Vehicle avoidance method, device, apparatus and storage medium

Abstract

The application discloses a vehicle avoidance method and device, equipment and a storage medium, and belongs to the technical field of vehicle management. The method comprises the following steps: collecting foreign matter information on a road surface in a driving direction of a vehicle and a vehicle speed; acquiring first two-side lane information of a lane where the vehicle is located through a radar of the vehicle when the foreign matter information meets an avoidance condition and the vehicle speed reaches a threshold vehicle speed; determining a first safety range based on the first two-side lane information when the first two-side lane information does not meet a lane-changing condition; controlling the vehicle to perform a first avoidance operation in the first safety range based on a first deceleration signal, a first suspension lifting signal and a first deflection signal; generating a first prompt signal according to the first avoidance operation; and performing an avoidance prompt according to the first prompt signal. By controlling the vehicle to perform the first avoidance operation in the first safety range, it is ensured that the vehicle can avoid the foreign matter, thereby ensuring the safety of the vehicle and the driver.

Description

Technical Field

[0001] This application relates to the field of vehicle management technology, and in particular to a vehicle avoidance method, device, equipment and storage medium. Background Technology

[0002] With the continuous development of vehicle management technology, abnormal road conditions during driving have impacted driving safety. If drivers fail to recognize these abnormal conditions and do not take evasive action, traffic accidents can easily occur. Therefore, it is necessary to take evasive action while driving. Summary of the Invention

[0003] This application provides a vehicle avoidance method, apparatus, device, and storage medium, which can be used for vehicle avoidance during vehicle movement. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a vehicle avoidance method, the method comprising:

[0005] If a foreign object is detected on the road surface in the direction of the vehicle's travel, the foreign object information is obtained, and the vehicle speed is obtained according to the vehicle's anti-lock braking system.

[0006] When the foreign object information meets the avoidance conditions and the vehicle speed reaches the vehicle speed threshold, the first and second lane information of the lane where the vehicle is located is obtained by the vehicle's radar.

[0007] If it is determined that the lane change conditions are not met based on the first lane information on both sides, a first safe range is determined based on the first lane information on both sides, a first deceleration signal is sent to the vehicle's braking system, a first suspension lift signal is sent to the vehicle's suspension system, and a first deflection signal is sent to the vehicle's steering system. Based on the first deceleration signal, the first suspension lift signal, and the first deflection signal, the vehicle is controlled to perform a first avoidance operation within the first safe range.

[0008] A first prompt signal is generated based on the first avoidance operation, and an avoidance prompt is given based on the first prompt signal.

[0009] On the other hand, embodiments of this application provide a vehicle avoidance device, the device comprising:

[0010] The first acquisition module is used to acquire foreign object information when a foreign object is detected on the road surface in the direction of vehicle travel, and to acquire the vehicle speed according to the vehicle's anti-lock braking system.

[0011] The second acquisition module is used to acquire information about the first two lanes of the lane where the vehicle is located through the vehicle's radar when the foreign object information meets the avoidance conditions and the vehicle speed reaches the vehicle speed threshold.

[0012] The avoidance module is used to determine a first safe range based on the first two lane information when it is determined that the lane change conditions are not met, send a first deceleration signal to the vehicle's braking system, send a first suspension lift signal to the vehicle's suspension system, send a first deflection signal to the vehicle's steering system, and control the vehicle to perform a first avoidance operation within the first safe range based on the first deceleration signal, the first suspension lift signal, and the first deflection signal.

[0013] The prompting module is used to generate a first prompting signal based on the first avoidance operation, and to provide an avoidance prompt based on the first prompting signal.

[0014] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement any of the vehicle avoidance methods described above.

[0015] On the other hand, a computer-readable storage medium is also provided, wherein at least one computer program is stored therein, the at least one computer program being loaded and executed by a processor to enable a computer to implement any of the vehicle avoidance methods described above.

[0016] On the other hand, a computer program product or computer program is also provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform any of the vehicle avoidance methods described above.

[0017] The technical solution provided in this application has at least the following beneficial effects:

[0018] The technical solution provided in this application involves acquiring the vehicle speed when a foreign object is detected in the vehicle's direction of travel, determining whether the vehicle needs to avoid it based on the foreign object information and the vehicle speed, and controlling the vehicle to perform a first avoidance operation within a first safe range determined by radar. By controlling the vehicle to perform the first avoidance operation within the first safe range, the vehicle is able to avoid the foreign object, thereby ensuring the safety of the vehicle and the driver. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0021] Figure 2 This is a flowchart of a vehicle avoidance method provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the interface of a vehicle's central control screen provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram illustrating the installation position of a front-facing camera and radar in a vehicle, as provided in an embodiment of this application.

[0024] Figure 5 This is a schematic diagram of a vehicle avoidance scenario provided in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the structure of a vehicle avoidance device provided in an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the structure of a server provided in an embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0029] It should be noted that the terms "first," "second," etc. (if applicable) used in the specification of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0030] This application provides a vehicle avoidance method. Please refer to the following embodiments. Figure 1The diagram illustrates an implementation environment for the method provided in this embodiment. This implementation environment may include: terminal 11 and vehicle 12.

[0031] The terminal 11 is located on the vehicle 12. The vehicle 12 has a camera capable of collecting information about foreign objects on the road surface in the direction of travel of the vehicle 12, or a radar capable of detecting information about the surroundings of the vehicle 12. When the camera or radar needs to collect information about foreign objects or information about the surroundings of the vehicle 12, the method provided in this application embodiment can be used for operation. The vehicle 12 can store the collected information about foreign objects and information about the surroundings of the vehicle 12. The terminal 11 can obtain the information to be operated from the vehicle 12, and the terminal 11 can perform the corresponding operation based on the information to be operated obtained from the vehicle 12.

[0032] Optionally, terminal 11 can be a device such as a steering system device, braking system device, or suspension system device of vehicle 12 capable of performing corresponding operations. In one possible implementation, the environment also includes a server 13, through which vehicle 12 and terminal 11 establish a communication connection. Server 13 can be a single vehicle server, a server cluster consisting of multiple vehicle servers, or a cloud computing service center. Terminal 11, vehicle 12, and server 13 can establish communication connections via wired or wireless networks.

[0033] Those skilled in the art should understand that the above-described terminal 11 and vehicle 12 are merely examples, and other existing or future terminals or vehicles that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0034] Based on the above Figure 1 In the implementation environment shown, this application provides a vehicle avoidance method, such as... Figure 2 As shown, the vehicle avoidance method can be executed by a terminal or a server, and the vehicle avoidance method includes steps 201-204.

[0035] Step 201: If a foreign object is detected on the road surface in the direction of the vehicle's travel, obtain the foreign object information and obtain the vehicle speed based on the vehicle's anti-lock braking system.

