Rear-end collision assist control device, vehicle, rear-end collision assist control method and storage medium

Abstract

The present application provides a rear-end collision assistance control device, a vehicle, a rear-end collision assistance control method and a storage medium, which belong to the field of vehicle control technology. The rear-end collision assistance control device includes a laser radar module, a system controller and a microcontroller. When the vehicle is in a parking state, the system controller controls the operation of the laser radar module; the laser radar module detects the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle; then, the microcontroller determines whether there is a rear-end collision risk between the rear vehicle and the vehicle based on the relative speed and relative distance; when it is determined that there is a rear-end collision risk, the microcontroller controls the steering wheel of the vehicle to turn in the target direction so that the steering angle of the vehicle exceeds the specified angle. In this way, when the vehicle is rear-ended, the vehicle can be turned to slide sideways based on the force of the collision to avoid the vehicle from hitting the obstacle in front of the vehicle after being rear-ended, which is beneficial to improve the safety of the vehicle when it is rear-ended.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a rear-end collision assist control device, a vehicle, a rear-end collision assist control method, and a storage medium. Background Art

[0002] When driving on the road, cars may need to stop. For example, they may need to stop at a traffic light or when there is traffic ahead. During this time, the vehicle behind them may be too fast or out of control to stop immediately. Rear-end collisions are particularly likely to lead to more serious consequences for larger vehicles, such as buses and trucks. If there is also a vehicle ahead of the vehicle, a rear-end collision poses an even greater threat to the safety of the driver and passengers. Summary of the Invention

[0003] In view of this, an object of the embodiments of the present application is to provide a rear-end collision assist control device, a vehicle, a rear-end collision assist control method and a storage medium, which can improve the safety of the vehicle when the vehicle is rear-ended.

[0004] To achieve the above technical objectives, the technical solutions adopted in this application are as follows:

[0005] In a first aspect, an embodiment of the present application provides a rear-end collision assistance control device, comprising: a laser radar module, a system controller, and a microcontroller;

[0006] The system controller is used to control the operation of the laser radar module when the vehicle is in a parking state;

[0007] When the laser radar module is in operation, it is used to detect the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle;

[0008] The microcontroller is used to determine whether there is a rear-end collision risk between the rear vehicle and the vehicle according to the relative vehicle speed and the relative distance;

[0009] When it is determined that there is a rear-end collision risk, the microcontroller is used to control the steering wheel of the vehicle to rotate in a target direction so that the steering angle of the vehicle exceeds a specified angle, wherein the specified angle is less than the maximum turning angle of the vehicle.

[0010] In combination with the first aspect, in some optional embodiments, the microcontroller is also used to determine the target direction based on the road condition data collected by the road condition collection module of the vehicle, wherein the target direction is the left or right side of the vehicle, and there are no obstacles within a preset distance range from the vehicle.

[0011] In combination with the first aspect, in some optional implementations, when it is determined that there is a risk of rear-end collision, the microcontroller is further configured to control the steering wheel of the vehicle to rotate to a maximum angle in the target direction.

[0012] In combination with the first aspect, in some optional embodiments, the rear-end collision assistance control device also includes a wireless communication module and a pressure sensor arranged at the rear of the vehicle. When the pressure value sensed by the pressure sensor is greater than or equal to a preset threshold, the microcontroller controls the wireless communication module to make an alarm call.

[0013] In combination with the first aspect, in some optional implementations, the rear-end collision auxiliary control device further includes a positioning module, and the wireless communication module is further configured to send the location data of the vehicle collected by the positioning module when making an alarm call.

[0014] In a second aspect, an embodiment of the present application further provides a vehicle, comprising a vehicle body and the above-mentioned rear-end collision assist control device, wherein the rear-end collision assist control device is arranged on the vehicle body.

