Anti-collision method and device of vehicle, vehicle and electronic equipment

Abstract

The application discloses a vehicle anti-collision method and device, a vehicle and an electronic device, and relates to the technical field of vehicle anti-collision, and can prevent a vehicle from colliding with an obstacle. The method comprises the following steps: acquiring a waveform output by an ultrasonic radar on the vehicle; determining a speed limit level of the corresponding vehicle based on the waveform; acquiring a distance from the vehicle to the obstacle under different speed limit levels; in response to a change in the speed limit level, correcting the distance from the vehicle to the obstacle to obtain a target distance from the vehicle to the obstacle; and correcting the motor torque of the vehicle according to the speed limit level, the motor speed and the target distance, determining the final motor torque of the vehicle, and controlling the vehicle speed based on the final motor torque of the vehicle, so as to prevent the vehicle from colliding with the obstacle, reduce the cost of vehicle anti-collision, and effectively improve the accuracy and reliability of vehicle anti-collision.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more particularly to collision avoidance methods, devices, vehicles, and electronic devices for vehicles. Background Technology

[0002] Currently, the number of new energy commercial vehicles is gradually increasing. Since commercial vehicles are mainly used for operation, they often face scenarios of reversing to load and unload goods. However, collisions are becoming increasingly common when vehicles are reversing close to loading and unloading platforms, sometimes even causing damage to the vehicle and cargo. In related technologies, collision avoidance can be achieved by installing anti-collision dampers. However, after prolonged use, the dampers can become severely damaged, requiring frequent replacements. Hydraulic sidewalls (to compensate for the gap with the platform) can also be installed, but this requires an additional hydraulic control system, increasing vehicle cost and weight and negatively impacting overall energy consumption. Adding detection devices to control the vehicle is another option, but this method relies on multiple sensors, resulting in high hardware costs. Furthermore, the multi-sensor fusion control algorithm and logic are complex, leading to high testing costs. Therefore, how to achieve accurate and reliable collision avoidance for vehicles while reducing the cost and ensuring vehicle safety has become an urgent problem to be solved. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, the first objective of this application is to propose a collision avoidance method for vehicles to solve the technical problems of inaccuracy, reliability, and high cost in the prior art for implementing collision avoidance of vehicles.

[0005] To achieve the above objectives, a first aspect of this application provides a collision avoidance method for a vehicle. The method includes: acquiring a waveform output by an ultrasonic radar on the vehicle; determining a corresponding speed limit level for the vehicle based on the waveform; acquiring the distance from the vehicle to an obstacle under different speed limit levels; correcting the distance from the vehicle to the obstacle in response to a change in the speed limit level to obtain a target distance from the vehicle to the obstacle; and correcting the motor torque of the vehicle according to the speed limit level, motor speed, and the target distance to determine the final motor torque of the vehicle.

[0006] In addition, a vehicle collision avoidance method according to the above embodiments of this application may also have the following additional technical features:

[0007] According to one embodiment of this application, before acquiring the waveform output by the ultrasonic radar on the vehicle, the method further includes: determining the gear position of the vehicle; and activating the ultrasonic radar on the vehicle in response to the gear position being reverse gear.

[0008] According to one embodiment of this application, determining the corresponding speed limit level of the vehicle based on the waveform further includes: dividing the waveform according to the waveform frequency to obtain waveforms of multiple frequency bands; obtaining a preset time interval for the waveform of each frequency band; obtaining the time interval from the first occurrence of a high-to-low change in the waveform to the next occurrence of a high-to-low change in the waveform; and determining the speed limit level of the vehicle based on the preset time interval and the time interval.

[0009] According to one embodiment of this application, the step of correcting the distance from the vehicle to the obstacle in response to a change in the speed limit level to obtain a target distance from the vehicle to the obstacle further includes: obtaining the distance the vehicle traveled during the sampling time; and subtracting the distance from the vehicle to the obstacle from the traveled distance to obtain the target distance from the vehicle to the obstacle.

