Anti-collision vehicle control method, device, equipment and storage medium

Abstract

The application discloses a kind of anti-collision vehicle control method, device, equipment and storage medium, the method comprises: when the driving line of sight of current vehicle is blocked by adjacent vehicle and fails to obtain the blocking area monitoring image transmitted by adjacent vehicle, determine the time interval required for target object to drive to the road corresponding to adjacent vehicle;When the arrival time of adjacent vehicle reaches the intersection of pedestrian crossing road is in time interval, determine the time difference between current vehicle and adjacent vehicle to reach the intersection of pedestrian crossing road;According to time difference, control the driving time of current vehicle driving to the intersection of pedestrian crossing road is greater than time difference.The application determines the time difference between current vehicle and adjacent vehicle to drive to the intersection of pedestrian crossing road when the driving route of current vehicle is blocked and fails to obtain the blocking area monitoring image, controls current vehicle to drive based on time difference, reaches the intersection of pedestrian crossing road after time difference, prevents the risk of traffic accident caused by line of sight being blocked.

Description

Technical Field

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

[0002] With improved economic conditions and infrastructure development, roads are becoming wider, and consequently, there are more and more lanes. When driving on roads with multiple lanes in the same direction, and not in the outermost lane, if a large vehicle in the adjacent lane (such as a truck or bus) obstructs the driver's view, this can be problematic. If a pedestrian is crossing the lane and vehicles in the adjacent lane are yielding, the driver may not see the pedestrian due to obstruction. When the pedestrian crosses into the driver's lane, the driver may not be able to stop in time, potentially leading to a traffic accident.

[0003] Currently, cameras or detectors can be installed around vehicles to monitor their surroundings and minimize traffic accidents. However, these detectors have limited detection range and cannot detect pedestrians crossing the lane when their view is obstructed by adjacent lanes. Furthermore, the detection process takes time, and if a pedestrian suddenly appears in front of the driver's vehicle from an adjacent lane, the detector may not be able to react in time. Summary of the Invention

[0004] The main objective of this invention is to provide a collision avoidance vehicle control method, device, equipment, and storage medium, aiming to solve the technical problem of traffic accidents caused by obstructed vision due to the limited detection range of the detector.

[0005] To achieve the above objectives, the present invention provides a collision avoidance vehicle control method, the collision avoidance vehicle control method comprising the following steps:

[0006] When the current vehicle's line of sight is obstructed by an adjacent vehicle and it fails to acquire the monitoring image of the obstructed area transmitted by the adjacent vehicle, the time interval required for the target object to travel to the road corresponding to the adjacent vehicle is determined.

[0007] When the arrival time of the adjacent vehicle at the pedestrian crossing intersection is within the time interval, the time difference between the arrival time of the current vehicle and the adjacent vehicle at the pedestrian crossing intersection is determined.

[0008] Based on the time difference, the travel time of the current vehicle to the intersection where the pedestrian is crossing the road is controlled to be greater than the time difference.

[0009] Optionally, the step of determining the time difference between the arrival times of the current vehicle and the adjacent vehicle at the pedestrian crossing when the arrival times of the adjacent vehicles are within the time interval includes:

[0010] When the arrival time of the adjacent vehicle at the pedestrian crossing intersection is within the time interval, determine the first distance from the location of the obstructed area to the pedestrian crossing intersection;

[0011] The second distance is determined based on the distance between the adjacent vehicle and the pedestrian crossing the road intersection and the length of the adjacent vehicle;

[0012] The travel speed of the target object is determined based on the first distance, the second distance, and the travel speed of the adjacent vehicles;

[0013] The time difference between the current vehicle and the adjacent vehicle reaching the intersection where the pedestrian is crossing the road is determined based on the driving speed, the driving width of the road corresponding to the adjacent vehicle, and the length of the target object.