[0036] The vehicle avoidance method in this application embodiment can be activated or deactivated by the driver's commands. Methods for controlling the activation or deactivation of the vehicle avoidance method by the driver include, but are not limited to, driver voice control, driver sending commands via mobile phone, or driver control via the vehicle's central control screen. This application embodiment uses the driver's operation of activating and deactivating the method via the vehicle's central control screen as an example. The vehicle's central control screen is used to display and control the vehicle's settings interface, which may include lighting settings, intelligent avoidance system settings, etc. The interface of the vehicle's central control screen in this application embodiment is as follows: Figure 3 As shown, the vehicle driver can control the activation and deactivation of the intelligent obstacle avoidance system settings via the automatic switch touch control on the central control screen, thereby controlling the execution and deactivation of the vehicle obstacle avoidance method of this application embodiment.

[0037] When the vehicle's intelligent obstacle avoidance system is activated, the vehicle obstacle avoidance method of this application embodiment is executed. The vehicle's intelligent obstacle avoidance system includes a central processing unit (CPU). During vehicle movement, the CPU detects whether there are any foreign objects on the road surface in the vehicle's direction of travel using the vehicle's front-facing camera. The CPU is responsible for controlling and managing various parts of the vehicle. The CPU receives various information from the vehicle through various sensors installed on the vehicle, including vehicle speed and road surface image information in the vehicle's direction of travel. The CPU processes the received information and feeds the results back to various systems in the vehicle. For example, after receiving the vehicle speed, the CPU processes the speed and if the result indicates that the speed is too high and deceleration is required, the CPU sends a braking signal to the vehicle's braking system. Upon receiving the braking signal, the braking system decelerates or stops based on the vehicle deceleration information or vehicle stopping information included in the braking signal. For example, a stop operation is when the vehicle's braking system controls the vehicle's brake pedal to perform a braking operation until the vehicle comes to a complete stop; a deceleration operation is when the vehicle's braking system controls the vehicle's brake pedal to perform a braking operation, thereby reducing the vehicle speed. The amount of speed reduction is determined by the vehicle's deceleration information.

[0038] A vehicle's front-facing camera is a camera device installed on the vehicle. It captures road surface images along the vehicle's direction of travel and sends these images to the vehicle's central processing unit. This embodiment uses a front-facing camera with an 800-meter acquisition distance as an example. In practical applications, a front-facing camera suitable for the specific requirements of the situation will be selected for acquisition. The installation location of the front-facing camera in this embodiment is as follows... Figure 4As shown. The installation position of the front-facing camera in this embodiment is only for illustrative purposes. This embodiment does not specifically limit the installation position of the front-facing camera, nor does it limit the type of front-facing camera.

[0039] The vehicle's central processing unit (CPU) receives road surface image information along the vehicle's direction of travel from the vehicle's front-facing camera. The CPU then uses this road surface image information to obtain road surface information along the vehicle's direction of travel. The CPU uses this road surface information to detect whether there are any foreign objects on the road surface in the vehicle's direction of travel. These foreign objects, as mentioned in this embodiment, include, but are not limited to, potholes and obstacles that could affect the vehicle's movement.

[0040] If there are no foreign objects on the road surface in the direction of the vehicle's travel, the vehicle's central processing unit (CPU) continues to acquire road surface information in that direction. The CPU detects the presence of foreign objects in the road surface in the direction of the vehicle's travel using this information. If foreign objects are present, the CPU acquires information about the foreign object, including at least one of the following: the object's height, width, or location.

[0041] When the vehicle's central processing unit (CPU) detects a foreign object on the road in the vehicle's direction of travel, it shares this information with the navigation data platform. This provides a risk warning to drivers using navigation systems when approaching the object, allowing them to plan evasive maneuvers in advance and reduce the risk of damage. The navigation data platform is an external device connected to the vehicle via a network. It collects, manages, and provides navigation-related data. This data, after integration and analysis, provides route information to the vehicle's navigation system, assisting drivers in planning their routes.

[0042] For example, the vehicle's central processing unit determines whether the acquired foreign object information meets the avoidance conditions. These avoidance conditions are set during vehicle development and testing, and different conditions are set for different vehicle conditions. For instance, one avoidance condition might be that the vehicle's frame height is lower than the height of the foreign object. For example, the height of the foreign object meeting the avoidance conditions might be 15 centimeters, and its width might be 1 meter. In this embodiment, if the height of the foreign object is less than or equal to 15 centimeters and the width is less than 1 meter, then the foreign object information is considered not to meet the avoidance conditions; if the height of the foreign object is greater than 15 centimeters or the width is greater than or equal to 1 meter, then the foreign object information is considered to meet the avoidance conditions.

[0043] When the foreign object information meets the avoidance conditions, the vehicle's central processing unit uploads the foreign object information to the road administration platform via the T-BOX (Telematics-Box, vehicle-to-everything) system. This allows road administration personnel to perform road maintenance based on the received information. The road administration platform is an information management platform used for highway administration, utilizing various information technology methods to achieve real-time monitoring, early warning, management, and maintenance of highways and road facilities.

[0044] The vehicle's central processing unit (CPU) determines the vehicle's direction of travel and road conditions by acquiring information about vehicle speed and obstacles. The vehicle's speed is obtained through the ABS (Anti-lock Braking System). The ABS system prevents wheel lock-up during braking, maintaining vehicle stability and controllability, and improving braking efficiency. The ABS system works by detecting wheel speeds using wheel speed sensors after the brake pedal is depressed. If it detects that one wheel's speed is slowing down or has stopped, the ABS system reduces or releases the braking pressure on that wheel, allowing it to restart its rotation and preventing wheel lock-up.

[0045] During vehicle movement, the ABS system detects the wheel rotation speed through wheel speed sensors, determines the vehicle speed based on the wheel rotation speed, and sends the vehicle speed to the vehicle's central processing unit (CPU) so that the CPU can assess the vehicle's condition based on the acquired speed.

[0046] Step 202: When the foreign object information meets the avoidance conditions and the vehicle speed reaches the vehicle speed threshold, the information of the first and second lanes of the lane where the vehicle is located is obtained through the vehicle's radar.

[0047] As described in step 201, the ABS system sends the vehicle speed to the vehicle's central processing unit (CPU). The CPU compares the acquired speed with a speed threshold, which is determined experimentally during the vehicle's development. The speed threshold serves as a reference for the vehicle's speed, allowing the CPU to select different processing methods based on different speeds. In this embodiment, a speed threshold of 50 km / h is used as an example. The CPU determines whether the vehicle speed has reached the speed threshold. If the speed is less than or equal to 50 km / h, it is considered that the speed has not reached the speed threshold; if the speed is greater than 50 km / h, it is considered that the speed has reached the speed threshold.