[0010] According to one embodiment of this application, obtaining the distance traveled by the vehicle within the sampling time further includes: obtaining the current motor speed, transmission ratio, tire radius, and sampling time of the vehicle; and calculating the distance traveled by the vehicle within the sampling time based on the current motor speed, transmission ratio, tire radius, and sampling time.

[0011] According to one embodiment of this application, the step of correcting the vehicle's motor torque based on the speed limit level, motor speed, and target distance to determine the vehicle's final motor torque further includes:

[0012] Establish a first mapping table between the accelerator pedal opening and motor speed and motor torque of the vehicle;

[0013] Based on the vehicle's current accelerator pedal opening and current motor speed, the first mapping table is consulted to determine the current motor torque; under different speed limit levels, a second mapping table is established between the motor speed, the target distance, and the motor torque influence factor; based on the current speed limit level, the current motor speed, and the current target distance, the second mapping table is consulted to determine the current motor torque influence factor; the current motor torque is corrected based on the current motor torque influence factor to determine the vehicle's final motor torque.

[0014] To achieve the above objectives, a second aspect of this application provides a vehicle collision avoidance device, comprising: a first acquisition module for acquiring a waveform output by an ultrasonic radar on the vehicle, and determining a corresponding speed limit level for the vehicle based on the waveform; a second acquisition module for acquiring the distance from the vehicle to an obstacle under different speed limit levels; a first correction module for correcting the distance from the vehicle to the obstacle in response to a change in the speed limit level, thereby obtaining a target distance from the vehicle to the obstacle; and a second correction module for correcting the motor torque of the vehicle based on the speed limit level, motor speed, and the target distance, thereby determining the final motor torque of the vehicle.

[0015] In addition, a vehicle collision avoidance device according to the above embodiments of this application may also have the following additional technical features:

[0016] According to one embodiment of this application, before acquiring the waveform output by the ultrasonic radar on the vehicle, the device is further configured to: determine the gear position of the vehicle; and activate the ultrasonic radar on the vehicle in response to the gear position being reverse gear.

[0017] According to one embodiment of this application, the first acquisition module is further configured to: divide the waveform according to the waveform frequency to acquire waveforms of multiple frequency bands; acquire a preset time interval of the waveform of each frequency band in the waveforms of the multiple frequency bands; acquire the time interval from the first occurrence of a high-to-low change in the waveform to the next occurrence of a high-to-low change in the waveform; and determine the speed limit level of the vehicle based on the preset time interval and the time interval.

[0018] According to one embodiment of this application, the first correction module is further configured to: obtain the distance the vehicle moves during the sampling time; and subtract the distance from the vehicle to the obstacle from the distance the vehicle moves to obtain the target distance from the vehicle to the obstacle.

[0019] According to one embodiment of this application, the first correction module is further configured to: obtain the current motor speed, transmission ratio, tire radius and sampling time of the vehicle; and calculate the distance traveled by the vehicle within the sampling time based on the current motor speed, transmission ratio, tire radius and sampling time.

[0020] According to one embodiment of this application, the second correction module is further configured to: establish a first mapping relationship table between the accelerator pedal opening and motor speed and motor torque of the vehicle; query the first mapping relationship table based on the current accelerator pedal opening and current motor speed of the vehicle to determine the current motor torque; establish a second mapping relationship table between the motor speed and the target distance and the motor torque influence factor under different speed limit levels; query the second mapping relationship table based on the current speed limit level, the current motor speed and the current target distance to determine the current motor torque influence factor; and correct the current motor torque based on the current motor torque influence factor to determine the final motor torque of the vehicle.

[0021] To achieve the above objectives, a third aspect of this application provides a vehicle including the apparatus described in the second aspect.

[0022] To achieve the above objectives, a fourth aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements a collision avoidance method for a vehicle as described in any one of the first aspects of this application.

[0023] To achieve the above objectives, a fifth aspect of this application provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute a collision avoidance method for a vehicle as described in any one of the first aspects of this application. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a vehicle collision avoidance method disclosed in one embodiment of this application.

[0025] Figure 2 This is a schematic diagram of an ultrasonic radar on a vehicle disclosed in one embodiment of this application.

