Avoidance Time Determination Method, Device, Equipment, and Storage Medium

Abstract

The present invention discloses a method, apparatus, device, and storage medium for determining an avoidance moment. The method includes: obtaining a reference avoidance reaction time of an auxiliary test vehicle at the current moment, and determining a continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time; determining a collision risk level between the auxiliary test vehicle and a test vehicle at the current moment, and determining a vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time; if it is determined that the vehicle avoidance reaction time is greater than a preset avoidance reaction threshold at the current moment, then determining the current moment as the avoidance moment of the auxiliary test vehicle. Through the technical solution disclosed by the present invention, the problem that there is a deviation between the simulation test result and the actual application in the simulation test, resulting in a poor test effect, is solved, and a higher authenticity of the obtained test result is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle testing, and in particular, to a method, device, equipment and storage medium for determining an avoidance moment. Background Art

[0002] During the process of vehicle simulation testing, since the obstacle vehicles around the test vehicle are automatically controlled by system instructions, when it detects that the test vehicle suddenly brakes sharply, the control system of the obstacle vehicle can also generate a sharp braking instruction instantaneously and control the obstacle vehicle to avoid the test vehicle, thus avoiding collision. However, in practical applications, if the surrounding vehicle suddenly brakes sharply, the current vehicle cannot make an instantaneous avoidance reaction, resulting in an error between the test results in the simulation test and the actual application, thereby leading to a poor test effect. Summary of the Invention

[0003] The present invention provides a method, device, equipment and storage medium for determining an avoidance moment. By adding an attention reaction mechanism to the obstacle vehicle during the simulation test process, the problem that there is a deviation between the simulation test results and the actual application, resulting in a poor test effect, is solved, and the authenticity of the obtained test results is made higher.

[0004] In a first aspect, an embodiment of the present invention provides a method for determining an avoidance moment, the method comprising:

[0005] Obtain the reference avoidance reaction time of the auxiliary test vehicle at the current moment, and determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time;

[0006] Determine the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time;

[0007] If it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment, then determine the current moment as the avoidance moment of the auxiliary test vehicle.

[0008] Optionally, the obtaining the reference avoidance reaction time of the auxiliary test vehicle at the current moment includes:

[0009] Obtain a preset road right priority determination model, and determine the road right priority of the auxiliary test vehicle at the current moment based on the road right priority determination model;

[0010] Determine the reference avoidance reaction time of the auxiliary test vehicle at the current moment based on the road right priority.

[0011] Optionally, determining the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time includes:

[0012] Obtaining the vehicle avoidance reaction time of the auxiliary test vehicle at the previous moment and the avoidance reaction threshold of the auxiliary test vehicle at the previous moment to determine the vehicle avoidance reaction coefficient of the auxiliary test vehicle;

[0013] Based on the avoidance reaction coefficient and the reference avoidance reaction time, determining the continuous avoidance reaction time of the auxiliary test vehicle at the current moment.

[0014] Optionally, the collision risk levels include severe risk, mild risk, and pre-emergence risk;

[0015] Correspondingly, determining the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time includes:

[0016] If it is determined that the collision risk level is severe risk, obtaining the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment, and determining the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the driving attention coefficient and the continuous avoidance reaction time;

[0017] If it is determined that the collision risk level is mild risk, determining the continuous avoidance reaction time as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment;

[0018] If it is determined that the collision risk level is mild risk, obtaining the attention decay time of the auxiliary test vehicle, and determining the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the attention decay time and the continuous avoidance reaction time.

[0019] Optionally, obtaining the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment includes:

[0020] Respectively obtaining the auxiliary center position and the auxiliary edge position of the auxiliary test vehicle at the current moment, and determining the auxiliary driving position of the auxiliary test vehicle at the current moment based on the auxiliary center position and the auxiliary edge position;

[0021] Obtaining the test edge position of the test vehicle at the current moment, and determining the auxiliary driving view angle between the auxiliary driving position and the test vehicle at the current moment based on the test edge position and the auxiliary driving position;

[0022] Based on the auxiliary driving view angle, determining the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment.

[0023] Optionally, determining the driving attention coefficient of the auxiliary test vehicle for the test vehicle at the current moment based on the auxiliary driving perspective includes:

[0024] Obtaining at least one perspective partition threshold of the auxiliary test vehicle at the current moment;

[0025] Based on each of the perspective partition thresholds, the auxiliary driving perspective, and a preset coefficient determination expression, determining the driving attention coefficient of the auxiliary test vehicle for the test vehicle at the current moment.

[0026] Optionally, obtaining at least one perspective partition threshold of the auxiliary test vehicle at the current moment includes:

[0027] Obtaining the right-of-way priority of the auxiliary test vehicle at the current moment, and determining at least one perspective partition threshold corresponding to the auxiliary test vehicle at the current moment based on the right-of-way priority.

[0028] In a second aspect, an embodiment of the present invention further provides an avoidance moment determination device, which includes:

[0029] A continuous avoidance reaction time determination module, configured to obtain the reference avoidance reaction time of the auxiliary test vehicle at the current moment, and determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time;

[0030] A vehicle avoidance reaction time determination module, configured to determine the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time;

[0031] An avoidance moment determination module, configured to, if it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment, determine the current moment as the avoidance moment of the auxiliary test vehicle.

[0032] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0033] At least one processor; and

[0034] A memory communicatively connected to the at least one processor; wherein,

[0035] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the avoidance moment determination method according to any embodiment of the present invention.

[0036] Fourthly, an embodiment of the present invention further provides a computer-readable storage medium storing computer instructions for causing a processor to implement the avoidance moment determination method according to any embodiment of the present invention when executed.