[0015] In a third aspect, an embodiment of the present application further provides a rear-end collision assist control method, which is applied to the above-mentioned rear-end collision assist control device, and the method includes:

[0016] When the vehicle is in parking state, control the operation of the vehicle's lidar module;

[0017] Detecting the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle by the laser radar module;

[0018] determining, based on the relative speed and the relative distance, whether there is a risk of rear-end collision between the rear vehicle and the vehicle;

[0019] When it is determined that there is a rear-end collision risk, the steering wheel of the vehicle is controlled to rotate in a target direction so that the steering angle of the vehicle exceeds a specified angle, wherein the specified angle is less than the maximum turning angle of the vehicle.

[0020] In conjunction with the third aspect, in some optional implementations, before controlling the steering wheel of the vehicle to rotate in the target direction, the method further includes:

[0021] The target direction is determined based on the road condition data collected by the road condition collection module of the vehicle, wherein the target direction is the left side or the right side of the vehicle, and there are no obstacles within a preset distance range from the vehicle.

[0022] In conjunction with the third aspect, in some optional implementations, when it is determined that there is a rear-end collision risk, controlling the steering wheel of the vehicle to rotate in a target direction includes:

[0023] When it is determined that there is a rear-end collision risk, the steering wheel of the vehicle is controlled to rotate to a maximum angle in the target direction.

[0024] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium. When the computer program is run on a computer, the computer executes the above method.

[0025] The invention adopting the above technical solution has the following advantages:

[0026] In the technical solution provided in this application, the rear-end collision assistance control device includes a laser radar module, a system controller, and a microcontroller. When the vehicle is parked, the system controller controls the operation of the laser radar module; the laser radar module detects the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle; then, based on the relative speed and relative distance, the microcontroller determines whether there is a risk of rear-end collision between the rear vehicle and the vehicle; when it is determined that there is a risk of rear-end collision, the microcontroller controls the steering wheel of the vehicle to turn in the target direction so that the steering angle of the vehicle exceeds the specified angle. In this way, when the vehicle is rear-ended, the force of the collision can cause the vehicle to turn sideways and slide, preventing the vehicle from hitting the obstacle in front of the vehicle after being rear-ended, thereby improving the safety of the vehicle in the event of a rear-end collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present application may be further illustrated by the non-limiting embodiments provided in the accompanying drawings. It should be understood that the following drawings illustrate only certain embodiments of the present application and are therefore not to be construed as limiting the scope of the present application. It is understood that a person skilled in the art can derive other relevant drawings from these drawings without inventive effort.

[0028] Figure 1 This is one of the structural schematic diagrams of the rear-end collision assistance control device provided in an embodiment of the present application.

[0029] Figure 2 This is the second structural diagram of the rear-end collision assistance control device provided in an embodiment of the present application.

[0030] Figure 3 A flowchart of a rear-end collision assistance control method provided in an embodiment of the present application.

[0031] Icons: 10-Rear-end collision assistance control device; 11-LiDAR module; 12-System controller; 13-Microcontroller; 14-Steering wheel controller; 15-Wireless communication module; 16-Pressure sensor; 17-Positioning module. DETAILED DESCRIPTION

[0032] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts in the drawings or descriptions are numbered the same. Implementations not shown or described in the drawings are known to those of ordinary skill in the art. In the description of this application, the terms "first," "second," etc. are used solely to distinguish descriptions and are not to be construed as indicating or implying relative importance.

[0033] First embodiment

[0034] Please refer to Figure 1 The embodiment of the present application provides a rear-end collision assistance control device 10. The rear-end collision assistance control device 10 may include a laser radar module 11, a system controller 12, and a microcontroller 13.

[0035] The system controller 12 may be a SOC (System on Chip), and the microcontroller 13 may be an MCU (Microcontroller Unit).

[0036] The system controller 12 can control the operation of the lidar module 11 when it detects that the vehicle is in the parked state. The parking state can be detected by: the vehicle's speed sensor can detect the vehicle's speed and send the speed to the system controller 12, or the vehicle's instrument module can send the vehicle's speed to the system controller 12. If the system controller 12 detects that the speed is 0 and the vehicle is powered on and in the starting state, it determines that the vehicle is currently in the parked state.