[0014] Optionally, the step of determining the time interval required for the target object to travel to the road corresponding to the adjacent vehicle when the current vehicle's line of sight is obstructed by an adjacent vehicle and acquiring the monitoring image of the obstructed area transmitted by the adjacent vehicle fails includes:

[0015] When the current vehicle's line of sight is obstructed by an adjacent vehicle and it fails to acquire the monitoring image of the obstructed area transmitted by the adjacent vehicle, the scenario of the current driving road is determined.

[0016] Based on the judgment result, the target distance between the target object and the intersection corresponding to the adjacent vehicle is determined, and the walking speed range of the target object is determined;

[0017] The time interval required for the target object to travel to the road corresponding to the adjacent vehicle is determined based on the target distance and the walking speed range.

[0018] Optionally, before the step of determining the time interval required for the target object to travel to the road corresponding to the adjacent vehicle when the current vehicle's line of sight is obstructed by an adjacent vehicle and acquiring the monitoring image of the obstructed area transmitted by the adjacent vehicle fails, the method further includes:

[0019] When the current vehicle's line of sight is obstructed by an adjacent vehicle, determine the current road type;

[0020] Based on the judgment result, determine the pedestrian crossing the road intersection, and determine whether there is a traffic light at the intersection where the pedestrian is crossing the road;

[0021] When there are no traffic lights at the intersection where pedestrians are crossing the road, acquire the monitoring image of the obstructed area transmitted by the adjacent vehicle.

[0022] Optionally, after determining the pedestrian crossing the road intersection based on the judgment result and determining whether there is a traffic light at the pedestrian crossing the road intersection, the method further includes:

[0023] When there is a traffic light at the intersection where pedestrians are crossing the road, the driving operations of the current vehicle and the adjacent vehicles are synchronized according to the target communication protocol.

[0024] Optionally, the step of synchronizing the driving operations of the current vehicle and the adjacent vehicles according to the target communication protocol when there is a traffic light at the intersection where the pedestrian is crossing the road includes:

[0025] When there are traffic lights at the intersection where pedestrians are crossing the road, the safety level authentication of the adjacent vehicles is performed by the current vehicle based on the target communication protocol.

[0026] When the safety level certification score reaches a preset threshold and the adjacent vehicle is in an emergency, the system receives a warning message from the adjacent vehicle based on the target communication protocol and controls the current vehicle to perform emergency braking.

[0027] Alternatively, when the score of the safety level certification does not reach the preset threshold and the adjacent vehicle is in an emergency, the system receives a warning prompt from the adjacent vehicle based on the target communication protocol and determines whether to perform emergency braking.

[0028] When no emergency braking control is received from the adjacent vehicle, monitor the speed and acceleration changes of the adjacent vehicle;

[0029] Based on the monitoring results, the current vehicle is controlled to perform emergency braking.

[0030] Optionally, after the step of acquiring the monitoring image of the obstructed area transmitted by the adjacent vehicle when there is no traffic light at the intersection where the pedestrian is crossing the road, the method further includes:

[0031] When acquiring monitoring images of obscured areas, the vehicle's speed is controlled in real time based on the monitoring images of the obscured areas.

[0032] In addition, to achieve the above objectives, the present invention also proposes a collision avoidance vehicle control device, which includes: a time determination module, a time difference determination module, and a vehicle control module.

[0033] The time determination module is used to determine the time interval required for the target object to travel to the road corresponding to the adjacent vehicle when the current vehicle's driving line of sight is blocked by an adjacent vehicle and it fails to acquire the monitoring image of the blocked area transmitted by the adjacent vehicle.

[0034] The time difference determination module is used to determine the time difference between the current vehicle and the adjacent vehicle when the arrival time of the adjacent vehicle at the pedestrian crossing is within the time interval.

[0035] The vehicle control module is used to control the current vehicle to travel to the intersection where the pedestrian is crossing the road in a time difference that is greater than the time difference.