[0048] The following situations exist, which are determined by whether the information about the foreign object meets the avoidance conditions and whether the vehicle speed reaches the speed threshold: the information about the foreign object does not meet the avoidance conditions and the vehicle speed does not reach the speed threshold; the information about the foreign object does not meet the avoidance conditions but the vehicle speed reaches the speed threshold; the information about the foreign object meets the avoidance conditions but the vehicle speed does not reach the speed threshold; and the information about the foreign object meets the avoidance conditions and the vehicle speed reaches the speed threshold.

[0049] Scenario 1: The information about the foreign object meets the avoidance conditions and the vehicle speed reaches the speed threshold.

[0050] When the obstacle avoidance conditions are met and the vehicle speed reaches the speed threshold, the vehicle's central processing unit obtains information about the first and second lanes of the lane in which the vehicle is located through the vehicle's radar.

[0051] The first set of information on the two adjacent lanes refers to information about objects in the lanes immediately adjacent to the vehicle's lane. "Immediately adjacent" means there are no other lanes between the vehicle's lane and the lanes on either side. The object information includes at least one of the following: the number of objects, their speed, direction, size, and distance from the vehicle. After the radar collects at least one of these information, it sends it to the vehicle's central processing unit (CPU). The CPU then uses this information to determine whether objects in the adjacent lanes will affect the vehicle's lane-changing behavior, and based on this first set of information, determines whether a lane-changing condition is met.

[0052] Step 203: If it is determined that the lane change conditions are not met based on the information of the first two lanes, a first safe range is determined based on the information of the first two lanes, a first deceleration signal is sent to the vehicle's braking system, a first suspension lift signal is sent to the vehicle's suspension system, a first deflection signal is sent to the vehicle's steering system, and the vehicle is controlled to perform a first avoidance operation within the first safe range based on the first deceleration signal, the first suspension lift signal, and the first deflection signal.

[0053] If the vehicle's central processing unit determines, based on information from both sides of the first lane, that the lane-changing conditions are not met, it determines a first safe range based on the information from both sides of the first lane. This first safe range, determined by radar-collected distance information between the vehicle and the object, ensures that the vehicle will not cause damage to the vehicle or the object during its deflection process when the obstacle information does not meet the avoidance conditions but the vehicle speed reaches a speed threshold. The determination of lane-changing conditions in this embodiment is merely illustrative. For example, lane-changing conditions may be pre-set during vehicle development, and their determination requires identifying objects in both lanes on either side of the vehicle. If objects are present in both lanes of the vehicle's lane, or if objects are approaching the vehicle, the lane-changing conditions are not met. If at least one side of the vehicle's lane is free of objects and no objects are approaching the vehicle, the lane-changing conditions are met.

[0054] The vehicle's central processing unit sends a first deceleration signal to the vehicle's braking system. This first deceleration signal controls the braking system to maintain the vehicle's speed within a third safety range before it passes an obstacle, ensuring the vehicle can complete a deflection maneuver within this third safety range. The braking system decelerates the vehicle based on the first deceleration signal, controlling the speed to within this third safety range before passing an obstacle. For example, the first deceleration signal might include a signal to reduce the speed from 70 km / h to 20 km / h, in which case the braking system controls the vehicle to reduce the speed to 20 km / h.

[0055] The vehicle's central processing unit (CPU) sends a first suspension lift signal to the vehicle's suspension system based on the height information of the foreign object. The vehicle's suspension system refers to the collective force transmission connection between the vehicle's frame and axle, or between the vehicle's frame and wheels. The function of the suspension system is to transmit forces and torques between the wheels and the frame, or between the frame and axle, and to buffer the impact forces transmitted to the frame from uneven road surfaces, ensuring a smooth ride. The first suspension lift signal is triggered when the vehicle speed reaches a threshold, controlling the suspension system to lift the frame to a height higher than the height of the foreign object. For example, the first suspension lift signal may include a signal indicating the height of the vehicle's frame to be lifted. The lifting height is determined by the height information of the foreign object and the vehicle speed included in the foreign object information, ensuring that the vehicle frame can pass through at a speed that meets the vehicle speed threshold. If the height of the foreign object exceeds the range of the frame height that the suspension system can adjust, the first suspension lifting signal will lift the vehicle's suspension system until it can no longer be lifted, that is, the highest value within the range that the frame can be lifted, in order to reduce the damage caused by the foreign object to the vehicle. The range that the frame can be adjusted is set during the vehicle's development process, and different vehicles use different ranges of frame adjustment.

[0056] The vehicle's central processing unit sends a first deflection signal to the vehicle's steering system. This signal controls the steering system to complete a deflection operation within a first safe range before passing an obstacle. The steering system activates the turn signal on the side determined by radar as capable of deflecting within the first safe range. The steering control system then controls the steering wheel to deflect towards the side with the activated turn signal within the first safe range to complete the deflection operation. The vehicle decelerates according to a first deceleration signal, raises the chassis height according to a first suspension lift signal, and deflects within the first safe range according to the first deflection signal; this constitutes the vehicle performing a first avoidance maneuver within the first safe range.

[0057] Scenario 2: The foreign object information does not meet the conditions for not yielding and the vehicle speed has not reached the speed threshold.

[0058] If the information regarding the foreign object does not meet the avoidance conditions and the vehicle speed has not reached the speed threshold, the vehicle's central processing unit sends a second deceleration signal to the vehicle's braking system. This second deceleration signal controls the vehicle's braking system to maintain the vehicle speed within a range that ensures the vehicle will not be damaged when passing the foreign object and guarantees the safety of the driver. The vehicle's braking system controls the brake pedal to decelerate based on the second deceleration signal, thereby controlling the vehicle speed within a range that ensures the vehicle will not be damaged when passing the foreign object and guarantees the safety of the driver.

[0059] For example, the second deceleration signal may include a signal to control the vehicle speed to 20 km / h. The braking system then controls the vehicle's brakes to maintain a speed of 20 km / h when passing the foreign object, thus decelerating the vehicle and preventing damage. Exemplarily, the first and second deceleration signals mentioned in this embodiment, the third, fourth, and fifth deceleration signals mentioned in step 202, and the sixth deceleration signal mentioned in step 203 all aim to control the vehicle speed. However, due to different application scenarios, the deceleration effect achieved by executing different deceleration signals varies. For example, the second deceleration signal controls the vehicle speed within a range where the vehicle passes the foreign object without sustaining damage.

