired.

[0046] Here, the predetermined gear includes a forward gear and a reverse gear. When the predetermined gear is the forward gear, the plurality of ultrasonic wave generators corresponding to the predetermined gear and arranged on the target vehicle are a plurality of front ultrasonic wave generators arranged at the front part of the target vehicle; when the predetermined gear is the reverse gear, the plurality of ultrasonic wave generators corresponding to the predetermined gear and arranged on the target vehicle are a plurality of rear ultrasonic wave generators arranged at the rear part of the target vehicle.

[0047] The reflection time is the time used from the time when the ultrasonic wave generator emits the ultrasonic wave to the time when the target vehicle receives the ultrasonic wave returned by the ultrasonic wave generator.

[0048] As an example, the ultrasonic wave generator can be a radar.

[0049] S102, based on the ultrasonic wave reflection time and the setting interval of any two adjacent ultrasonic wave generators in the plurality of ultrasonic wave generators, the slope of the road at a predetermined position in the travel direction of the target vehicle is determined.

[0050] As an example, this step can include:

[0051] S1021、For any two adjacent ultrasonic generators in the plurality of ultrasonic generators, based on the ultrasonic reflection time of the any two adjacent ultrasonic generators, determine the reflection distance difference of the any two adjacent ultrasonic generators.

[0052] For example, based on the ultrasonic reflection time of the any two adjacent ultrasonic generators, the reflection distance difference of the any two adjacent ultrasonic generators can be determined by using the following formula:

[0053]

[0054] Wherein, C is the propagation speed of light in air, t i is the ultrasonic reflection time of the i-th ultrasonic generator, t i+1 is the ultrasonic reflection time of the ultrasonic generator adjacent to the i-th ultrasonic generator, L i is the reflection distance difference of the i-th ultrasonic generator and the ultrasonic generator adjacent to the i-th ultrasonic generator.

[0055] S1022, based on the reflection distance difference of the any two adjacent ultrasonic generators and the setting interval, determine the slope corresponding to the any two adjacent ultrasonic generators.

[0056] For example, based on the reflection distance difference of the any two adjacent ultrasonic generators and the setting interval, the slope θ i corresponding to the any two adjacent ultrasonic generators can be determined by using the following formula:

[0057]

[0058] Wherein, H i is the setting interval of the any two adjacent ultrasonic generators.

[0059] S1023, from all slopes, filter out a plurality of intermediate slopes except the maximum slope and the minimum slope.

[0060] For example, when all slopes have a total of 10, the plurality of intermediate slopes filtered out are the remaining 8 slopes except the maximum slope and the minimum slope.

[0061] S1024, determine the average value of the plurality of intermediate slopes as the slope of the road surface at the predetermined position in the target vehicle travel direction.

[0062] Here, when the predetermined gear is the forward gear, the vehicle travel direction is the forward direction, and when the predetermined gear is the reverse gear, the vehicle travel direction is the reverse direction.

[0063] S103, when the slope is greater than the maximum climbing angle at the predetermined gear, determining a front distance of the target vehicle from the road surface based on an ultrasonic wave reflection time of each of the plurality of ultrasonic wave generators.

[0064] Here, when the predetermined gear is a forward gear, the maximum climbing angle at the predetermined gear is a maximum climbing angle of a front part of the target vehicle; when the predetermined gear is a reverse gear, the maximum climbing angle at the predetermined gear is a maximum climbing angle of a rear part of the target vehicle.

[0065] As an example, the maximum climbing angle of the front part of the target vehicle can be determined in the following manner:

[0066] determining the maximum climbing angle of the front part of the target vehicle based on a height of a front bottom part of the target vehicle to a front wheel bottom horizontal plane and a vehicle body distance of the front bottom part of the target vehicle to a front wheel center;

[0067] For example, the maximum climbing angle θ of the front part of the target vehicle can be determined based on the height of the front bottom part of the target vehicle to the front wheel bottom horizontal plane and the vehicle body distance of the front bottom part of the target vehicle to the front wheel center, using the following formula: h :

[0068]

[0069] wherein H h is the height of the front bottom part of the target vehicle to the front wheel bottom horizontal plane; and L h is the vehicle body distance of the front bottom part of the target vehicle to the front wheel center.