[0026] Figure 3 This is a schematic diagram of a vehicle collision avoidance method disclosed in another embodiment of this application.

[0027] Figure 4 This is a schematic diagram of waveforms for multiple frequency bands disclosed in one embodiment of this application.

[0028] Figure 5 This is a schematic diagram of a vehicle collision avoidance method disclosed in another embodiment of this application.

[0029] Figure 6 This is a schematic flowchart of a vehicle collision avoidance method disclosed in another embodiment of this application.

[0030] Figure 7This is a schematic flowchart of a vehicle collision avoidance method disclosed in another embodiment of this application.

[0031] Figure 8 This is a schematic diagram of the structure of a vehicle anti-collision device disclosed in one embodiment of this application.

[0032] Figure 9 This is a schematic diagram of the structure of a vehicle disclosed in one embodiment of this application.

[0033] Figure 10 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. Detailed Implementation

[0034] To better understand the above technical solutions, exemplary embodiments of this disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this disclosure to those skilled in the art.

[0035] The following description, with reference to the accompanying drawings, describes a vehicle collision avoidance method, apparatus, and electronic device according to embodiments of this application.

[0036] Figure 1 This is a schematic flowchart of a vehicle collision avoidance method according to an embodiment of this application.

[0037] like Figure 1 As shown in the embodiments of this application, the vehicle collision avoidance method specifically includes the following steps:

[0038] S101. Obtain the waveform output by the ultrasonic radar on the vehicle, and determine the corresponding speed limit level of the vehicle based on the waveform.

[0039] In this embodiment of the application, before acquiring the waveform output by the ultrasonic radar on the vehicle, it is necessary to determine the gear position of the vehicle. In response to the gear position being reverse, the ultrasonic radar on the vehicle is activated.

[0040] For example, the vehicle controller can detect whether the vehicle is in reverse based on a hard-wired signal. If the vehicle is in reverse, the ultrasonic radar on the vehicle will be activated.

[0041] It should be noted that this application does not limit the type of vehicle; the type can be selected according to the actual situation.

[0042] Optionally, the vehicle type can be a new energy commercial vehicle, where a commercial vehicle is an automobile designed and technically characterized for transporting people and goods.

[0043] It should be noted that this application does not limit the number of ultrasonic radars on the vehicle, and can select them according to the actual situation.

[0044] Optionally, four ultrasonic radars can be installed in the vehicle.

[0045] For example, such as Figure 2 As shown, four ultrasonic radar probes can be installed on the rear bumper beam of the vehicle.

[0046] It should be noted that after acquiring the waveform output from the ultrasonic radar on the vehicle, the corresponding speed limit level of the vehicle can be determined based on the time interval of the waveform frequency band. The higher the speed limit level, the closer the vehicle is to the obstacle. The speed limit levels can be level 0, level 1, level 2, level 3, and level 4.

[0047] S102. Obtain the distance from the vehicle to the obstacle under different speed limit levels.

[0048] It should be noted that this application does not limit the specific method for obtaining the distance between the vehicle and the obstacle at different speed limit levels, and the appropriate method can be selected according to the actual situation.

[0049] Optionally, the distance S from the vehicle to the obstacle i It can be determined based on the calibration of the actual vehicle.

[0050] For example, for a light-duty box truck with a tire radius r of 0.376m, a transmission ratio k of 16.04, a sampling time t of 0.01s, and a speed limit of 1, the distance from the vehicle to the obstacle is S1 = 3.6m; the distance from the vehicle to the obstacle is S2 = 1.6m when the speed limit is 2; the distance from the vehicle to the obstacle is S3 = 1mm when the speed limit is 3; and the distance from the vehicle to the obstacle is S4 = 0.57mm when the speed limit is 4.

[0051] S103. In response to a change in the speed limit level, the distance from the vehicle to the obstacle is corrected to obtain the target distance from the vehicle to the obstacle.

[0052] The change in the speed limit level means that the frequency band of the waveform output by the ultrasonic radar changes.

[0053] Optionally, the distance the vehicle travels during the sampling time can be obtained, and the difference between the distance from the vehicle to the obstacle and the travel distance can be calculated to obtain the target distance from the vehicle to the obstacle.