[0060] The vehicle's central processing unit generates a second warning signal based on the deceleration operation when the obstacle information does not meet the avoidance conditions and the vehicle speed has not reached the vehicle speed threshold. The vehicle's central processing unit provides an avoidance warning based on the second warning signal. The avoidance warning may be provided in ways including but not limited to playing the second warning signal by voice, or displaying the second warning signal on the vehicle's display screen. For example, the display screen of the vehicle's instrument display system may display "There is an obstacle ahead, we are slowing down to pass you" or the second warning signal may be indicated by an indicator light on the vehicle. This application embodiment does not limit the way the avoidance warning is provided based on the second warning signal.

[0061] Scenario 3: The information regarding the foreign object does not meet the avoidance conditions, but the vehicle speed reaches the speed threshold.

[0062] If the obstacle avoidance conditions are not met and the vehicle speed reaches the speed threshold, the vehicle's central processing unit acquires information about the second and second lanes of the vehicle's lane using the vehicle's radar. This application does not limit the type of vehicle radar; this application uses a 77 GHz millimeter-wave radar as an example for illustration. The radar's installation location is as follows... Figure 4 As shown. The installation location of the radar in this embodiment is only for illustrative purposes, and this application does not specifically limit the installation location of the radar.

[0063] Millimeter-wave radar refers to a type of radar based on millimeter-wave technology. Millimeter-wave radar can emit electromagnetic waves and receive reflected electromagnetic wave signals to detect and perceive the environment surrounding a vehicle. It features high precision, high resolution, and good stability under various weather and environmental conditions. Millimeter-wave technology refers to a technology that uses electromagnetic waves in the 30 GHz to 300 GHz frequency range for applications such as communication, radar, and imaging. The millimeter-wave radar used in this application embodiment is an MRR (Millimeter-Wave Radar), which refers to a radar system that uses millimeter waves for detection and ranging, primarily used for object detection and distance measurement in safe driving and autonomous driving functions. An SRR (Short-Range Radar) also refers to a radar system that uses millimeter waves for detection and ranging, primarily used for object detection and distance measurement in functions such as automatic parking and collision avoidance warnings. This application embodiment does not limit the type of millimeter-wave radar used.

[0064] The second side lane information refers to information about objects in the lanes immediately adjacent to the vehicle's lane. This information includes at least one of the following: the number of objects, their speed, direction, size, and distance from the vehicle. After the radar collects at least one of these information, it sends it to the vehicle's central processing unit (CPU). The CPU then uses this information to determine whether objects in the lanes immediately adjacent to the vehicle's lane will affect the vehicle's lane-changing behavior, and further determines whether the lane-changing conditions are met based on this second side lane information.

[0065] If, based on information from both sides of the second lane, it is determined that the lane-changing conditions are met (i.e., at least one of the two lanes in the vehicle's lane is free of objects), the vehicle's central processing unit sends a third deceleration signal to the vehicle's braking system. This third deceleration signal controls the vehicle's braking system to maintain a speed within a threshold range that ensures the vehicle can complete the lane-changing operation before passing an obstacle that does not meet the lane-changing conditions. The vehicle's braking system decelerates according to the third deceleration signal. For example, the third deceleration signal could include a signal to reduce the speed from 70 km / h to 50 km / h, in which case the braking system controls the vehicle's braking to reduce the speed to 50 km / h.

[0066] The vehicle's central processing unit sends a second deflection signal to the steering system. This signal controls the steering system to ensure the vehicle can complete a lane change before passing an obstacle that does not meet the lane-change requirements. The steering system activates the turn signals of vehicles in either of the two lanes adjacent to the vehicle's lane that are free of obstacles. The steering control system then turns the steering wheel towards the direction of the activated turn signal to complete the lane change. The vehicle decelerates according to a third deceleration signal and, based on the second deflection signal, completes the lane change before passing the obstacle at a speed sufficient to ensure the vehicle can pass it; this constitutes the second avoidance maneuver.

[0067] The vehicle's central processing unit (CPU) generates a third warning signal based on a second avoidance operation when the obstacle information does not meet the avoidance conditions but the vehicle speed reaches a speed threshold and lane-changing conditions are determined based on information from the second and second lanes on both sides. The CPU then provides an avoidance warning based on the third warning signal. The avoidance warning can be provided in ways including, but not limited to, playing the third warning signal via voice, or displaying it on the vehicle's screen (e.g., displaying "Obstacle ahead, actively changing lanes to avoid you"), or indicating the third warning signal via indicator lights on the vehicle. This embodiment does not limit the method of providing an avoidance warning based on the third warning signal.

[0068] If, based on information from the second and second side lanes, it is determined that the lane-changing conditions are not met, a second safe range is determined based on this information. This second safe range is the area within which the vehicle can veer to one side when attempting to avoid an obstacle, ensuring no damage to the vehicle during the veer. In other words, it is determined using radar-collected distance information between the object and the vehicle, ensuring no damage to the vehicle or object during the veer when the obstacle avoidance conditions are not met but the vehicle speed reaches a certain threshold. For example, if the radar-collected distance information is: the vehicle is 1.5 meters from an object in the left lane, then a veer-to-the-left distance of 1.5 meters is considered safe; or the vehicle is 1.3 meters from an object in the right lane, then a veer-to-the-right distance of 1.3 meters is considered safe. The determination of the second, third, and first safe ranges mentioned in this embodiment is based on obstacle information, vehicle speed, and object information from the lanes on either side of the vehicle's lane. The specific circumstances under which each safe range is defined differ.

[0069] The vehicle's central processing unit sends a fourth deceleration signal to the vehicle's braking system. This fourth deceleration signal controls the braking system to maintain the vehicle's speed within a second safe range before it passes an obstacle, ensuring the vehicle can complete a deflection maneuver within this second safe range. The braking system controls the brakes to decelerate based on the fourth deceleration signal, thus maintaining the vehicle's speed within this second safe range before passing an obstacle. For example, the fourth deceleration signal could include a signal to reduce the speed from 70 km / h to 20 km / h; in this case, the braking system would control the brakes to reduce the speed to 20 km / h.

[0070] The vehicle's central processing unit sends a third deflection signal to the steering system. This signal controls the steering system to complete a deflection maneuver within a second safe range before passing the obstacle. The steering system activates the turn signal on the side determined by radar as capable of deflecting within the second safe range. The steering control system then controls the steering wheel to deflect towards the side with the activated turn signal within the second safe range to complete the deflection. The vehicle decelerates according to a fourth deceleration signal and deflects within the second safe range according to the third deflection signal; this constitutes the third avoidance maneuver performed within the second safe range.