[0036] Furthermore, to achieve the above objectives, the present invention also proposes a collision avoidance vehicle control device, the collision avoidance vehicle control device including a memory, a processor, and a collision avoidance vehicle control program stored in the memory and capable of running on the processor, the collision avoidance vehicle control program being configured to implement the collision avoidance vehicle control method as described above.

[0037] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a collision avoidance vehicle control program, which, when executed by a processor, implements the collision avoidance vehicle control method as described above.

[0038] This invention discloses a collision avoidance vehicle control method, device, equipment, and storage medium. The method includes: when the current vehicle's line of sight is obstructed by an adjacent vehicle and acquiring the obstruction area monitoring image transmitted by the adjacent vehicle fails, determining the time interval required for the target object to travel to the road corresponding to the adjacent vehicle; when the arrival time of the adjacent vehicle at the pedestrian crossing intersection is within the time interval, determining the time difference between the arrival time of the current vehicle and the adjacent vehicle at the pedestrian crossing intersection; and controlling the current vehicle to travel to the pedestrian crossing intersection in a time difference greater than the time difference. This invention, when the current vehicle's route is obstructed and acquiring the obstruction area monitoring image by the adjacent vehicle fails, determines the time interval for the target object to travel to the road corresponding to the adjacent vehicle, and when the arrival time of the adjacent vehicle at the pedestrian crossing intersection is within the time interval, determines the time difference between the arrival time of the current vehicle and the adjacent vehicle at the pedestrian crossing intersection, and controls the current vehicle to travel based on the time difference, arriving at the pedestrian crossing intersection after the time difference, thereby avoiding the risk of collision with the target object crossing the pedestrian crossing intersection and preventing traffic accidents caused by obstructed vision. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a collision avoidance vehicle control device in the hardware operating environment involved in the embodiments of the present invention;

[0040] Figure 2 This is a flowchart illustrating the first embodiment of the collision avoidance vehicle control method of the present invention;

[0041] Figure 3 This is a flowchart illustrating the second embodiment of the collision avoidance vehicle control method of the present invention;

[0042] Figure 4 This is a flowchart illustrating the third embodiment of the collision avoidance vehicle control method of the present invention;

[0043] Figure 5 This is a time interval determination diagram for the outermost lane in an embodiment of the vehicle control method for collision avoidance of the present invention.

[0044] Figure 6 This diagram illustrates the determination of the time interval for the inner lane in an embodiment of the vehicle control method for collision avoidance of the present invention.

[0045] Figure 7 This is a time difference determination diagram for an embodiment of the vehicle control method for collision avoidance of the present invention;

[0046] Figure 8 This is a structural block diagram of the first embodiment of the collision avoidance vehicle control device of the present invention.

[0047] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0049] Reference Figure 1 , Figure 1 This is a schematic diagram of the collision avoidance vehicle control device structure in the hardware operating environment involved in the embodiments of the present invention.

[0050] like Figure 1As shown, the collision avoidance vehicle control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen, and optionally, it may also include a standard wired interface or a wireless interface. In this invention, the wired interface of the user interface 1003 may be a USB interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the vehicle control device for collision avoidance, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0052] like Figure 1 As shown, the memory 1005, which is identified as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a collision avoidance vehicle control program.

[0053] exist Figure 1 In the collision avoidance vehicle control device shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the user equipment; the collision avoidance vehicle control device calls the collision avoidance vehicle control program stored in the memory 1005 through the processor 1001 and executes the collision avoidance vehicle control method provided in the embodiment of the present invention.

[0054] Based on the above hardware structure, an embodiment of the collision avoidance vehicle control method of the present invention is proposed.

[0055] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the collision avoidance vehicle control method of the present invention, which presents the first embodiment of the collision avoidance vehicle control method of the present invention.

[0056] Step S10: When the current vehicle's line of sight is blocked by an adjacent vehicle and it fails to acquire the monitoring image of the blocked area transmitted by the adjacent vehicle, determine the time interval required for the target object to travel to the road corresponding to the adjacent vehicle.