[0037] The technical solution provided by the embodiment of the present invention is to obtain the reference avoidance reaction time of the auxiliary test vehicle at the current moment, and determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time; determine the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time; if it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment, then determine the current moment as the avoidance moment of the auxiliary test vehicle. The above technical solution solves the problem that the simulation test results obtained in the simulation test deviate from the actual application, resulting in poor test effects, by presetting a risk avoidance reaction mechanism for the obstacle vehicle, and realizes higher authenticity of the obtained test results.

[0038] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0040] Figure 1 is a flowchart of a method for determining an avoidance moment according to Embodiment 1 of the present invention;

[0041] Figure 2 is a flowchart of a method for determining an avoidance moment according to Embodiment 1 of the present invention;

[0042] Figure 3 is a schematic diagram of the assisted driving position of an auxiliary test vehicle according to Embodiment 2 of the present invention;

[0043] Figure 4 is a schematic diagram of the assisted driving perspective of an auxiliary test vehicle according to Embodiment 2 of the present invention;

[0044] Figure 5 is a schematic structural diagram of an avoidance moment determination device according to Embodiment 3 of the present invention;

[0045] Figure 6 It is a schematic structural diagram of an electronic device for implementing the method for determining the avoidance moment in the embodiments of the present invention. Detailed implementation manners

[0046] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0048] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes, and are not used to limit the scope of these messages or information.

[0049] It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0050] For example, when responding to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested by the user will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, an application program, a server, or a storage medium that performs the operations of the technical solutions of the present disclosure according to the prompt message.

[0051] As an optional but non-limiting implementation manner, the manner of sending a prompt message to the user in response to receiving an active request from the user may be, for example, in the form of a pop-up window, and the prompt message may be presented in text in the pop-up window. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0052] It can be understood that the above process of notifying and obtaining the user's authorization is only illustrative and does not limit the implementation manners of the present disclosure. Other manners that meet relevant laws and regulations can also be applied to the implementation manners of the present disclosure.

[0053] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of data) should comply with the requirements of corresponding laws, regulations and related provisions.

[0054] Embodiment 1

[0055] Figure 1 FIG. 1 is a flowchart of a method for determining an avoidance moment provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of simulating and testing a vehicle. This method can be executed by an avoidance moment determining device, which can be implemented in the form of hardware and / or software, and the avoidance moment determining device can be configured in an intelligent terminal and a cloud server. As Figure 1 shown, the method includes:

[0056] S110. Obtain the reference avoidance reaction time of the auxiliary test vehicle at the current moment, and determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time.

[0057] In the embodiment of the present invention, the test vehicle can be understood as the vehicle under test that is undergoing simulation testing. The auxiliary test vehicle can be understood as a vehicle obstacle preset in the simulation test environment. Based on the test requirements, multiple auxiliary test vehicles can be preset around the test vehicle. During the process of simulating and testing the test vehicle, the technical solution of this embodiment adds an imitation of the attention mechanism to the auxiliary test vehicle in advance based on the reaction behavior of a real driver, so that the auxiliary test vehicle makes a more real reaction during the simulation test, and the authenticity of the test results of the simulation test is improved.

[0058] In this embodiment, the reference avoidance reaction time of the auxiliary test vehicle can be understood as the reference reaction time of a real driver from discovering the collision danger to making a collision avoidance. It should be noted that the reaction times of a real driver in different positions and different situations are also different. Based on this, the technical solution of this embodiment determines different reference reaction times based on the different positions of the auxiliary test vehicle in the simulation test environment.

[0059] Optionally, the method for determining the reference avoidance reaction time of the auxiliary test vehicle at the current moment in this embodiment may include: obtaining a preset road right priority determination model, determining the road right priority of the auxiliary test vehicle at the current moment based on the road right priority determination model; and determining the reference avoidance reaction time of the auxiliary test vehicle at the current moment based on the road right priority.

[0060] Specifically, the auxiliary test vehicle position at the current moment and the vehicle position of the test vehicle can be obtained, and the current auxiliary test vehicle position, the test vehicle position, and the simulation test environment are input into the pre-trained road right-of-way priority determination model to obtain the road right-of-way priority result output by the model. Of course, based on the training process of the road right-of-way priority determination model, the corresponding road right-of-way priority can also be determined based on other data of the auxiliary test vehicle, which is not limited in this embodiment. Optionally, the road right-of-way priority result may include that the road right-of-way priority of the test vehicle is higher than that of the auxiliary test vehicle, or the road right-of-way priority of the test vehicle is lower than that of the auxiliary test vehicle.

[0061] It should be noted that if the road right-of-way priority of the test vehicle is higher than that of the auxiliary test vehicle, the auxiliary test vehicle needs to pay attention to the test vehicle at all times in the simulation test environment. At this time, if the auxiliary test vehicle finds that it needs to make an avoidance reaction to the test vehicle, the required reference avoidance reaction time will be relatively short. On the contrary, if the road right-of-way priority of the test vehicle is higher than that of the auxiliary test vehicle, the auxiliary test vehicle will not pay attention to the test vehicle at all times in the simulation test environment. At this time, if the auxiliary test vehicle finds that it needs to make an avoidance reaction to the test vehicle, it will take a relatively long time from paying attention to the test vehicle to discovering the collision risk and then making an avoidance reaction, and the required reference avoidance reaction time will be relatively long.