[0071] The vehicle's central processing unit (CPU) generates a fourth warning signal based on a third avoidance operation when the obstacle information does not meet the avoidance conditions but the vehicle speed reaches a speed threshold and lane change conditions are determined to be unsuitable based on information from the second and second side lanes. The CPU then provides an avoidance warning based on the fourth warning signal. The avoidance warning can be provided in ways including, but not limited to, playing the fourth warning signal via voice, or displaying it on the vehicle's screen (e.g., displaying "Obstacle ahead, actively avoiding you"), or indicating the fourth warning signal via indicator lights on the vehicle. This embodiment does not limit the method of providing an avoidance warning based on the fourth warning signal.

[0072] Scenario 4: The information regarding the foreign object meets the avoidance conditions, but the vehicle speed has not reached the speed threshold.

[0073] If the information about a foreign object meets the avoidance conditions but the vehicle speed does not reach the speed threshold, the vehicle's central processing unit obtains information about the third and second lanes of the vehicle's lane through the vehicle's radar.

[0074] The third information refers to the information about objects in the lanes immediately adjacent to the vehicle's lane. This information includes at least one of the following: the number of objects, their speed, direction, size, and distance from the vehicle. After the radar collects at least one of these information, it sends it to the vehicle's central processing unit (CPU). The CPU then uses this information to determine whether objects in the lanes immediately adjacent to the vehicle's lane will affect the vehicle's lane-changing behavior, and finally, based on this third information, whether the lane-changing conditions are met.

[0075] If, based on information from both sides of the third lane, it is determined that the conditions for a lane change are met, the vehicle's central processing unit sends a fourth deflection signal to the vehicle's braking system. The second deflection signal is used to control the vehicle's steering system to complete the lane change before the obstacle passes at a speed without deceleration. The vehicle's steering system controls the turn signals of vehicles in either of the two lanes adjacent to the vehicle's lane that are free of obstacles. The vehicle's steering control system then controls the steering wheel to deflect towards the side where the turn signal is on, thus completing the lane change operation. The vehicle's completion of the lane change before the obstacle passes at a speed without deceleration, based on the fourth deflection signal, constitutes the fourth avoidance maneuver.

[0076] The vehicle's central processing unit (CPU) generates a fifth warning signal based on a fourth avoidance operation performed when the obstacle information meets the avoidance conditions but the vehicle speed does not reach the speed threshold and lane change conditions are met based on information from the second and second lanes on both sides. The CPU then provides an avoidance warning based on the fifth warning signal. The avoidance warning can be provided in various ways, including but not limited to playing the fifth warning signal via voice, or displaying it on the vehicle's screen (e.g., displaying "Obstacle ahead, actively changing lanes to avoid you"), or indicating the fifth warning signal via an indicator light on the vehicle. This embodiment does not limit the method of providing an avoidance warning based on the fifth warning signal.

[0077] If the lane change conditions are not met based on the information of the third and second lanes, a third safe range is determined based on the information of the third and second lanes. That is, the safe range that will not cause damage to the vehicle or the object during the deflection process when the distance information between the object and the vehicle is collected by radar is determined.

[0078] The vehicle's central processing unit sends a fifth deceleration signal to the vehicle's braking system. This fifth deceleration signal controls the braking system to maintain the vehicle's speed within a third safety range before it passes an obstacle, ensuring the vehicle can complete a deflection maneuver within this third safety range. The braking system controls the brakes to decelerate based on the fifth deceleration signal, thus maintaining the vehicle's speed within this third safety range before passing an obstacle. For example, the fourth deceleration signal could include a signal to reduce the speed from 40 km / h to 20 km / h; in this case, the braking system would control the brakes to reduce the speed to 20 km / h.

[0079] The vehicle's central processing unit sends a second suspension lift signal to the vehicle's suspension system based on the height information of the foreign object. The vehicle's suspension system refers to the collective force transmission connection device between the vehicle's frame and axle, or between the vehicle's frame and wheels. The function of the vehicle's suspension system is to transmit forces and torques between the wheels and the frame, or between the frame and the axle, and to buffer the impact forces transmitted to the frame from uneven road surfaces, so as to ensure that the car can drive smoothly. The second suspension lift signal is used to control the vehicle's suspension system to raise the frame to a height higher than the height of the foreign object, even when the vehicle speed has not reached the vehicle speed threshold. For example, the second suspension lift signal may include a signal indicating the height of the vehicle's chassis that can be lifted. The height of the lift is determined by the height information of the foreign object included in the foreign object information and the vehicle speed, ensuring that the vehicle's chassis can pass through at a speed that does not reach the vehicle speed threshold. If the height of the foreign object exceeds the range of chassis height that the suspension system can adjust, the second suspension lift signal will lift the vehicle's chassis until it can no longer be lifted, i.e., the highest value within the range that the chassis can be lifted, in order to reduce the damage caused by the foreign object to the vehicle. The range that the chassis can be adjusted is set during the vehicle's development process, and different vehicles use different chassis adjustment ranges.

[0080] The vehicle's central processing unit sends a fifth deflection signal to the steering system. This signal controls the steering system to complete a deflection maneuver within the third safety range before passing an obstacle. The steering system activates the turn signal on the side determined by radar as where deflection is possible within the third safety range. The steering control system then controls the steering wheel to deflect within the third safety range towards the side with the activated turn signal, completing the deflection maneuver. The vehicle decelerates according to the fifth deceleration signal, raises the chassis height according to the second suspension lift signal, and deflects within the third safety range according to the fifth deflection signal; this constitutes the fifth obstacle avoidance maneuver performed within the third safety range.

[0081] The vehicle's central processing unit (CPU) generates a sixth warning signal based on a fifth avoidance operation performed when the obstacle information meets the avoidance conditions but the vehicle speed does not reach the speed threshold and lane change conditions are determined based on information from the third and second lanes. The CPU then provides an avoidance warning based on the sixth warning signal. The avoidance warning can be provided in various ways, including but not limited to playing the sixth warning signal via voice, or displaying it on the vehicle's screen (e.g., displaying "Obstacle ahead, actively avoiding you"), or indicating the sixth warning signal via an indicator light on the vehicle. This embodiment does not limit the method of providing an avoidance warning based on the sixth warning signal.

[0082] For example, if the lane-changing conditions are met based on the information from both sides of the first lane (i.e., at least one lane of the vehicle's lane is free of objects), the vehicle's central processing unit sends a sixth deceleration signal to the vehicle's braking system. This sixth deceleration signal controls the vehicle's braking system to maintain a speed within a threshold range that allows the vehicle to complete the lane-changing operation before passing any obstruction that satisfies the lane-changing conditions. The vehicle's braking system decelerates according to the sixth deceleration signal. By braking, the vehicle's speed is controlled within a range that allows the vehicle to complete the lane-changing operation before passing any obstruction that satisfies the lane-changing conditions.