[0054] S104. Based on the speed limit level, motor speed and target distance, the motor torque of the vehicle is corrected to determine the final motor torque of the vehicle.

[0055] Optionally, a first mapping table can be established between the vehicle's accelerator pedal opening and motor speed and motor torque. Based on the vehicle's current accelerator pedal opening and current motor speed, the first mapping table is consulted to determine the current motor torque Trq1. Under different speed limit levels, a second mapping table can be established between motor speed, target distance and motor torque influence factor. Based on the current speed limit level, current motor speed and current target distance, the second mapping table is consulted to determine the current motor torque influence factor a. Then the vehicle's final motor torque Trq is Trq1*a.

[0056] In this embodiment of the application, after determining the final motor torque of the vehicle, the vehicle speed can be controlled based on the final motor torque to mitigate the collision.

[0057] The vehicle collision avoidance method provided in this application acquires the waveform output by the ultrasonic radar on the vehicle, determines the corresponding speed limit level of the vehicle based on the waveform, obtains the distance from the vehicle to the obstacle under different speed limit levels, corrects the distance from the vehicle to the obstacle in response to changes in the speed limit level, obtains the target distance from the vehicle to the obstacle, and corrects the vehicle's motor torque according to the speed limit level, motor speed, and target distance to determine the final motor torque of the vehicle. This application can analyze the waveform output by the ultrasonic radar, correct the distance from the vehicle to the obstacle, and correct the vehicle's motor torque according to the real-time speed limit level, motor speed, and target distance. Based on the final motor torque of the vehicle, the vehicle speed is controlled to prevent vehicle collisions, reducing the cost of vehicle collision avoidance and effectively improving the accuracy and reliability of vehicle collision avoidance.

[0058] The following explains the specific process of determining the corresponding vehicle speed limit level based on waveform, as proposed in this application.

[0059] As one possible implementation, such as Figure 3 As shown, based on the above embodiment, the specific process of determining the corresponding vehicle speed limit level based on the waveform in step S101 includes the following steps:

[0060] S301. Divide the waveform according to its frequency to obtain waveforms in multiple frequency bands.

[0061] For example, such as Figure 4 As shown, after obtaining the waveform output by the ultrasonic radar, the waveform can be divided according to its frequency to obtain low-frequency waveform, mid-frequency waveform, higher-frequency waveform, and high-frequency waveform.

[0062] S302. Obtain the preset time interval of the waveform of each frequency band in the waveform of multiple frequency bands.

[0063] For example, such as Figure 4 As shown, the preset time interval for each frequency band is Ti; the preset time interval for the low-frequency waveform is T1, and the period range of the low-frequency waveform is [0.5, 1); the preset time interval for the mid-frequency waveform is T2, and the period range of the mid-frequency waveform is [0.3, 0.5); the preset time interval for the higher-frequency waveform is T3, and the period range of the higher-frequency waveform is [0.2, 0.3); the preset time interval for the high-frequency waveform is T4, and the period range of the high-frequency waveform is [0.1, 0.2).

[0064] S303. Obtain the time interval between the first occurrence of a waveform changing from high to low and the next occurrence of a waveform changing from high to low.

[0065] Optionally, timing can begin when the waveform first changes from high to low and end when the waveform changes from high to low again, with the time interval between the start and end of timing being ΔT.

[0066] S304. Determine the vehicle's speed limit level based on the preset time interval and the time interval.

[0067] For example, when the preset time interval △T is not equal to the time interval Ti, the vehicle's speed limit level is 0. When the preset time interval △T is equal to the time interval Ti, the vehicle's speed limit level is i. That is, when the preset time interval △T is equal to the time interval T1, the vehicle's speed limit level is 1; when the preset time interval △T is equal to the time interval T2, the vehicle's speed limit level is 2; when the preset time interval △T is equal to the time interval T3, the vehicle's speed limit level is 3; and when the preset time interval △T is equal to the time interval T4, the vehicle's speed limit level is 4.