[0062] Exemplarily, in the simulation test environment, the auxiliary test vehicle needs to change lanes from another lane and merge into the lane where the test vehicle is located. At this time, the road right-of-way priority of the auxiliary test vehicle is lower than that of the test vehicle, so the auxiliary test vehicle will divert part of its attention to the test vehicle. If the auxiliary test vehicle suddenly finds that the test vehicle brakes sharply at this time, based on the reaction principle that a real driver needs a short reaction time when paying attention, the reaction time required for the auxiliary test vehicle to generate a braking command for test auxiliary braking from the moment it discovers the test vehicle's sharp braking is set to 0.3 s, that is, a relatively short reference avoidance reaction time is required; on the contrary, in the simulation test environment, if the current road where the auxiliary test vehicle is located is green, while the other road where the test vehicle is traveling is red, at this time the road right-of-way priority of the auxiliary test vehicle is higher than that of the test vehicle, so the auxiliary test vehicle does not place its attention on the test vehicle. If the auxiliary test vehicle finds that the test vehicle does not brake when driving at the intersection where the two roads intersect, based on the reaction principle that a real driver needs a relatively long time to transfer attention from other places to the current event and make corresponding reactions, the reaction time required for the auxiliary test vehicle to generate a braking command for test auxiliary braking from the moment it discovers the test vehicle is set to 0.5 s, that is, a relatively long reference avoidance reaction time is required.

[0063] In this embodiment, the continuous avoidance reaction time can be understood as the reaction time of the auxiliary test vehicle from detecting the need to make a collision avoidance behavior to the current moment. In other words, since a real driver needs a time interval to react to the detected event, but the system can react to the detected event instantaneously, the vehicle avoidance reaction time of the auxiliary test vehicle is preset to make it react like a real driver. Based on this, the technical solution of this embodiment sets the continuous avoidance reaction time and adjusts the continuous avoidance reaction time based on the collision detection result until it reacts when reaching the vehicle avoidance reaction time.

[0064] Specifically, the continuous avoidance reaction time in this embodiment can be determined based on the reference avoidance reaction time. Optionally, the method for determining the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time in this embodiment includes: obtaining the vehicle avoidance reaction time of the auxiliary test vehicle at the previous moment and the avoidance reaction threshold of the auxiliary test vehicle at the previous moment to determine the vehicle avoidance reaction coefficient of the auxiliary test vehicle; determining the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the avoidance reaction coefficient and the reference avoidance reaction time.

[0065] It should be noted that the avoidance reaction threshold can be understood as the avoidance reaction time set by the auxiliary test vehicle based on the reference avoidance time. Optionally, the avoidance reaction threshold in this embodiment can be the same as the reference reaction time, or different values can be set, and there is no limitation on the set value of the threshold.

[0066] Specifically, the vehicle avoidance reaction time of the auxiliary test vehicle at the previous moment and the avoidance reaction threshold of the auxiliary test vehicle at the previous moment can be divided, and the quotient obtained by the division is used as the vehicle avoidance reaction coefficient of the auxiliary test vehicle at the current moment.

[0067] Furthermore, when obtaining the vehicle avoidance reaction coefficient of the auxiliary test vehicle at the current moment, obtain the reference avoidance reaction time determined based on the above embodiment, and multiply the vehicle avoidance reaction coefficient and the reference avoidance reaction time, and use the obtained product result as the continuous avoidance reaction time of the auxiliary test vehicle at the current moment.

[0068] It should be noted that if the current moment is the starting moment of the vehicle simulation test, there is no previous moment for the auxiliary test vehicle, then the initial vehicle avoidance reaction time, the initial avoidance reaction threshold, and the initial vehicle avoidance reaction coefficient are all set to 0.

[0069] S120. Determine the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time.

[0070] In an embodiment of the present invention, the collision risk level may be a collision situation between the test vehicle and the auxiliary test vehicle determined by the driving positions, driving directions, and driving speeds of the test vehicle and the auxiliary test vehicle. Specifically, the collision situation may be divided into different collision risk levels based on whether the two vehicles will collide and the severity of the collision after the collision. Specifically, the division method may be determined based on a network model or determined based on an expression, and this embodiment does not make a limitation thereto.

[0071] On the basis of determining the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment, a vehicle avoidance reaction time determination method corresponding to the collision risk level is determined based on the collision risk level corresponding to the current moment, and the determined continuous avoidance reaction time is substituted into the corresponding determination method to obtain the vehicle avoidance reaction time of each collision risk level at the current moment.

[0072] S130. If it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment, then determine that the current moment is the avoidance moment of the auxiliary test vehicle.

[0073] In an embodiment of the present invention, on the basis of determining the vehicle avoidance reaction time of each collision risk level at the current moment, the avoidance reaction threshold at the current moment determined based on the above implementation manner is obtained, and then the vehicle avoidance reaction time and the avoidance reaction threshold are compared in terms of time. If the vehicle avoidance reaction time is greater than the avoidance reaction threshold, it means that the time period from the occurrence of the event to the current moment has satisfied the reaction time set for the auxiliary test vehicle, and the current moment is taken as the avoidance moment of the auxiliary test vehicle. In other words, at the current moment, the auxiliary test vehicle can generate an avoidance instruction to control the vehicle to perform collision avoidance. On the contrary, if it is currently stated that the vehicle avoidance reaction time is less than the avoidance reaction threshold, it means that the time period from the occurrence of the event to the current moment has not satisfied the reaction time set for the auxiliary test vehicle, that is, the auxiliary test vehicle still needs to continue to accumulate the avoidance reaction time until it is determined that the vehicle avoidance reaction time at a certain moment is greater than the avoidance reaction threshold, and that moment is determined as the avoidance moment of the auxiliary test vehicle.

[0074] The technical solution provided by the embodiment of the present invention obtains the reference avoidance reaction time of the auxiliary test vehicle at the current moment, and determines the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time; determines the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment, and determines the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time; if it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment, it is determined that the current moment is the avoidance moment of the auxiliary test vehicle. The above technical solution pre-sets a risk avoidance reaction mechanism for the obstacle vehicle to solve the problem that the simulation test results obtained in the simulation test deviate from the actual application, resulting in poor test effects, and realizes higher authenticity of the obtained test results.