[0083] The vehicle's central processing unit sends a sixth deflection signal to the steering system. This signal controls the steering system to maintain the vehicle at a speed sufficient to complete the lane change before passing the obstacle that meets the lane-changing requirements. The vehicle's steering system also activates the turn signals of vehicles in either of the two adjacent lanes that are free of obstacles. The steering control system then turns the steering wheel towards the direction of the activated turn signal to complete the lane change. Finally, the vehicle decelerates according to the sixth deceleration signal and, based on the sixth deflection signal, completes the lane change before the obstacle, maintaining a speed sufficient to complete the lane change before passing the obstacle. This is considered the sixth obstacle avoidance maneuver.

[0084] The vehicle's central processing unit (CPU) generates a seventh warning signal based on a sixth avoidance operation performed when the obstacle information meets the avoidance conditions, the vehicle speed reaches a speed threshold, and lane-changing conditions are determined based on the information from the first two lanes. The CPU then provides an avoidance warning based on the seventh warning signal. The avoidance warning can be provided in various ways, including but not limited to playing the seventh warning signal via voice, or displaying it on the vehicle's screen (e.g., displaying "Obstacle ahead, actively changing lanes to avoid you"), or indicating the seventh warning signal via an indicator light on the vehicle. This embodiment does not limit the method of providing an avoidance warning based on the seventh warning signal.

[0085] Step 204: Generate a first prompt signal based on the first avoidance operation, and provide an avoidance prompt based on the first prompt signal.

[0086] As described in step 203, the vehicle performs a first avoidance operation within a first safe range. The vehicle's central processing unit generates a first warning signal based on the first avoidance operation when the obstacle information meets the avoidance conditions but the vehicle speed reaches the vehicle speed threshold, and the information of the first two lanes determines that the lane change conditions are not met. The vehicle's central processing unit provides an avoidance warning based on the first warning signal. The avoidance warning may be provided in a manner including but not limited to playing the first warning signal by voice, or displaying the first warning signal on the vehicle's display screen. For example, the display screen of the vehicle's instrument display system may display "There is an obstacle ahead, we are providing emergency avoidance" or the first warning signal may be indicated by an indicator light on the vehicle. This application embodiment does not limit the manner in which the avoidance warning is provided based on the first warning signal.

[0087] In summary, the vehicle avoidance method provided in this application collects information on foreign objects on the road surface in the vehicle's direction of travel and the vehicle's speed. When the foreign object information meets the avoidance conditions and the vehicle speed reaches a threshold speed, the method uses the vehicle's radar to acquire information on the first and second lanes of the vehicle's lane. If the information on the first and second lanes determines that lane-changing conditions are not met, a first safe range is determined based on the first and second lane information. Based on a first deceleration signal, a first suspension lift signal, and a first yaw signal, the method controls the vehicle to perform a first avoidance operation within the first safe range. A first warning signal is generated based on the first avoidance operation, and an avoidance warning is provided based on the first warning signal. By controlling the vehicle to perform the first avoidance operation within the first safe range, the method ensures that the vehicle can avoid foreign objects, thereby ensuring the safety of the vehicle and the driver.

[0088] For ease of understanding, Figure 5 The method provided in this application embodiment will be illustrated using the illustrated process as an example. Figure 5 As shown, the vehicle avoidance process includes the following steps: Steps 1-10, Steps 71-72, Steps 81-86, Steps 91-96, and Steps 101-106. The implementation methods for Steps 1-6 can refer to the relevant explanations in Step 201 above; the implementation methods for Steps 10 and 102 can refer to the relevant explanations in Step 202 above; the implementation methods for Steps 7-10, 71-72, 81-86, 91-96, Step 101, and Steps 103-105 can refer to the relevant explanations in Step 203 above; and the implementation method for Step 106 can refer to the relevant explanations in Step 204 above. These will not be repeated here.

[0089] See Figure 6 This application provides a vehicle avoidance device, which includes:

[0090] The first acquisition module 601 is used to acquire foreign object information when a foreign object is detected on the road surface in the direction of vehicle travel, and to acquire the vehicle speed according to the vehicle's anti-lock braking system.

[0091] The second acquisition module 602 is used to acquire information about the first and second lanes of the lane where the vehicle is located through the vehicle's radar when the foreign object information meets the avoidance conditions and the vehicle speed reaches the vehicle speed threshold.

[0092] The avoidance module 603 is used to determine a first safe range based on the first two lane information when it is determined that the lane changing conditions are not met, send a first deceleration signal to the vehicle's braking system, send a first suspension lift signal to the vehicle's suspension system, send a first deflection signal to the vehicle's steering system, and control the vehicle to perform a first avoidance operation within the first safe range based on the first deceleration signal, the first suspension lift signal, and the first deflection signal.

[0093] The prompting module 604 is used to generate a first prompting signal based on the first avoidance operation, and to provide an avoidance prompt based on the first prompting signal.

[0094] In one possible implementation, the device further includes:

[0095] The deceleration warning module is used to send a second deceleration signal to the braking system when the information of the foreign object does not meet the avoidance conditions and the vehicle speed has not reached the vehicle speed threshold. Based on the second deceleration signal, the system controls the vehicle to perform a deceleration operation, generates a second warning signal based on the deceleration operation, and provides an avoidance warning based on the second warning signal.

[0096] In one possible implementation, the device further includes:

[0097] The third acquisition module is used to acquire information about the second and second lanes of the vehicle's lane through the vehicle's radar when the foreign object information does not meet the avoidance conditions but the vehicle speed reaches the vehicle speed threshold.

[0098] The first avoidance warning module is used to send a third deceleration signal to the braking system and a second deflection signal to the steering system when it is determined that the lane change conditions are met based on the second lane information on both sides. Based on the third deceleration signal and the second deflection signal, the module controls the vehicle to perform a second avoidance operation, generates a third warning signal based on the second avoidance operation, and provides an avoidance warning based on the third warning signal.

[0099] The second avoidance warning module is used to determine a second safe range based on the second lane information on both sides when it is determined that the lane change conditions are not met, send a fourth deceleration signal to the braking system, send a third deflection signal to the steering system, control the vehicle to perform a third avoidance operation within the second safe range based on the fourth deceleration signal and the third deflection signal, generate a fourth warning signal based on the third avoidance operation, and provide avoidance warning based on the fourth warning signal.

[0100] In one possible implementation, the device further includes:

[0101] The fourth acquisition module is used to acquire information about the third and second lanes of the vehicle's lane through the vehicle's radar when the foreign object information meets the avoidance conditions but the vehicle speed does not reach the vehicle speed threshold.

[0102] The third avoidance warning module is used to send a fourth deflection signal to the steering system when it is determined that the lane change conditions are met based on the information of the third and second lanes. Based on the fourth deflection signal, the vehicle is controlled to perform a fourth avoidance operation. A fifth warning signal is generated based on the fourth avoidance operation, and an avoidance warning is given based on the fifth warning signal.