[0037] When the laser radar module 11 is in operation, it can detect the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle.

[0038] It is understood that the LiDAR module 11 can be located behind the vehicle, for example, at the rear of the vehicle. The LiDAR module 11 can detect the distance between the vehicle and the nearest vehicle behind it, as well as the relative speed. The relative speed is the relative speed between the vehicle and the vehicle behind it.

[0039] In this embodiment, the microcontroller 13 can receive the relative speed and relative distance collected by the laser radar module 11. In addition, the microcontroller 13 can determine whether there is a rear-end collision risk between the rear vehicle and the vehicle based on the relative speed and relative distance.

[0040] Understandably, the microcontroller 13 can calculate the headway of the rear vehicle based on the relative vehicle speed and relative distance. It then determines whether the headway of the rear vehicle is within a preset safe headway range. If the calculated headway is not within the safe headway range, it is determined that there is a risk of a rear-end collision between the rear vehicle and the host vehicle. If the calculated headway is within the safe headway range, it is determined that there is no risk of a rear-end collision between the rear vehicle and the host vehicle. The preset safe headway range can be flexibly set based on actual circumstances and is not specifically limited here.

[0041] In this embodiment, when the vehicle meets the self-steering conditions for the steering wheel in the parking state, the microcontroller 13 can send a control signal to the vehicle's steering wheel controller 14, causing the steering wheel controller 14 to automatically rotate the vehicle's steering wheel based on the control signal, thereby achieving steering control of the vehicle's steering wheel by the microcontroller 13. Alternatively, the microcontroller 13 can directly control the steering wheel motor to rotate in the target direction.

[0042] The control signal includes the steering direction and angle of the steering wheel. It is understood that when the vehicle is parked and it is determined that there is a risk of rear-end collision, the self-steering condition of the steering wheel in the parked state is met.

[0043] When it is determined that there is a rear-end collision risk, the microcontroller 13 is used to control the steering wheel of the vehicle to rotate in a target direction so that the steering angle of the vehicle exceeds a specified angle, wherein the specified angle is smaller than the maximum turning angle of the vehicle.

[0044] The designated angle can be flexibly determined based on actual conditions. For example, the maximum angle that a steering wheel of a typical car can turn from the center to one side is generally 540°-630°, and the steering angle of the wheel is approximately 40°-42°. That is, when the steering wheel turns 13°-16°, the wheel turns 1°.

[0045] The specified angle can be an angle close to the maximum turning angle, such as 30°, 35°, etc. By controlling the steering wheel to turn in the target direction and making the steering angle of the vehicle's wheels exceed the specified angle, the vehicle can slide at a larger steering angle when rear-ended, thereby minimizing collision with obstacles in front of the vehicle.

[0046] In this embodiment, the target direction can be flexibly determined according to actual conditions. For example, the target direction can be a default fixed direction, such as the left direction of the vehicle. Alternatively, the target direction can be flexibly determined based on the current road conditions of the vehicle.

[0047] For example, the microcontroller 13 can determine the target direction based on the road condition data collected by the road condition collection module of the vehicle, wherein the target direction is the left or right side of the vehicle, and there are no obstacles within a preset distance range from the vehicle.

[0048] The road condition collection module may include, but is not limited to, a camera or radar module. Road condition data may include video and radar data of the vehicle's surroundings. The preset distance range can be flexibly determined based on actual conditions. For example, the preset distance range may be within 10 meters, within 15 meters, or the like.

[0049] The microcontroller 13 can determine whether there are vehicles, pedestrians, or other obstacles to the left or left front of the vehicle based on video data and radar data surrounding the vehicle. If the road condition data detects the presence of at least one lane or a sufficient clear area to the left of the vehicle, and if it detects no vehicles, pedestrians, or other obstacles within a preset distance to the left or left front of the vehicle, the target direction is determined to be the left direction of the vehicle. The sufficient clear area can be understood as an area of ​​ground at least within a preset distance to the left front of the vehicle where the vehicle can slide.