[0075] Embodiment 2

[0076] Figure 2 It is a flowchart of a method for determining an avoidance moment provided by Embodiment 2 of the present invention. On the basis of the above embodiment, optionally, the collision risk level includes severe risk, mild risk, and pre-emergence risk;

[0077] Correspondingly, determining the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time includes:

[0078] If it is determined that the collision risk level is severe risk, obtain the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the driving attention coefficient and the continuous avoidance reaction time;

[0079] If it is determined that the collision risk level is mild risk, determine the continuous avoidance reaction time as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment;

[0080] If it is determined that the collision risk level is mild risk, obtain the attention attenuation time of the auxiliary test vehicle, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the attention attenuation time and the continuous avoidance reaction time. As Figure 2 shown, the method includes:

[0081] S210. Obtain the reference avoidance reaction time of the auxiliary test vehicle at the current moment, and determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time.

[0082] S220. Determine the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment.

[0083] In an embodiment of the present invention, based on the auxiliary test vehicle data of the auxiliary test vehicle at the current moment and the test vehicle data of the test vehicle at the current moment, the vehicle collision situation of the two vehicles at the current moment is predicted to obtain the collision risk level of the two vehicles at the current moment. Among them, the obtained collision risk levels may include severe risk, mild risk, and pre-warning risk. Specifically, the severe risk can be understood as detecting that the two vehicles will collide at the current moment, and the vehicle avoidance deceleration at the current moment is greater than the avoidance reaction threshold; the mild risk can be understood as detecting that the two vehicles will collide, but the vehicle avoidance deceleration at the current moment is less than the avoidance reaction threshold; the pre-warning risk can be understood as not detecting that the two vehicles will collide at the current moment. Of course, the above collision risk levels are only examples of this embodiment and do not limit the technical solution of this implementation. The technical solution of this embodiment can also classify the risk levels of the collision situation of the two vehicles based on other situations, and this embodiment does not limit this.

[0084] S230. If it is determined that the collision risk level is a severe risk, obtain the driving attention coefficient of the auxiliary test vehicle for the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the driving attention coefficient and the continuous avoidance reaction time.

[0085] In an embodiment of the present invention, when it is determined that the collision risk levels of the auxiliary test vehicle and the test vehicle are severe risks, it indicates that the degree of danger between the two vehicles at the current moment is relatively large. Since a real driver will react faster than usual in the face of danger, in this case, it is set that the attention reaction time of the auxiliary test vehicle at the current moment increases, and the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment is determined based on the increased attention reaction time and the continuous avoidance reaction time, so that the vehicle avoidance reaction time of the auxiliary test vehicle can reach the requirement of the avoidance reaction threshold faster, thereby controlling the auxiliary test vehicle to perform collision avoidance.

[0086] Specifically, in this embodiment, the driving attention coefficient of the auxiliary test vehicle for the test vehicle at the current moment can be obtained, and the attention reaction time of the auxiliary test vehicle at the current moment is determined based on the driving attention coefficient.

[0087] On the basis of obtaining the driving attention coefficient, obtain the time difference between the current moment and the previous moment, and determine the attention reaction time of the auxiliary test vehicle at the current moment based on the product result of the time difference and the driving attention coefficient. Then, add the attention reaction time and the continuous avoidance reaction time of the auxiliary test vehicle at the current moment, and use the sum result after processing as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment.

[0088] Based on the above embodiments, the method for obtaining the driving attention coefficient in this embodiment may include: respectively obtaining the auxiliary center position and the auxiliary edge position of the auxiliary test vehicle at the current moment, and determining the auxiliary driving position of the auxiliary test vehicle at the current moment based on the auxiliary center position and the auxiliary edge position; obtaining the test edge position of the test vehicle at the current moment, and determining the auxiliary driving view angle between the auxiliary driving position and the test vehicle at the current moment based on the test edge position and the auxiliary driving position; and determining the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment based on the auxiliary driving view angle.

[0089] In this embodiment, the auxiliary center position can be understood as the vehicle center position of the auxiliary test vehicle. The auxiliary edge position can be understood as the vehicle vertex position of the auxiliary test vehicle, such as the four vertex positions of the vehicle. Specifically, the above positions can be determined based on a pre-set vehicle coordinate system and the vehicle size to determine the positions of each position in the vehicle coordinate system. Optionally, the center point of the vehicle coordinate system can be the vehicle center point, or any vertex position of the vehicle, and of course it can also be any point around, and this embodiment does not make a limitation on this.

[0090] Exemplarily, the vehicle center point is determined based on the vehicle size, and the vehicle coordinate system is constructed based on the vehicle center point and the vehicle orientation. Specifically, refer to Figure 3 , set the vehicle center point p0 as the coordinate origin, set the vehicle orientation as the positive x-axis direction of the vehicle coordinate system, and set the vehicle right side direction as the positive y-axis direction of the vehicle coordinate system. Assuming that the vehicle contour is a rectangle, then the four vertex positions of the vehicle are respectively determined based on the vehicle coordinate system and the vehicle size, that is, p1, p2, p3, and p4. Optionally, assuming that the vehicle contour is other shapes, the respective vertex positions of the auxiliary test vehicle determined based on the vehicle contour and the vehicle size can be represented as a vertex set, such as C a =[p1,p2,p3,p 4,,, p n , where Ca represents the vehicle contour, and pi represents the respective vertex positions of the vehicle contour.

[0091] Specifically, obtain the vehicle orientation angle of the auxiliary test vehicle at the current moment, and traverse each auxiliary edge position of the auxiliary test vehicle, respectively determine the driving included angles between the auxiliary center position and each auxiliary edge position and the extension line position from the auxiliary center to the orientation angle, and then determine the cosine values of each driving included angle. Exemplarily, the cosine value can be determined by the following expression:

[0092]

[0093] Among them, angle represents the driving angle, cos(angle) represents the cosine value of the angle, p0 represents the auxiliary center position, pi represents the auxiliary edge position of the i-th auxiliary test vehicle, cosθ represents the cosine value of the orientation angle, sinθ represents the sine value of the orientation angle, dot represents the dot product of vectors, and norm represents the length of the vector.