[0070] The maximum climbing angle of the rear part of the target vehicle can be determined in the following manner:

[0071] determining the maximum climbing angle of the rear part of the target vehicle based on a height of a rear bottom part of the target vehicle to a rear wheel bottom horizontal plane and a vehicle body distance of the rear bottom part of the target vehicle to a rear wheel center.

[0072] For example, the maximum climbing angle θ of the rear part of the target vehicle can be determined based on the height of the rear bottom part of the target vehicle to the rear wheel bottom horizontal plane and the vehicle body distance of the rear bottom part of the target vehicle to the rear wheel center, using the following formula: b :

[0073]

[0074] wherein H b is the height of the front bottom part of the target vehicle to the front wheel bottom horizontal plane; and L bA vehicle body distance from a bottom of a vehicle head of the target vehicle to a wheel center of a front wheel.

[0075] As an example, step S103 can comprise, when the slope is greater than a maximum climbing angle of the target vehicle, determining a vehicle front distance of each of the plurality of ultrasonic generators from the road surface based on the ultrasonic reflection time of each of the plurality of ultrasonic generators.

[0076] For example, the vehicle front distance of each of the plurality of ultrasonic generators from the road surface can be determined based on the ultrasonic reflection time of each of the plurality of ultrasonic generators by using the following formula:

[0077]

[0078] wherein D i is the vehicle front distance of the i-th ultrasonic generator from the road surface.

[0079] The smallest vehicle front distance in the vehicle front distances is determined as the vehicle front distance of the target vehicle from the road surface.

[0080] In addition, when the slope is greater than the maximum climbing angle of the target vehicle, a pre-warning reminding the passenger of an impending collision can be generated.

[0081] Here, the passenger can choose to reduce the vehicle speed or stop immediately after receiving the pre-warning.

[0082] S104, when the vehicle front distance is less than a predetermined distance and the vehicle speed of the target vehicle is less than a predetermined vehicle speed, controlling an emergency brake device on the target vehicle to brake the vehicle.

[0083] Here, the predetermined distance is set according to actual conditions.

[0084] In the above manner, the collision situation of the vehicle in the front road condition can be accurately predicted, and the vehicle is braked in an emergency in the case of a small speed, thereby avoiding the situation that the driver cannot control the vehicle in time, resulting in a collision of the vehicle.

[0085] Please refer to Figure 2 , Figure 2 A structure diagram of a vehicle anti-collision device provided by an exemplary embodiment of the present application. As shown in Figure 2 The anti-collision device 200 comprises:

[0086] The acquisition module 210 is configured to acquire an ultrasonic reflection time of each of the plurality of ultrasonic generators through the plurality of ultrasonic generators corresponding to the predetermined gear of the target vehicle after the target vehicle is started in the predetermined gear.

[0087] a slope determination module 220, configured to determine a slope of a road at a predetermined position in a travel direction of the target vehicle based on the ultrasonic reflection time and the set interval of any two adjacent ultrasonic generators in the plurality of ultrasonic generators;

[0088] a distance determination module 230, configured to determine a front distance between the target vehicle and the road based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators when the slope is greater than a maximum climbing angle at the predetermined gear;

[0089] a braking module 240, configured to control an emergency braking device on the target vehicle to brake the target vehicle when the front distance is less than a predetermined distance and a vehicle speed of the target vehicle is less than a predetermined vehicle speed.

[0090] Optionally, the predetermined gear includes a forward gear and a reverse gear.

[0091] When the predetermined gear is the forward gear, the plurality of ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle are a plurality of front ultrasonic generators arranged at a front part of the target vehicle.

[0092] When the predetermined gear is the reverse gear, the plurality of ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle are a plurality of rear ultrasonic generators arranged at a rear part of the target vehicle.

[0093] Optionally, the slope determination module 220 is specifically configured to:

[0094] for any two adjacent ultrasonic generators in the plurality of ultrasonic generators, determine a reflection distance difference of the any two adjacent ultrasonic generators based on the ultrasonic reflection time of the any two adjacent ultrasonic generators;

[0095] determine a slope corresponding to the any two adjacent ultrasonic generators based on the reflection distance difference of the any two adjacent ultrasonic generators and the set interval;

[0096] filter a plurality of intermediate slopes from all slopes, except for a maximum slope and a minimum slope;

[0097] determine an average value of the plurality of intermediate slopes as the slope of the road at the predetermined position in the travel direction of the target vehicle.