[0068] In this embodiment of the application, after determining the speed limit level of the vehicle, the distance from the vehicle to the obstacle can be obtained under different speed limit levels. When the speed limit level of the vehicle is level 1, the distance from the vehicle to the obstacle is S1 = 3.6m; when the speed limit level of the vehicle is level 2, the distance from the vehicle to the obstacle is S2 = 1.6m; when the speed limit level of the vehicle is level 3, the distance from the vehicle to the obstacle is S3 = 1mm; and when the speed limit level of the vehicle is level 4, the distance from the vehicle to the obstacle is S4 = 0.57mm.

[0069] In this embodiment of the application, in response to a change in the speed limit level, the distance from the vehicle to the obstacle can be corrected to obtain the target distance from the vehicle to the obstacle.

[0070] As one possible implementation, such as Figure 5As shown, based on the above embodiment, the specific process of correcting the distance from the vehicle to the obstacle in step S103 in response to a change in the speed limit level, to obtain the target distance from the vehicle to the obstacle, includes the following steps:

[0071] S501. Obtain the distance the vehicle travels during the sampling time.

[0072] As one possible implementation, such as Figure 6 As shown, based on the above embodiment, the specific process of obtaining the vehicle's travel distance within the sampling time in step S301 includes the following steps:

[0073] S601. Obtain the vehicle's current motor speed, transmission ratio, tire radius, and sampling time.

[0074] The sampling time refers to the sampling time of the ultrasonic radar on the vehicle.

[0075] S602. Calculate the distance the vehicle travels within the sampling time based on the current motor speed, transmission ratio, tire radius, and sampling time.

[0076] In this embodiment, after obtaining the vehicle's current motor speed, transmission ratio, tire radius, and sampling time, the distance S traveled by the vehicle within the sampling time can be calculated based on the following formula. C :

[0077]

[0078] Among them, S C Let t be the distance the vehicle travels during the sampling time, n be the motor speed, r be the tire radius, and k be the transmission ratio.

[0079] S502. Subtract the distance from the vehicle to the obstacle from the distance traveled to obtain the target distance from the vehicle to the obstacle.

[0080] For example, the distance from the vehicle to the obstacle is Si, and the distance traveled is S. C Then the target distance S from the vehicle to the obstacle x =S i -S C .

[0081] The vehicle collision avoidance method provided in this application obtains the vehicle's travel distance within a sampling time, and calculates the difference between the distance from the vehicle to the obstacle and the travel distance to obtain the target distance from the vehicle to the obstacle. This application can correct the distance from the vehicle to the obstacle based on the distance from the vehicle to the obstacle under different speed limit levels and the vehicle's travel distance within the sampling time. This method is convenient, efficient, and low-cost, laying the foundation for improving the accuracy and reliability of vehicle collision avoidance in the future.

[0082] As one possible implementation, such as Figure 7 As shown, based on the above embodiment, the specific process of correcting the vehicle's motor torque according to the speed limit level, motor speed, and target distance in step S104 to determine the final motor torque of the vehicle includes the following steps:

[0083] S701. Establish the first mapping relationship table between the vehicle's accelerator pedal opening and motor speed and motor torque.

[0084] For example, as shown in Table 1, a first mapping relationship table between the vehicle's accelerator pedal opening and motor speed and motor torque can be pre-selected.

[0085] Table 1

[0086]

[0087] S702. Based on the vehicle's current accelerator pedal opening and current motor speed, query the first mapping table to determine the current motor torque.

[0088] For example, when the accelerator pedal opening is 10 and the motor speed is 20 r / s, by querying the first mapping table, the current motor torque Trq1 can be determined to be 26 N·m.

[0089] S703. Under different speed limit levels, establish a second mapping relationship table between motor speed and target distance and motor torque influence factor.

[0090] For example, as shown in Table 2, when the speed limit level is 0, a second mapping relationship table is established between the motor speed and target distance and the motor torque influence factor.

[0091] Table 2

[0092]

[0093] For example, as shown in Table 3, when the speed limit level is level 1, a second mapping relationship table is established between motor speed and target distance and motor torque influence factor.