[0094] Furthermore, obtain a preset cosine value threshold of the angle, and filter out at least one cosine value of the angle that is greater than the cosine value threshold of the angle, and then determine the auxiliary driving position of the auxiliary test vehicle at the current moment based on each of the filtered cosine values of the angle. Specifically, obtain a preset expression for determining the auxiliary driving position, and determine the auxiliary driving position based on this expression. Exemplarily, the expression for determining the driving position may include:

[0095]

[0096] Among them, p driver represents the driver position, pfo and pf1 represent the filtered cosine values of the angle, cosθ represents the cosine value of the orientation angle, sinθ represents the sine value of the orientation angle, kDriverPositionToFrontMeter represents the straight-line distance from the auxiliary driving position to the front end of the vehicle, and in practical applications, it can be set to 1.5m.

[0097] On this basis, obtain the test edge position of the test vehicle at the current moment. Exemplarily, each edge position of the test vehicle can be represented as a set of positions, such as C e =[p e1 , p e2 , p e3 , p e4 , where Ce represents the vehicle contour, and pei represents the position of each vertex of the vehicle contour.

[0098] Furthermore, traverse each test edge position of the test vehicle, and respectively determine each driving perspective between the auxiliary driving position in the auxiliary test vehicle and each test edge position in the test vehicle. Exemplarily, the driving perspective can be determined by the following expression:

[0099] angle i =arccos((p ei -p driver ).dot((cosθ, sinθ)))

[0100] Among them, angle i represents the i-th driving perspective, pei represents the test edge position of the test vehicle, p driver represents the auxiliary driving position of the auxiliary test vehicle, cosθ represents the cosine value of the orientation angle, and sinθ represents the sine value of the orientation angle.

[0101] Further, screen among each driving perspective, and use the smallest driving perspective selected as the assisted driving perspective between the assisted driving position and the test vehicle at the current moment. Exemplarily, the schematic diagram of the assisted driving perspective can be as Figure 4 shown, that is Figure 4 the viewing angle marked as a in

[0102] can be understood as the assisted driving perspective selected in the above embodiment.

[0103] Optionally, in this embodiment, the method for determining the driving attention coefficient of the assisted test vehicle to the test vehicle at the current moment based on the assisted driving perspective may include: obtaining at least one perspective partition threshold of the assisted test vehicle at the current moment; determining an expression based on each perspective partition threshold, the assisted driving perspective and a preset coefficient, and determining the driving attention coefficient of the assisted test vehicle to the test vehicle at the current moment.

[0104] In this embodiment, the perspective partition threshold can be understood as the division threshold for partitioning the 0-180° visual field range based on the attention degree of a real driver to the surrounding environment during driving. Exemplarily, in this embodiment, the visual field range is divided into three regions: a focus region, a transition region, and an ignored region. Therefore, two perspective division thresholds need to be obtained, that is, the maximum focus visual angle threshold angle focus and the minimum ignored visual angle threshold angle dismiss . Optionally, other methods can also be used for region division, and this embodiment does not limit this.

[0105] In this embodiment, based on different vehicle positions and vehicle orientations, the vehicle will be in different right-of-way priorities, and correspondingly, the above-mentioned perspective division thresholds corresponding to it are also different. Based on the above content, the method for obtaining at least one perspective partition threshold of the assisted test vehicle at the current moment in this embodiment may include: obtaining the right-of-way priority of the assisted test vehicle at the current moment, and determining at least one perspective partition threshold corresponding to the assisted test vehicle at the current moment based on the right-of-way priority.

[0106] In the embodiment of the present invention, the right-of-way priority of the assisted test vehicle at the current moment is also obtained based on the above embodiment, and the obtaining method will not be elaborated here. Optionally, if the right-of-way priority of the assisted test vehicle is lower than that of the test vehicle, the assisted test vehicle needs to always pay attention to the test vehicle in the simulation test environment. In this case, set the maximum focus visual angle threshold angle focusThe threshold is 180°; conversely, if the right-of-way priority of the auxiliary test vehicle is higher than that of the test vehicle, the auxiliary test vehicle will not always pay attention to the test vehicle in the simulation test environment. At this time, the maximum focus field of view angle threshold angle focus at the current moment is set to 45°, and the minimum ignored field of view angle threshold angle dismiss at the current moment is set to 90°.

[0107] Specifically, it is possible to determine in which vision partition of the auxiliary test vehicle the test vehicle is located according to the assisted driving vision angle, the maximum focus field of view angle threshold, and the minimum ignored field of view angle threshold between the auxiliary test vehicle and the test vehicle. Exemplarily, if angle sight < angle focus , then the test vehicle is in the focus area of the auxiliary test vehicle; if angle sight > angle dismiss , then the test vehicle is in the ignored area of the auxiliary test vehicle; if angle dismiss < angle sight < angle focus , then the test vehicle is in the transition area of the auxiliary test vehicle.

[0108] On the basis of obtaining the above-mentioned perspective division threshold, obtain a preset coefficient determination expression, and determine the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment based on the coefficient expression, each perspective partition threshold, and the assisted driving vision angle.

[0109] Exemplarily, the coefficient determination expression can be expressed as:

[0110]

[0111] where ratio represents the driving attention coefficient, angle dismiss represents the minimum ignored field of view angle threshold, angle sight represents the assisted driving vision angle, and angle focus represents the maximum focus field of view angle threshold.

[0112] Specifically, ratio can be understood as a coefficient between 0 and 1. If in the focus area, ratio = 1; in the ignored area, ratio = 0; in the transition area, it will decrease gradually.