[0098] Optionally, when the predetermined gear is the forward gear, the maximum climbing angle at the predetermined gear is a maximum climbing angle of the front part of the target vehicle; and when the predetermined gear is the reverse gear, the maximum climbing angle at the predetermined gear is a maximum climbing angle of the rear part of the target vehicle.

[0099] Optionally, the anti-collision device further comprises a predetermination module 250 (not shown in the figure), which is specifically used for:

[0100] The maximum climbing angle of the front part of the target vehicle is determined by:

[0101] The maximum climbing angle of the front part of the target vehicle is determined based on the height of the front bottom of the target vehicle to the horizontal plane of the front wheel bottom and the vehicle body distance from the front bottom of the target vehicle to the front wheel center.

[0102] The maximum climbing angle of the rear part of the target vehicle is determined by:

[0103] The maximum climbing angle of the rear part of the target vehicle is determined based on the height of the rear bottom of the target vehicle to the horizontal plane of the rear wheel bottom and the vehicle body distance from the rear bottom of the target vehicle to the rear wheel center.

[0104] Optionally, the distance determination module 230 is specifically used for:

[0105] When the slope is greater than the maximum climbing angle of the target vehicle, the front distance of each ultrasonic generator to the road surface is determined based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators.

[0106] The smallest front distance in the front distance is determined as the front distance of the target vehicle to the road surface.

[0107] Optionally, the anti-collision device further comprises a warning module 260 (not shown in the figure), which is specifically used for:

[0108] Generating a warning to remind the passenger of the impending collision.

[0109] The anti-collision device of the vehicle provided by the exemplary embodiments of the present application can accurately predict the collision of the vehicle in the front road condition and make corresponding control in time, so as to avoid the collision of the vehicle.

[0110] Please refer to Figure 3 , Figure 3 The structure of an electronic device provided by the embodiments of the present application is shown in FIG. 3. Figure 3 As shown in FIG. 3, the electronic device 300 comprises a processor 310, a memory 320 and a bus 330.

[0111] The memory 320 stores machine readable instructions executable by the processor 310. When the electronic device 300 is running, the processor 310 communicates with the memory 320 through the bus 330. The machine readable instructions are executed by the processor 310 to perform the steps of the anti-collision method in the above method embodiments. For details, refer to the method embodiments, which will not be repeated here.

[0112] The computer readable storage medium stores a computer program. When the computer program is run by the processor, the steps of the anti-collision method in the above method embodiments can be performed. For details, refer to the method embodiments, which will not be repeated here.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0114] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented by other ways. The device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interface, device or unit, which can be electrical, mechanical or other forms.

[0115] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0116] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0117] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0118] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can make modifications or easily think of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed by the present application, or make equivalent replacements to some of the technical features. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of collision avoidance for a vehicle, characterized by, The anti-collision method comprises: After a target vehicle starts a predetermined gear, the ultrasonic reflection time of each ultrasonic generator in a plurality of ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle is acquired; Based on the ultrasonic reflection time and the setting interval of any two adjacent ultrasonic generators in the plurality of ultrasonic generators, the slope of the road at a predetermined position in the direction of travel of the target vehicle is determined; When the slope is greater than the maximum climbing angle in the predetermined gear, the vehicle-front distance of the target vehicle from the road is determined based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators; When the vehicle-front distance is less than a predetermined distance and the vehicle speed of the target vehicle is less than a predetermined vehicle speed, the emergency brake device on the target vehicle is controlled to brake the vehicle; The predetermined gear comprises a forward gear and a reverse gear; When the predetermined gear is the forward gear, the plurality of ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle are a plurality of vehicle-front ultrasonic generators arranged at the front part of the target vehicle; When the predetermined gear is the reverse gear, the plurality of ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle are a plurality of vehicle-rear ultrasonic generators arranged at the rear part of the target vehicle; The step of determining the slope of the road at a predetermined position in the direction of travel of the target vehicle based on the ultrasonic reflection time and the setting interval of any two adjacent ultrasonic generators in the plurality of ultrasonic generators comprises: For any two adjacent ultrasonic generators in the plurality of ultrasonic generators, the reflection distance difference of the any two adjacent ultrasonic generators is determined based on the ultrasonic reflection time of the any two adjacent ultrasonic generators; Based on the reflection distance difference and the setting interval of the any two adjacent ultrasonic generators, the slope corresponding to the any two adjacent ultrasonic generators is determined; From all the slopes, a plurality of intermediate slopes other than the maximum slope and the minimum slope are screened out; The average of the plurality of intermediate slopes is determined as the slope of the road at the predetermined position in the direction of travel of the target vehicle; When the slope is greater than the maximum climbing angle of the target vehicle, the vehicle-front distance of the target vehicle from the road is determined based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators, comprising: When the slope is greater than the maximum climbing angle of the target vehicle, the vehicle-front distance of each ultrasonic generator from the road is determined based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators; The smallest vehicle-front distance in the vehicle-front distance is determined as the vehicle-front distance of the target vehicle from the road.