[0094] Table 3

[0095]

[0096] For example, as shown in Table 4, when the speed limit level is level 2, a second mapping relationship table is established between motor speed and target distance and motor torque influence factor.

[0097] Table 4

[0098]

[0099] For example, as shown in Table 5, when the speed limit level is level 3, a second mapping relationship table is established between motor speed and target distance and motor torque influence factor.

[0100] Table 5

[0101]

[0102] For example, as shown in Table 6, when the speed limit level is level 4, a second mapping relationship table is established between motor speed and target distance and motor torque influence factor.

[0103] Table 6

[0104]

[0105] S704. Based on the current speed limit level, current motor speed, and current target distance, query the second mapping table to determine the current motor torque influence factor.

[0106] For example, when the current speed limit level is level 4, the current motor speed is 100, and the current target distance is 0.3, by querying the second mapping relationship table (Table 6), it can be determined that the current motor torque influence factor a is 0.1.

[0107] S505. Correct the current motor torque based on the current motor torque influence factor to determine the final motor torque of the vehicle.

[0108] In this embodiment of the application, after obtaining the current motor torque influence factor a, the current motor torque Trq1 can be corrected according to the current motor torque influence factor a, and the final motor torque of the vehicle Trq = Trq1 * a can be determined.

[0109] The vehicle collision avoidance method provided in this application can analyze the waveform output by ultrasonic radar, correct the distance between the vehicle and the obstacle, and correct the vehicle's motor torque based on the real-time speed limit level, motor speed and target distance. Based on the final motor torque, the vehicle speed is controlled to prevent collisions, reduce the cost of vehicle collision avoidance, and effectively improve the accuracy and reliability of vehicle collision avoidance.

[0110] The specific process of the vehicle collision avoidance method provided in the embodiments of this application will be explained below.

[0111] Optionally, the ultrasonic radar host obtains the raw voltage signal of the radar probe through hard wiring, processes the signal, and sends rectangular waves of different frequencies to the vehicle controller. The vehicle controller obtains the motor speed through the CAN bus (Controller Area Network, CAN for short), obtains the electronic gear selector gear information and accelerator pedal opening information through hard wiring.

[0112] For example, the ultrasonic radar host acquires the signal detected by the ultrasonic radar probe and outputs the corresponding waveform. After receiving the waveform signal from the ultrasonic radar host, the vehicle controller processes the waveform signal, divides the waveform according to its frequency, acquires waveforms of multiple frequency bands, and classifies them into five vehicle speed limit levels based on the waveforms. At the same time, the vehicle controller calculates the vehicle's travel distance S and the distance Si from the vehicle to the obstacle under different speed limit levels based on the motor speed, vehicle transmission ratio, tire radius, and sampling time, and corrects the distance S from the obstacle in real time. x =S i -S C The vehicle's motor torque is then adjusted based on the speed limit level, motor speed, and target distance to determine the final motor torque Trq.

[0113] Figure 8 This is a schematic diagram of the structure of a vehicle anti-collision device according to an embodiment of this application.

[0114] like Figure 8 As shown, the vehicle's collision avoidance device 100 includes: a first acquisition module 11, a second acquisition module 12, a first correction module 13, and a second correction module 14. Among them,

[0115] The first acquisition module 11 is used to acquire the waveform output by the ultrasonic radar on the vehicle and determine the corresponding speed limit level of the vehicle based on the waveform.

[0116] The second acquisition module 12 is used to acquire the distance from the vehicle to the obstacle under different speed limit levels;

[0117] The first correction module 13 is used to correct the distance from the vehicle to the obstacle in response to a change in the speed limit level, so as to obtain the target distance from the vehicle to the obstacle;

[0118] The second correction module 14 is used to correct the motor torque of the vehicle based on the speed limit level, motor speed and target distance, and determine the final motor torque of the vehicle.

[0119] According to one embodiment of this application, before acquiring the waveform output by the ultrasonic radar on the vehicle, the device 100 is further configured to: determine the gear position of the vehicle; and activate the ultrasonic radar on the vehicle in response to the gear position being reverse gear.