[0113] S240. If it is determined that the collision risk level is a mild risk, determine the continuous avoidance reaction time as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment.

[0114] In an embodiment of the present invention, when it is determined that the collision risk level between the auxiliary test vehicle and the test vehicle is a low risk, it indicates that the degree of danger between the two vehicles at the current moment is small. In this case, there is no need to increase the reaction attention of the auxiliary test vehicle, and the continuous avoidance reaction time at the previous moment determined by the above implementation manner is used as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment. Optionally, in some embodiments, a relatively small attention dispersion time may also be obtained, and the continuous avoidance reaction time at the previous moment is subtracted from the obtained relatively small attention dispersion time, and the resulting difference is used as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment.

[0115] S250. If it is determined that the collision risk level is a low risk, obtain the attention decay time of the auxiliary test vehicle, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the attention decay time and the continuous avoidance reaction time.

[0116] In an embodiment of the present invention, when it is determined that the collision risk level between the auxiliary test vehicle and the test vehicle is a pre-trigger risk, it indicates that there is temporarily no danger between the two vehicles at the current moment. Since a real driver will reduce their attention focus in a safe scenario, in this case, it is set that the reaction time of the auxiliary test vehicle at the current moment will decay, and the time until it can react will be longer. It should be noted that the degree of attention decay may be different at different moments, so the attention decay time corresponding to the current moment is obtained, and the continuous avoidance reaction time at the previous moment is subtracted from the obtained attention decay time, and the resulting difference is used as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment.

[0117] S260. If it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment, determine that the current moment is the avoidance moment of the auxiliary test vehicle.

[0118] The technical solution of the embodiment of the present invention solves the problem that there is a deviation between the simulation test results obtained in the simulation test and the actual application, resulting in poor test effects, by presetting different attention reaction mechanisms for obstacle vehicles under different collision risk levels, and realizes higher authenticity of the obtained test results.

[0119] On the basis of the above implementation manner, the embodiment of the present invention further provides a preferred embodiment, which exemplarily introduces the above method for determining the avoidance moment. Specifically, the solution content of this embodiment includes:

[0120] During the simulation test of the test vehicle, in the first frame, since there is no previous moment, the continuous avoidance reaction time of the auxiliary test vehicle at this time is 0 seconds. If the collision risk level in the first frame is detected as a mild risk, then based on the corresponding vehicle avoidance reaction time determination method, it is determined that the vehicle avoidance reaction time of the auxiliary test vehicle in the first frame, that is, the continuous avoidance reaction time at the current moment, is 0 seconds, which definitely does not meet the avoidance reaction threshold at the current moment, and the avoidance reaction time needs to be continuously accumulated. Further, in the first frame, based on the vehicle avoidance reaction time, the vehicle avoidance reaction coefficient of the auxiliary test vehicle in the first frame can be determined, and the specific value is 0.

[0121] Next, in the second frame, based on the driving position of the auxiliary test vehicle, the right-of-way priority of the auxiliary test measurement is determined, and it is found that its right-of-way priority is higher than that of the test vehicle. Therefore, the reference avoidance time of the auxiliary test vehicle in the second frame is obtained. Since the right-of-way priority of the auxiliary test vehicle is relatively high, the reference avoidance time is 0.5 seconds. Since the vehicle avoidance reaction coefficient in the first frame is 0, the continuous avoidance reaction time in the second frame is 0 seconds. If the collision risk level in the second frame is detected as a severe risk, then the avoidance reaction time needs to be accumulated. Specifically, if the auxiliary test vehicle is in the focus area in the second frame, the vehicle avoidance reaction coefficient is 1. Accordingly, based on the time difference and the vehicle avoidance reaction coefficient, the attention focus time is determined to be 0.1. Then, based on the continuous avoidance reaction time of 0 seconds and the attention focus time of 0.1 seconds in the second frame, the vehicle avoidance reaction time in the second frame is 0.1 seconds. If the avoidance reaction threshold at the current frame is 0.5 seconds, then the current moment does not meet the threshold condition, and the avoidance reaction time needs to be continuously accumulated. And in the second frame, based on the vehicle avoidance reaction time and the avoidance reaction threshold, the vehicle avoidance reaction coefficient of the auxiliary test vehicle in the second frame can be determined to be 0.2.

[0122] Next, in the third frame, based on the driving position of the auxiliary test vehicle in the third frame, the right-of-way priority of the auxiliary test measurement is determined, and it is found that its right-of-way priority is higher than that of the test vehicle. Therefore, the obtained reference avoidance time is 0.5 seconds. If the collision risk is still detected as a severe risk in the third frame, then the avoidance reaction time needs to be continuously accumulated. Specifically, if the auxiliary test vehicle is in the transition area in the third frame, the vehicle avoidance reaction coefficient is 0.5. Accordingly, the determined attention focus time is 0.05 seconds. Then, based on the continuous avoidance reaction time of 0.1 seconds and the attention focus time of 0.05 seconds in the third frame, the vehicle avoidance reaction time in the third frame is 0.15 seconds. If the avoidance reaction threshold at the current frame is 0.3 seconds, then the current moment does not meet the threshold condition, and the avoidance reaction time needs to be continuously accumulated. And in the third frame, based on the vehicle avoidance reaction time and the avoidance reaction threshold, the vehicle avoidance reaction coefficient of the auxiliary test vehicle in the third frame can be determined to be 0.5.