2. The anti-collision method according to claim 1, characterized in that, When the predetermined gear is the forward gear, the maximum climbing angle in the predetermined gear is the maximum climbing angle at the front part of the target vehicle; when the predetermined gear is the reverse gear, the maximum climbing angle in the predetermined gear is the maximum climbing angle at the rear part of the target vehicle.

3. The anti-collision method according to claim 2, characterized in that, The maximum climbing angle of the front part of the target vehicle is determined in the following manner: The maximum climbing angle of the front part of the target vehicle is determined based on the height of the bottom of the front part of the target vehicle to the horizontal plane of the bottom of the front wheel and the body distance from the bottom of the front part of the target vehicle to the center of the front wheel; The maximum climbing angle of the rear part of the target vehicle is determined in the following manner: The maximum climbing angle of the rear part of the target vehicle is determined based on the height of the bottom of the rear part of the target vehicle to the horizontal plane of the bottom of the rear wheel and the body distance from the bottom of the rear part of the target vehicle to the center of the rear wheel.

4. The anti-collision method according to claim 1, characterized in that, When the slope is less than the maximum climbing angle of the target vehicle, the anti-collision method further comprises: generating a warning to remind the passenger of the impending collision.

5. A collision avoidance device for a vehicle, characterized by comprising: The anti-collision device comprises: an acquisition module configured to acquire, after the target vehicle is started in a predetermined gear, the ultrasonic reflection time of each ultrasonic generator in a plurality of ultrasonic generators corresponding to the predetermined gear and arranged on the target vehicle; a slope determination module configured to determine the slope of the road at a predetermined position in the direction of travel of the target vehicle based on the ultrasonic reflection time and the set distance of any two adjacent ultrasonic generators in the plurality of ultrasonic generators; a distance determination module configured to, when the slope is greater than the maximum climbing angle in the predetermined gear, determine the front distance of each ultrasonic generator to the road based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators; a braking module configured to, when the front distance is less than a predetermined distance and the speed of the target vehicle is less than a predetermined speed, control an emergency braking device on the target vehicle to brake the vehicle; wherein the predetermined gear comprises a forward gear and a reverse gear; when the predetermined gear is the forward gear, the plurality of ultrasonic generators arranged on the target vehicle corresponding to the predetermined gear are a plurality of front ultrasonic generators arranged at the front part of the target vehicle; when the predetermined gear is the reverse gear, the plurality of ultrasonic generators arranged on the target vehicle corresponding to the predetermined gear are a plurality of rear ultrasonic generators arranged at the rear part of the target vehicle; the slope determination module is specifically configured to: for any two adjacent ultrasonic generators in the plurality of ultrasonic generators, determine the reflection distance difference of the two adjacent ultrasonic generators based on the ultrasonic reflection time of the two adjacent ultrasonic generators; determine the slope corresponding to the two adjacent ultrasonic generators based on the reflection distance difference and the set distance of the two adjacent ultrasonic generators; select a plurality of intermediate slopes from all slopes except the maximum slope and the minimum slope; determine the average of the plurality of intermediate slopes as the slope of the road at the predetermined position in the direction of travel of the target vehicle; the distance determination module is specifically configured to: when the slope is greater than the maximum climbing angle of the target vehicle, determine the front distance of each ultrasonic generator to the road based on the ultrasonic reflection time of each ultrasonic generator in the plurality of ultrasonic generators; The minimum vehicle front distance in the vehicle front distances is determined as the vehicle front distance of the target vehicle and the road surface.

6. An electronic device, comprising: The application relates to a method for preventing a collision, comprising the steps of: A processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, the machine readable instructions are executed by the processor to execute the steps of the collision prevention method in any one of claims 1 to 4.

7. A computer readable storage medium characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to execute the steps of the collision prevention method in any one of claims 1 to 4.

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