[0120] According to one embodiment of this application, the first acquisition module 11 is further configured to: divide the waveform according to the waveform frequency to acquire waveforms of multiple frequency bands; acquire a preset time interval of the waveform of each frequency band in the waveforms of the multiple frequency bands; acquire the time interval from the first occurrence of a high-to-low change in the waveform to the next occurrence of a high-to-low change in the waveform; and determine the speed limit level of the vehicle based on the preset time interval and the time interval.

[0121] According to one embodiment of this application, the first correction module 13 is further configured to: obtain the moving distance of the vehicle during the sampling time; and subtract the moving distance from the distance from the vehicle to the obstacle to obtain the target distance from the vehicle to the obstacle.

[0122] According to one embodiment of this application, the first correction module 13 is further configured to: obtain the current motor speed, transmission ratio, tire radius and sampling time of the vehicle; and calculate the distance traveled by the vehicle within the sampling time based on the current motor speed, transmission ratio, tire radius and sampling time.

[0123] According to one embodiment of this application, the second correction module 14 is further configured to: establish a first mapping relationship table between the accelerator pedal opening and motor speed and motor torque of the vehicle; query the first mapping relationship table according to the current accelerator pedal opening and current motor speed of the vehicle to determine the current motor torque; establish a second mapping relationship table between the motor speed and the target distance and the motor torque influence factor under different speed limit levels; query the second mapping relationship table according to the current speed limit level, the current motor speed and the current target distance to determine the current motor torque influence factor; and correct the current motor torque according to the current motor torque influence factor to determine the final motor torque of the vehicle.

[0124] This application provides a vehicle collision avoidance device that acquires the waveform output by an ultrasonic radar on the vehicle, determines the corresponding speed limit level based on the waveform, obtains the distance from the vehicle to an obstacle under different speed limit levels, corrects the distance from the vehicle to the obstacle in response to changes in the speed limit level, obtains the target distance from the vehicle to the obstacle, and corrects the vehicle's motor torque based on the speed limit level, motor speed, and target distance to determine the final motor torque of the vehicle. This application can analyze the waveform output by the ultrasonic radar, correct the distance from the vehicle to the obstacle, and correct the vehicle's motor torque based on the real-time speed limit level, motor speed, and target distance. Based on the final motor torque of the vehicle, the vehicle speed is controlled to prevent collisions, reducing the cost of vehicle collision avoidance and effectively improving the accuracy and reliability of vehicle collision avoidance.

[0125] To implement the above embodiments, this application also proposes a vehicle 1000, such as... Figure 9 As shown, the vehicle 1000 includes: a device 100 of the second aspect.

[0126] To implement the above embodiments, this application also proposes an electronic device 2000, such as... Figure 10 As shown, it includes a memory 210, a processor 220, and a computer program stored on the memory 210 and executable on the processor 220. When the processor executes the program, it implements the aforementioned vehicle collision avoidance method.

[0127] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the aforementioned vehicle collision avoidance method.

[0128] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0129] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0130] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0131] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0132] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0133] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for avoiding collisions with a vehicle, characterized in that, The method includes: Acquire the waveform output by the ultrasonic radar on the vehicle, and determine the corresponding speed limit level of the vehicle based on the waveform; Obtain the distance from the vehicle to the obstacle under different speed limit levels; In response to a change in the speed limit level, the distance from the vehicle to the obstacle is corrected to obtain the target distance from the vehicle to the obstacle; The vehicle's motor torque is adjusted based on the speed limit level, motor speed, and target distance to determine the final motor torque of the vehicle.

2. The method according to claim 1, characterized in that, Before acquiring the waveform output by the ultrasonic radar on the vehicle, the method further includes: Determine the gear position of the vehicle; In response to the gear position being reverse, the ultrasonic radar on the vehicle is activated.

3. The method according to claim 1, characterized in that, The step of determining the corresponding speed limit level of the vehicle based on the waveform further includes: The waveform is divided according to its frequency to obtain waveforms in multiple frequency bands; Obtain a preset time interval for the waveform of each frequency band in the multiple frequency bands; The time interval between the first occurrence of a high-to-low change in the waveform and the next occurrence of a high-to-low change in the waveform is obtained; The speed limit level of the vehicle is determined based on the preset time interval and the time interval.