[0123] Next, in the fourth frame, it is found that the right-of-way priority of the auxiliary test vehicle is lower than that of the test vehicle, so the obtained reference avoidance time is 0.3 seconds. If the collision risk is still detected as a severe risk in the fourth frame, the avoidance reaction time needs to be continuously accumulated. Specifically, if the auxiliary test vehicle is in the focus area in the fourth frame, the vehicle avoidance reaction coefficient is 1, and the determined attention focus time is 0.1 second. Furthermore, based on the continuous avoidance reaction time of 0.15 seconds and the attention focus time of 0.1 second in the fourth frame, the vehicle avoidance reaction time in the fourth frame is obtained as 0.25 seconds. If the avoidance reaction threshold in the current frame is 0.3 seconds, the current moment does not meet the threshold condition, and the avoidance reaction time needs to be continuously accumulated. And in the fourth frame, the vehicle avoidance reaction coefficient of the auxiliary test vehicle at the fourth frame can be determined based on the vehicle avoidance reaction time and the avoidance reaction threshold as 5 / 6.

[0124] Next, in the fifth frame, it is found that the right-of-way priority of the auxiliary test vehicle is still lower than that of the test vehicle, so the obtained reference avoidance time is 0.3 seconds. If the collision risk is still detected as a severe risk in the fifth frame, the avoidance reaction time needs to be continuously accumulated. Specifically, if the auxiliary test vehicle is in the focus area in the fifth frame, the vehicle avoidance reaction coefficient is 1, and the determined attention focus time is 0.1 second. Furthermore, based on the continuous avoidance reaction time of 0.28 seconds and the attention focus time of 0.1 second in the fourth frame, the vehicle avoidance reaction time in the fourth frame is obtained as 0.38 seconds. If the avoidance reaction threshold in the current frame is 0.3 seconds, the current moment meets the threshold condition, and the fifth frame is determined as the collision avoidance moment of the auxiliary test vehicle.

[0125] Embodiment III

[0126] Figure 5 The following is a schematic structural diagram of an avoidance moment determination device provided in Embodiment III of the present invention. As Figure 5 shown, the device includes: a continuous avoidance reaction time determination module 310, a vehicle avoidance reaction time determination module 320, and an avoidance moment determination module 330; wherein,

[0127] The continuous avoidance reaction time determination module 310 is configured to obtain the reference avoidance reaction time of the auxiliary test vehicle at the current moment, and determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time;

[0128] The vehicle avoidance reaction time determination module 320 is configured to determine the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time;

[0129] The avoidance time determination module 330 is configured to determine the current moment as the avoidance time of the auxiliary test vehicle if it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment.

[0130] Based on the above embodiments, optionally, the continuous avoidance reaction time determination module 310 includes:

[0131] The road right priority acquisition sub-module is configured to acquire a preset road right priority determination model and determine the road right priority of the auxiliary test vehicle at the current moment based on the road right priority determination model;

[0132] The reference avoidance reaction time determination sub-module is configured to determine the reference avoidance reaction time of the auxiliary test vehicle at the current moment based on the road right priority.

[0133] Based on the above embodiments, optionally, the continuous avoidance reaction time determination module 310 includes:

[0134] The vehicle avoidance reaction coefficient determination sub-module is configured to acquire the vehicle avoidance reaction time of the auxiliary test vehicle at the previous moment and the avoidance reaction threshold of the auxiliary test vehicle at the previous moment to determine the vehicle avoidance reaction coefficient of the auxiliary test vehicle;

[0135] The continuous avoidance reaction time determination sub-module is configured to determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the avoidance reaction coefficient and the reference avoidance reaction time.

[0136] Based on the above embodiments, optionally, the collision risk level includes severe risk, mild risk, and pre-emergence risk;

[0137] Correspondingly, the vehicle avoidance reaction time determination module 320 includes:

[0138] The first vehicle avoidance reaction time determination sub-module is configured to, if it is determined that the collision risk level is severe risk, acquire the driving attention coefficient of the auxiliary test vehicle for the test vehicle at the current moment and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the driving attention coefficient and the continuous avoidance reaction time;

[0139] The second vehicle avoidance reaction time determination sub-module is configured to, if it is determined that the collision risk level is mild risk, determine the continuous avoidance reaction time as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment;

[0140] The third vehicle avoidance reaction time determination sub-module is used to, if it is determined that the collision risk level is a mild risk, obtain the attention attenuation time of the auxiliary test vehicle, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the attention attenuation time and the continuous avoidance reaction time.

[0141] On the basis of the above embodiment, optionally, the second vehicle avoidance reaction time determination sub-module includes:

[0142] The assisted driving position determination unit is used to respectively obtain the assisted center position and the assisted edge position of the auxiliary test vehicle at the current moment, and determine the assisted driving position of the auxiliary test vehicle at the current moment based on the assisted center position and the assisted edge position;

[0143] The assisted driving perspective determination unit is used to obtain the test edge position of the test vehicle at the current moment, and determine the assisted driving perspective between the assisted driving position and the test vehicle at the current moment based on the test edge position and the assisted driving position;

[0144] The driving attention coefficient determination unit is used to determine the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment based on the assisted driving perspective.

[0145] On the basis of the above embodiment, optionally, the driving attention coefficient determination unit includes:

[0146] The perspective partition threshold acquisition sub-unit is used to acquire at least one perspective partition threshold of the auxiliary test vehicle at the current moment;

[0147] The driving attention coefficient determination sub-unit is used to determine the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment based on each of the perspective partition thresholds, the assisted driving perspective, and a preset coefficient determination expression.

[0148] On the basis of the above embodiment, optionally, the perspective partition threshold acquisition sub-unit includes:

[0149] The perspective partition threshold determination layer is used to acquire the right-of-way priority of the auxiliary test vehicle at the current moment, and determine at least one perspective partition threshold corresponding to the auxiliary test vehicle at the current moment based on the right-of-way priority.

[0150] The avoidance moment determination device provided by the embodiments of the present invention can execute the avoidance moment determination method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0151] Embodiment 4

[0152] Figure 6FIG. 0 shows a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0153] As Figure 6 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0154] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0155] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the avoidance moment determination method.