[0050] If the traffic data detects that there is at least one lane or a sufficiently cleared area to the right of the vehicle, and if there are no vehicles, pedestrians, or other obstacles within a preset distance to the right or right front of the vehicle, the target direction is determined to be the right direction of the vehicle. If both the left and right directions of the vehicle can be used as the target direction, either direction (for example, the left direction) can be selected as the target direction by default.

[0051] If the microcontroller 13 finds that neither the left nor the right direction of the vehicle can be confirmed as the target direction after preliminary detection based on the road condition data, the target direction can be set as the adjacent lane of the lane where the vehicle is located. If there are adjacent lanes on both sides of the lane where the vehicle is located, the left direction of the vehicle can be defaulted as the target direction.

[0052] Under extreme conditions, such as when the vehicle is on a single-lane road with no adjacent lanes, and when there is insufficient ground space to the left or right of the vehicle for coasting, the target direction is to maintain the vehicle's current parking orientation. In other words, under these extreme conditions, the rear-end collision assistance control device 10 does not need to control the vehicle's steering.

[0053] In this embodiment, when the vehicle is parked and a rear-end collision risk is determined, the microcontroller 13 can control the vehicle's steering wheel to turn to the maximum angle in the target direction. In this way, if the vehicle is rear-ended, it can coast at the maximum steering angle, which helps to reduce the risk of collision with the obstacle in front of the vehicle and promptly avoid the obstacle in front of the vehicle.

[0054] It should be noted that the rear-end collision assistance control device 10 does not need to pay attention to whether there are obstacles within a specified distance range in front of the vehicle (for example, within 3 meters, within 5 meters, etc.). As long as it is determined that the vehicle meets the self-steering conditions of the steering wheel in the parking state, the microcontroller 13 will be used to control the steering wheel of the vehicle to rotate in the target direction.

[0055] In another embodiment, when the rear-end collision assistance control device 10 detects, through the microcontroller 13, road condition data collected by the vehicle's front camera indicating the presence of obstacles such as pedestrians and vehicles within a specified distance ahead of the vehicle, and when the steering wheel self-steering conditions in the parking state are met, the microcontroller 13 controls the vehicle's steering wheel to turn in the target direction. This improves the personal safety of the vehicle's occupants and helps prevent the vehicle from colliding with a forward obstacle due to the collision force after being rear-ended by a vehicle behind it, further threatening the safety of the vehicle's occupants.

[0056] Please refer to Figure 2 The rear-end collision assistance control device 10 also includes a wireless communication module 15 and a pressure sensor 16 located at the rear of the vehicle. The pressure sensor 16 detects pressure, allowing the microcontroller 13 to determine the severity of the collision. When the pressure sensed by the pressure sensor 16 is greater than or equal to a preset threshold, the microcontroller 13 controls the wireless communication module 15 to call an emergency number.

[0057] In this embodiment, the wireless communication module 15 can be, but is not limited to, a GPRS communication module, a 5G communication module, etc.

[0058] The preset pressure threshold can be flexibly set based on actual conditions, serving as the critical value for indicating a rear-end collision and a potential threat to the safety of occupants. If the pressure sensed by pressure sensor 16 is greater than or equal to the preset threshold, it indicates that the vehicle has been hit from behind or rear-ended, and the collision is severe, posing a high risk of posing a threat to the safety of occupants. At this point, microcontroller 13 can control wireless communication module 15 to automatically dial an emergency number. This facilitates timely alerting and seeking assistance in the event of a serious rear-end collision.

[0059] If the pressure value sensed by the pressure sensor 16 is less than the preset threshold, it indicates that the rear end of the vehicle has been in a minor collision. In this case, there is no need to automatically dial the alarm number.

[0060] In this embodiment, the rear-end collision assist control device 10 may further include a positioning module 18. The positioning module 18 may be, but is not limited to, a Beidou positioning chip, a GPS positioning chip, or the like.