[0103] The fourth avoidance warning module is used to determine a third safe range based on the third and second lane information when it is determined that the lane change conditions are not met. It then sends a fifth deceleration signal to the braking system, a second suspension lift signal to the suspension system, and a fifth deflection signal to the steering system. Based on the fifth deceleration signal, the second suspension lift signal, and the fifth deflection signal, it controls the vehicle to perform a fifth avoidance operation within the third safe range. Based on the fifth avoidance operation, it generates a sixth warning signal and provides an avoidance warning based on the sixth warning signal.

[0104] In one possible implementation, the device further includes:

[0105] The fifth avoidance warning module is used to send a sixth deceleration signal to the braking system and a sixth deflection signal to the steering system when the lane change conditions are met based on the first two lane information. Based on the sixth deceleration signal and the sixth deflection signal, the module controls the vehicle to perform a sixth avoidance operation, generates a seventh warning signal based on the sixth avoidance operation, and provides an avoidance warning based on the seventh warning signal.

[0106] In one possible implementation, the device further includes:

[0107] The sending module is used to send information about foreign objects to the network platform.

[0108] In one possible implementation, the prompting module 604 is used to play the first prompting signal by voice, or to display the first prompting signal on the vehicle's display screen, or to indicate the first prompting signal by an indicator light on the vehicle.

[0109] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0110] Figure 7 This is a schematic diagram of a server structure provided in an embodiment of this application. The server can vary significantly due to differences in configuration or performance. It may include one or more processors 1101 and one or more memories 1102. The one or more memories 1102 store at least one computer program, which is loaded and executed by the one or more processors 1101 to enable the server to implement the vehicle avoidance methods provided in the various method embodiments described above. Of course, the server may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which will not be elaborated upon here.

[0111] Figure 8 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. The terminal may be, for example, an in-vehicle terminal, a smartphone, a tablet computer, a media player, a laptop computer, or a desktop computer. The terminal may also be referred to as user equipment, a portable terminal, a laptop terminal, a desktop terminal, or other names.

[0112] Typically, a terminal includes a processor 1501 and a memory 1502.

[0113] Processor 1501 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1501 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1501 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 1501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0114] The memory 1502 may include one or more computer-readable storage media, which may be non-transitory. The memory 1502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1502 is used to store at least one instruction, which is executed by the processor 1501 to cause the terminal to implement the vehicle avoidance method provided in the method embodiments of this application.

[0115] In some embodiments, the terminal may also optionally include: a peripheral device interface 1503 and at least one peripheral device. The processor 1501, memory 1502, and peripheral device interface 1503 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1503 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit 1504, a display screen 1505, a camera assembly 1506, an audio circuit 1507, and a power supply 1508.

[0116] Peripheral interface 1503 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1501 and memory 1502. In some embodiments, processor 1501, memory 1502 and peripheral interface 1503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1501, memory 1502 and peripheral interface 1503 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0117] The radio frequency (RF) circuit 1504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1504 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 1504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1504 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1504 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0118] Display screen 1505 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1505 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1501 for processing. In this case, display screen 1505 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 1505 can be a single screen, located on the front panel of the terminal; in other embodiments, display screen 1505 can be at least two screens, respectively located on different surfaces of the terminal or in a folded design; in other embodiments, display screen 1505 can be a flexible display screen, located on a curved or folded surface of the terminal. Furthermore, display screen 1505 can be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 1505 can be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0119] The camera assembly 1506 is used to acquire images or videos. Optionally, the camera assembly 1506 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1506 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0120] The audio circuit 1507 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 1501 for processing, or input to the radio frequency circuit 1504 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned at a different location on the terminal. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1501 or the radio frequency circuit 1504 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1507 may also include a headphone jack.

[0121] Power supply 1508 is used to power the various components in the terminal. Power supply 1508 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1508 includes a rechargeable battery, the rechargeable battery can support wired or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0122] In some embodiments, the terminal further includes one or more sensors 1509. The one or more sensors 1509 include, but are not limited to: an acceleration sensor 1510, a gyroscope sensor 1511, a pressure sensor 1512, an optical sensor 1513, and a proximity sensor 1514.

[0123] Accelerometer 1510 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by the terminal. For example, accelerometer 1510 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 1501 can control display screen 1505 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 1510. Accelerometer 1510 can also be used for games or for acquiring user motion data.

[0124] The gyroscope sensor 1511 can detect the terminal's orientation and rotation angle. The gyroscope sensor 1511 can work in conjunction with the accelerometer sensor 1510 to collect the user's 3D movements on the terminal. Based on the data collected by the gyroscope sensor 1511, the processor 1501 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0125] The pressure sensor 1512 can be disposed on the side bezel of the terminal and / or the lower layer of the display screen 1505. When the pressure sensor 1512 is disposed on the side bezel of the terminal, it can detect the user's grip signal on the terminal, and the processor 1501 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 1512. When the pressure sensor 1512 is disposed on the lower layer of the display screen 1505, the processor 1501 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 1505. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0126] Optical sensor 1513 is used to collect ambient light intensity. In one embodiment, processor 1501 can control the display brightness of display screen 1505 based on the ambient light intensity collected by optical sensor 1513. Specifically, when the ambient light intensity is high, the display brightness of display screen 1505 is increased; when the ambient light intensity is low, the display brightness of display screen 1505 is decreased. In another embodiment, processor 1501 can also dynamically adjust the shooting parameters of camera assembly 1506 based on the ambient light intensity collected by optical sensor 1513.

[0127] The proximity sensor 1514, also known as a distance sensor, is typically installed on the front panel of the terminal. The proximity sensor 1514 is used to detect the distance between the user and the front of the terminal. In one embodiment, when the proximity sensor 1514 detects that the distance between the user and the front of the terminal is gradually decreasing, the processor 1501 controls the display screen 1505 to switch from a screen-on state to a screen-off state; when the proximity sensor 1514 detects that the distance between the user and the front of the terminal is gradually increasing, the processor 1501 controls the display screen 1505 to switch from a screen-off state to a screen-on state.

[0128] Those skilled in the art will understand that Figure 8 The structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0129] In an exemplary embodiment, a computer device is also provided, comprising a processor and a memory storing at least one computer program. The at least one computer program is loaded and executed by one or more processors to enable the computer device to implement any of the vehicle avoidance methods described above.

[0130] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the vehicle avoidance methods described above.

[0131] In one possible implementation, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0132] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the vehicle avoidance methods described above.

[0133] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, vehicle speed, obstacle information, and vehicle avoidance information involved in this application were all obtained with full authorization.