[0156] In some embodiments, the method for determining the avoidance moment can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the avoidance moment described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for determining the avoidance moment by any other suitable means (e.g., by means of firmware).

[0157] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0158] The computer program for implementing the method for determining the avoidance moment of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0159] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0160] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0161] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0162] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0163] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0164] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for determining the avoidance moment, characterized in that, Including: Obtain the reference avoidance reaction time of the auxiliary test vehicle at the current moment, and determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time; wherein, the reference avoidance reaction time is the reference reaction time of a real driver from detecting a collision risk to making a collision avoidance; the continuous avoidance reaction time is the reaction time of the auxiliary test vehicle from detecting the need to make a collision avoidance behavior to the current moment; Determine the collision risk level between the auxiliary test vehicle and the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time; If it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment, then determine the current moment as the avoidance moment of the auxiliary test vehicle; Wherein, the collision risk level includes severe risk, mild risk and pre-emergence risk; The determining the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time includes: If it is determined that the collision risk level is severe risk, obtain the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the driving attention coefficient and the continuous avoidance reaction time; If it is determined that the collision risk level is mild risk, determine the continuous avoidance reaction time as the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment; If it is determined that the collision risk level is pre-emergence risk, obtain the attention decay time of the auxiliary test vehicle, and determine the vehicle avoidance reaction time of the auxiliary test vehicle at the current moment based on the attention decay time and the continuous avoidance reaction time.

2. The method according to claim 1, characterized in that, The obtaining the reference avoidance reaction time of the auxiliary test vehicle at the current moment includes: Obtain a preset road right priority determination model, and determine the road right priority of the auxiliary test vehicle at the current moment based on the road right priority determination model; Determine the reference avoidance reaction time of the auxiliary test vehicle at the current moment based on the road right priority.

3. The method according to claim 1, characterized in that, The determining the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the reference avoidance reaction time includes: Obtain the vehicle avoidance reaction time of the auxiliary test vehicle at the previous moment and the avoidance reaction threshold of the auxiliary test vehicle at the previous moment to determine the vehicle avoidance reaction coefficient of the auxiliary test vehicle; Determine the continuous avoidance reaction time of the auxiliary test vehicle at the current moment based on the avoidance reaction coefficient and the reference avoidance reaction time.

4. The method according to claim 1, wherein The obtaining the driving attention coefficient of the auxiliary test vehicle to the test vehicle at the current moment includes: Obtain the auxiliary center position and the auxiliary edge position of the auxiliary test vehicle at the current moment respectively, and determine the auxiliary driving position of the auxiliary test vehicle at the current moment based on the auxiliary center position and the auxiliary edge position; Obtain the test edge position of the test vehicle at the current moment, and determine the assisted driving view angle between the assisted driving position and the test vehicle at the current moment based on the test edge position and the assisted driving position; Determine the driving attention coefficient of the assisted test vehicle to the test vehicle at the current moment based on the assisted driving view angle.

5. The method according to claim 4, wherein The determining the driving attention coefficient of the assisted test vehicle to the test vehicle at the current moment based on the assisted driving view angle includes: Obtain at least one view angle partition threshold of the assisted test vehicle at the current moment; Determine an expression based on each of the view angle partition thresholds, the assisted driving view angle and a preset coefficient, and determine the driving attention coefficient of the assisted test vehicle to the test vehicle at the current moment.

6. The method according to claim 5, characterized in that, The obtaining at least one view angle partition threshold of the assisted test vehicle at the current moment includes: Obtain the right-of-way priority of the assisted test vehicle at the current moment, and determine at least one view angle partition threshold corresponding to the assisted test vehicle at the current moment based on the right-of-way priority.

7. An avoidance time determination device, characterized in that, Includes: A continuous avoidance reaction time determination module, configured to obtain the reference avoidance reaction time of the assisted test vehicle at the current moment, and determine the continuous avoidance reaction time of the assisted test vehicle at the current moment based on the reference avoidance reaction time; wherein, the reference avoidance reaction time is the reference reaction time of a real driver from discovering a collision risk to making a collision avoidance; the continuous avoidance reaction time is the reaction time of the assisted test vehicle from detecting that a collision avoidance behavior needs to be made to the current moment; A vehicle avoidance reaction time determination module, configured to determine the collision risk level between the assisted test vehicle and the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the assisted test vehicle at the current moment based on the collision risk level and the continuous avoidance reaction time; An avoidance moment determination module, configured to determine the current moment as the avoidance moment of the assisted test vehicle if it is determined that the vehicle avoidance reaction time is greater than the preset avoidance reaction threshold at the current moment; Wherein, the collision risk level includes severe risk, mild risk and pre-emergence risk; The vehicle avoidance reaction time determination module includes: A first vehicle avoidance reaction time determination sub-module, configured to, if it is determined that the collision risk level is severe risk, obtain the driving attention coefficient of the assisted test vehicle to the test vehicle at the current moment, and determine the vehicle avoidance reaction time of the assisted test vehicle at the current moment based on the driving attention coefficient and the continuous avoidance reaction time; A second vehicle avoidance reaction time determination sub-module, configured to, if it is determined that the collision risk level is mild risk, determine the continuous avoidance reaction time as the vehicle avoidance reaction time of the assisted test vehicle at the current moment; A third vehicle avoidance reaction time determination sub-module, configured to, if it is determined that the collision risk level is pre-emergence risk, obtain the attention decay time of the assisted test vehicle, and determine the vehicle avoidance reaction time of the assisted test vehicle at the current moment based on the attention decay time and the continuous avoidance reaction time.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the avoidance moment determination method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for implementing the avoidance moment determination method according to any one of claims 1-6 when executed by a processor.

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