[0061] Under the control of the microcontroller 13, the wireless communication module 15 can send the vehicle's location data collected by the positioning module 18 when the emergency call is made. It is understood that when the emergency call is made, the real-time location data of the vehicle provided by the positioning module 18 can be transmitted via the wireless communication module 15, facilitating the timely arrival of rescue personnel at the accident scene.

[0062] In this embodiment, the system controller 12 and the microcontroller 13 can be connected via a UART (Universal Asynchronous Receiver / Transmitter), and the system controller 12 can transmit the lidar data parsed from the lidar module 11 to the microcontroller 13.

[0063] The instrument module and the system controller 12 may be connected via a CAN (Controller Area Network) bus.

[0064] The microcontroller 13 and the steering wheel controller 14 may be connected via a CAN bus, and the microcontroller 13 controls the steering wheel controller 14 via the CAN bus.

[0065] The microcontroller 13 and the positioning module 18 can be connected via a UART, and the relevant positioning data collected by the positioning module 18 can be obtained through the serial port.

[0066] The microcontroller 13 and the wireless communication module 15 can be connected via UART, and AT commands are sent via UART to control the wireless communication module 15 to make an alarm call.

[0067] The microcontroller 13 and the pressure sensor 16 are connected via an ADC, and the severity of the collision is determined by acquiring data from the pressure sensor 16 .

[0068] Second embodiment

[0069] The present application also provides a vehicle, which may include a vehicle body and the rear-end collision assistance control device 10 described in the first embodiment. The rear-end collision assistance control device 10 is disposed on the vehicle body. The vehicle may be an electric vehicle, a hybrid electric vehicle and a gasoline vehicle, or another vehicle with an autonomous driving function.

[0070] When a vehicle is equipped with the rear-end collision assistance control device 10, it can automatically detect whether the vehicle is at risk of a rear-end collision. If the risk of a rear-end collision exists, the vehicle's steering wheel can be automatically controlled to turn left or right before the collision occurs. If the vehicle is rear-ended, the vehicle can slide in the direction of the steering wheel rotation under the impact of the rear-end collision, preventing the vehicle from colliding with the vehicle ahead or other obstacles, thereby improving the vehicle's safety.

[0071] Third embodiment

[0072] Please refer to Figure 3 The present application also provides a rear-end collision assist control method, which can be applied to the above-mentioned rear-end collision assist control device 10. The rear-end collision assist control method can include the following steps:

[0073] Step 110, when the vehicle is in a parked state, controlling the laser radar module of the vehicle to operate;

[0074] Step 120: Detecting the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle by the laser radar module;

[0075] Step 130: determining whether there is a rear-end collision risk between the rear vehicle and the host vehicle based on the relative speed and the relative distance;

[0076] Step 140 : When it is determined that there is a rear-end collision risk, the steering wheel of the vehicle is controlled to rotate in a target direction so that the steering angle of the vehicle exceeds a specified angle, wherein the specified angle is smaller than the maximum turning angle of the vehicle.

[0077] Optionally, before controlling the steering wheel of the vehicle to rotate in the target direction, the method further includes:

[0078] The target direction is determined based on the road condition data collected by the road condition collection module of the vehicle, wherein the target direction is the left side or the right side of the vehicle, and there are no obstacles within a preset distance range from the vehicle.

[0079] Optionally, when it is determined that there is a rear-end collision risk, controlling the steering wheel of the vehicle to turn in a target direction includes:

[0080] When it is determined that there is a rear-end collision risk, the steering wheel of the vehicle is controlled to rotate to a maximum angle in the target direction.

[0081] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the rear-end collision assist control method described above can refer to the functions and roles of each hardware module in the aforementioned rear-end collision assist control device, and will not be elaborated on here.

[0082] The present application also provides a computer-readable storage medium that stores a computer program, which, when executed on a computer, causes the computer to execute the rear-end collision assistance control method described in the above embodiment.