4. The method according to claim 1, characterized in that, The method of correcting the distance from the vehicle to the obstacle in response to a change in the speed limit level to obtain a target distance from the vehicle to the obstacle further includes: Obtain the distance traveled by the vehicle within the sampling time; The target distance from the vehicle to the obstacle is obtained by subtracting the distance traveled from the distance from the vehicle to the obstacle.

5. The method according to claim 4, characterized in that, The step of obtaining the distance traveled by the vehicle within the sampling time also includes: Obtain the vehicle's current motor speed, transmission ratio, tire radius, and sampling time; The distance the vehicle traveled during the sampling time is calculated based on the current motor speed, the transmission ratio, the tire radius, and the sampling time.

6. The method according to claim 1, characterized in that, The step of correcting the vehicle's motor torque based on the speed limit level, motor speed, and target distance to determine the vehicle's final motor torque further includes: Establish a first mapping table between the accelerator pedal opening and motor speed and motor torque of the vehicle; Based on the vehicle's current accelerator pedal opening and current motor speed, the first mapping table is consulted to determine the current motor torque; Under different speed limit levels, a second mapping relationship table is established between the motor speed, the target distance, and the motor torque influence factor; Based on the current speed limit level, the current motor speed, and the current target distance, the second mapping table is queried to determine the current motor torque influence factor; The current motor torque is corrected based on the current motor torque influence factor to determine the final motor torque of the vehicle.

7. A collision avoidance device for a vehicle, characterized in that, The device includes: The first acquisition module is used to acquire the waveform output by the ultrasonic radar on the vehicle, and determine the corresponding speed limit level of the vehicle based on the waveform. The second acquisition module is used to acquire the distance from the vehicle to the obstacle under different speed limit levels; The first correction module is used to correct the distance between the vehicle and the obstacle in response to a change in the speed limit level, so as to obtain the target distance between the vehicle and the obstacle; The second correction module is used to correct the motor torque of the vehicle based on the speed limit level, motor speed and target distance, and determine the final motor torque of the vehicle.

8. The apparatus according to claim 7, characterized in that, Before acquiring the waveform output by the ultrasonic radar on the vehicle, the device is further configured to: Determine the gear position of the vehicle; In response to the gear position being reverse, the ultrasonic radar on the vehicle is activated.

9. The apparatus according to claim 7, characterized in that, The first acquisition module is further configured to: The waveform is divided according to its frequency to obtain waveforms in multiple frequency bands; Obtain a preset time interval for the waveform of each frequency band in the multiple frequency bands; The time interval between the first occurrence of a high-to-low change in the waveform and the next occurrence of a high-to-low change in the waveform is obtained; The speed limit level of the vehicle is determined based on the preset time interval and the time interval.

10. The apparatus according to claim 7, characterized in that, The first correction module is further configured to: Obtain the distance traveled by the vehicle within the sampling time; The target distance from the vehicle to the obstacle is obtained by subtracting the distance traveled from the distance from the vehicle to the obstacle.

11. The apparatus according to claim 10, characterized in that, The first correction module is further configured to: Obtain the vehicle's current motor speed, transmission ratio, tire radius, and sampling time; The distance the vehicle traveled during the sampling time is calculated based on the current motor speed, the transmission ratio, the tire radius, and the sampling time.

12. The apparatus according to claim 7, characterized in that, The second correction module is also used for: Establish a first mapping table between the accelerator pedal opening and motor speed and motor torque of the vehicle; Based on the vehicle's current accelerator pedal opening and current motor speed, the first mapping table is consulted to determine the current motor torque; Under different speed limit levels, a second mapping relationship table is established between the motor speed, the target distance, and the motor torque influence factor; Based on the current speed limit level, the current motor speed, and the current target distance, the second mapping table is queried to determine the current motor torque influence factor; The current motor torque is corrected based on the current motor torque influence factor to determine the final motor torque of the vehicle.

13. A vehicle, characterized in that, Includes the apparatus as described in claim 7.

14. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

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