[0134] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0135] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for avoiding a vehicle, characterized in that, The method includes: If a foreign object is detected on the road surface in the direction of the vehicle's travel, the foreign object information is obtained, and the vehicle speed is obtained according to the vehicle's anti-lock braking system. When the foreign object information meets the avoidance conditions and the vehicle speed reaches the vehicle speed threshold, the first and second lane information of the lane where the vehicle is located is obtained by the vehicle's radar. If it is determined that the lane change conditions are not met based on the first lane information on both sides, a first safe range is determined based on the first lane information on both sides, a first deceleration signal is sent to the vehicle's braking system, a first suspension lift signal is sent to the vehicle's suspension system, and a first deflection signal is sent to the vehicle's steering system. Based on the first deceleration signal, the first suspension lift signal, and the first deflection signal, the vehicle is controlled to perform a first avoidance operation within the first safe range. A first prompt signal is generated based on the first avoidance operation, and an avoidance prompt is given based on the first prompt signal; If the obstacle information does not meet the avoidance conditions but the vehicle speed reaches the vehicle speed threshold, the second lane information of the lane where the vehicle is located is obtained by the vehicle's radar. If the lane change conditions are met based on the second lane information on both sides, a third deceleration signal is sent to the braking system and a second deflection signal is sent to the steering system. Based on the third deceleration signal and the second deflection signal, the vehicle is controlled to perform a second avoidance operation. A third prompt signal is generated according to the second avoidance operation, and an avoidance prompt is given according to the third prompt signal. If the lane change conditions are not met based on the second lane information on both sides, a second safe range is determined based on the second lane information on both sides. A fourth deceleration signal is sent to the braking system, and a third deflection signal is sent to the steering system. Based on the fourth deceleration signal and the third deflection signal, the vehicle is controlled to perform a third avoidance operation within the second safe range. A fourth prompt signal is generated based on the third avoidance operation, and an avoidance prompt is given based on the fourth prompt signal.

2. The method according to claim 1, characterized in that, When a foreign object is detected on the road surface in the direction of the vehicle's travel, the method of acquiring foreign object information and obtaining the vehicle speed based on the vehicle's anti-lock braking system further includes: If the foreign object information does not meet the avoidance conditions and the vehicle speed does not reach the vehicle speed threshold, a second deceleration signal is sent to the braking system. Based on the second deceleration signal, the vehicle is controlled to perform a deceleration operation. A second prompt signal is generated according to the deceleration operation. An avoidance prompt is given according to the second prompt signal.

3. The method according to claim 1, characterized in that, When a foreign object is detected on the road surface in the direction of the vehicle's travel, the method of acquiring foreign object information and obtaining the vehicle speed based on the vehicle's anti-lock braking system further includes: If the foreign object information meets the avoidance conditions but the vehicle speed does not reach the vehicle speed threshold, the information of the third and second lanes of the lane where the vehicle is located is obtained by the vehicle's radar. If the lane change conditions are met based on the information of the third and second lanes, a fourth deflection signal is sent to the steering system. Based on the fourth deflection signal, the vehicle is controlled to perform a fourth avoidance operation. A fifth prompt signal is generated based on the fourth avoidance operation. An avoidance prompt is given based on the fifth prompt signal. If, based on the information of the third and second lanes, it is determined that the lane-changing conditions are not met, a third safe range is determined based on the information of the third and second lanes. A fifth deceleration signal is sent to the braking system, a second suspension lift signal is sent to the suspension system, and a fifth deflection signal is sent to the steering system. Based on the fifth deceleration signal, the second suspension lift signal, and the fifth deflection signal, the vehicle is controlled to perform a fifth avoidance operation within the third safe range. A sixth warning signal is generated based on the fifth avoidance operation, and an avoidance warning is given based on the sixth warning signal.

4. The method according to claim 1, characterized in that, After acquiring the information of the first two lanes of the lane where the vehicle is located via the vehicle's radar, the method further includes: If the lane change conditions are met based on the information of the first two lanes, a sixth deceleration signal is sent to the braking system and a sixth deflection signal is sent to the steering system. The vehicle is controlled to perform a sixth avoidance operation based on the sixth deceleration signal and the sixth deflection signal. A seventh prompt signal is generated based on the sixth avoidance operation and an avoidance prompt is given based on the seventh prompt signal.

5. The method according to claim 1, characterized in that, After obtaining the foreign object information when a foreign object is detected on the road surface in the direction of vehicle travel, the method further includes: The foreign object information is sent to the network platform.

6. The method according to any one of claims 1-5, characterized in that, The step of generating a first prompt signal based on the first avoidance operation and providing an avoidance prompt based on the first prompt signal includes: The first prompt signal may be played by voice, displayed on the vehicle's screen, or indicated by an indicator light on the vehicle.

7. A vehicle avoidance device, characterized in that, The device includes: The first acquisition module is used to acquire foreign object information when a foreign object is detected on the road surface in the direction of vehicle travel, and to acquire the vehicle speed according to the vehicle's anti-lock braking system. The second acquisition module is used to acquire information about the first two lanes of the lane where the vehicle is located through the vehicle's radar when the foreign object information meets the avoidance conditions and the vehicle speed reaches the vehicle speed threshold. The avoidance module is used to determine a first safe range based on the first two lane information when it is determined that the lane change conditions are not met, send a first deceleration signal to the vehicle's braking system, send a first suspension lift signal to the vehicle's suspension system, send a first deflection signal to the vehicle's steering system, and control the vehicle to perform a first avoidance operation within the first safe range based on the first deceleration signal, the first suspension lift signal, and the first deflection signal. The prompting module is used to generate a first prompting signal based on the first avoidance operation, and to provide an avoidance prompt based on the first prompting signal; The third acquisition module is used to acquire information about the second and second lanes of the lane where the vehicle is located through the vehicle's radar when the foreign object information does not meet the avoidance conditions but the vehicle speed reaches the vehicle speed threshold. The first avoidance warning module is used to send a third deceleration signal to the braking system and a second deflection signal to the steering system when the lane change conditions are met based on the second lane information on both sides; control the vehicle to perform a second avoidance operation based on the third deceleration signal and the second deflection signal; generate a third warning signal according to the second avoidance operation; and provide avoidance warning according to the third warning signal. The second avoidance warning module is used to determine a second safe range based on the second lane information on both sides when it is determined that the lane change conditions are not met, send a fourth deceleration signal to the braking system, send a third deflection signal to the steering system, control the vehicle to perform a third avoidance operation within the second safe range based on the fourth deceleration signal and the third deflection signal, generate a fourth warning signal according to the third avoidance operation, and provide avoidance warning according to the fourth warning signal.

8. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement the vehicle avoidance method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement the vehicle avoidance method as described in any one of claims 1 to 6.

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