[0083] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented through hardware or by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0084] In summary, the embodiments of the present application provide a rear-end collision assistance control device, a vehicle, a rear-end collision assistance control method, and a storage medium. In this solution, the rear-end collision assistance control device includes a laser radar module, a system controller, and a microcontroller. When the vehicle is in a parking state, the system controller controls the operation of the laser radar module; the laser radar module detects the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle; then, the microcontroller determines whether there is a rear-end collision risk between the rear vehicle and the vehicle based on the relative speed and relative distance; when it is determined that there is a rear-end collision risk, the microcontroller controls the steering wheel of the vehicle to turn in the target direction so that the steering angle of the vehicle exceeds the specified angle. In this way, when the vehicle is rear-ended, the vehicle can be turned to slide sideways based on the force of the collision to avoid the vehicle from hitting the obstacle in front of the vehicle after being rear-ended, thereby improving the safety of the vehicle when it is rear-ended.

[0085] In the embodiments provided in the present application, it should be understood that the disclosed devices, systems and methods can also be implemented in other ways. The device, system and method embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of code, and a part of the module, program segment or code includes one or more executable instructions for implementing the specified logical function. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0086] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A rear-end collision assist control device, characterized in that: include: LiDAR modules, system controllers, and microcontrollers; The system controller is used to control the operation of the laser radar module when the vehicle is in a parking state; When the laser radar module is in operation, it is used to detect the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle; The microcontroller is used to determine whether there is a rear-end collision risk between the rear vehicle and the vehicle according to the relative vehicle speed and the relative distance; When it is determined that there is a rear-end collision risk, the microcontroller is used to control the steering wheel of the vehicle to rotate in a target direction so that the steering angle of the vehicle exceeds a specified angle, wherein the specified angle is less than the maximum turning angle of the vehicle; The microcontroller is further configured to determine the target direction based on the road condition data collected by the road condition collection module of the vehicle, wherein the target direction is the left side or the right side of the vehicle and there are no obstacles within a preset distance range from the vehicle; When it is determined that there is a rear-end collision risk, the microcontroller is further configured to control the steering wheel of the vehicle to rotate to a maximum angle in the target direction.

2. The rear-end collision assist control device according to claim 1, characterized in that: The rear-end collision assistance control device also includes a wireless communication module and a pressure sensor arranged at the rear of the vehicle. When the pressure value sensed by the pressure sensor is greater than or equal to a preset threshold, the microcontroller controls the wireless communication module to make an alarm call.

3. The rear-end collision assist control device according to claim 2, characterized in that: The rear-end collision auxiliary control device also includes a positioning module, and the wireless communication module is further used to send the location data of the vehicle collected by the positioning module when making an alarm call.

4. A vehicle, characterized in that: The invention comprises a vehicle body and a rear-end collision assist control device according to any one of claims 1 to 3, wherein the rear-end collision assist control device is arranged on the vehicle body.

5. A rear-end collision assist control method, characterized in that: Applied to the rear-end collision assistance control device according to any one of claims 1 to 3, the method comprises: When the vehicle is in parking state, control the operation of the vehicle's lidar module; Detecting the relative speed of the rear vehicle closest to the rear of the vehicle and the relative distance between the rear vehicle and the rear of the vehicle by the laser radar module; determining, based on the relative speed and the relative distance, whether there is a risk of rear-end collision between the rear vehicle and the vehicle; When it is determined that there is a rear-end collision risk, the steering wheel of the vehicle is controlled to turn in a target direction so that the steering angle of the vehicle exceeds a specified angle, wherein the specified angle is less than the maximum turning angle of the vehicle; Before controlling the steering wheel of the vehicle to rotate in the target direction, the method further includes: Determining the target direction based on the road condition data collected by the road condition collection module of the vehicle, wherein the target direction is the left side or the right side of the vehicle and there are no obstacles within a preset distance range from the vehicle; When a rear-end collision risk is determined, the vehicle's steering wheel is controlled to turn in the target direction, including: When it is determined that there is a rear-end collision risk, the steering wheel of the vehicle is controlled to rotate to a maximum angle in the target direction.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed on a computer, enables the computer to execute the method according to claim 5 .

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