[0057] It should be noted that the executing entity in this embodiment may be an automated guided vehicle scheduling device with data processing, network communication and program running functions, such as a vehicle controller, or other electronic devices that can achieve the same or similar functions. This embodiment does not limit this.

[0058] It should be understood that currently, cameras or detectors can be installed around vehicles to detect the area around them. However, the detection range is limited, and they cannot detect pedestrians crossing the lane in a way that is obscured by adjacent vehicles. In addition, when a pedestrian suddenly appears in front of the vehicle being driven, the detector may not be able to react in time.

[0059] To overcome the aforementioned shortcomings, this embodiment can determine the current road type when the area in front of the user's vehicle is obstructed by an adjacent vehicle, and identify the intersection where a person or object might cross the road based on the current road type. After identifying the intersection, the system acquires surveillance video of the obstructed area from the adjacent vehicle based on the current vehicle's speed and distance from the intersection. If the acquisition is successful, the system determines whether a person or object crossing the road appears in the current lane when the current vehicle reaches the intersection, and determines the driving speed based on the determination result. If the acquisition fails, the system determines the closest and furthest distances from the intersection to the person or object that might cross the intersection, as well as the maximum length of the object that might cross the intersection, based on the current road scene type. Then, the system comprehensively determines the current vehicle's corresponding driving speed based on the speed of the person or object crossing the intersection, the closest and furthest distances from the intersection, the maximum length of the object that might cross the intersection, and the obstructed area of ​​the current vehicle parallel to the road.

[0060] It is understandable that adjacent vehicles can be located to the left, right, or both sides of the current vehicle. When the speed of the adjacent vehicle is greater than that of the current vehicle, the adjacent vehicle is located diagonally in front of the current vehicle. In this case, the current vehicle will block its view diagonally in front. If there is a zebra crossing diagonally in front, it is very likely that the view will be blocked and pedestrians will not be seen crossing the road, leading to traffic accidents.

[0061] It should be noted that if there are no traffic lights at the intersection where pedestrians cross the road, it is necessary to obtain the surveillance images of the obscured area from adjacent vehicles. These images can be obtained from the dashcams of adjacent vehicles or from the monitoring equipment of adjacent vehicles. This embodiment does not impose any restrictions on this.

[0062] It is understandable that failure to obtain monitoring images of obscured areas may be due to insufficient permissions or neighboring vehicles not accepting the acquisition of monitoring images of obscured areas.

[0063] It is understood that the target object can be a bicycle, pedestrian, stroller, or electric vehicle, etc., and this embodiment does not limit this.

[0064] It should be noted that since different target objects travel at different speeds, the time required to reach the road corresponding to the adjacent vehicle is also different. Therefore, it is necessary to determine the time interval for the target object to reach the road corresponding to the adjacent vehicle.

[0065] Furthermore, in order to prevent traffic accidents caused by obstruction of view, step S10 of this embodiment may include:

[0066] When the current vehicle's line of sight is obstructed by an adjacent vehicle and it fails to acquire the monitoring image of the obstructed area transmitted by the adjacent vehicle, the scenario of the current driving road is determined.

[0067] Based on the judgment result, the target distance between the target object and the intersection corresponding to the adjacent vehicle is determined, and the walking speed range of the target object is determined;

[0068] The time interval required for the target object to travel to the road corresponding to the adjacent vehicle is determined based on the target distance and the walking speed range.

[0069] It should be noted that when acquisition fails, such as due to communication failure or neighboring vehicles being unable to synchronize surveillance video to the current vehicle in a timely manner due to resource occupation, the current vehicle can determine whether the current road scene is an urban or rural scene based on the currently detected video, in order to identify people or objects that may cross the intersection. Identifying urban or rural scenes can be done using a pre-trained scene recognition model. When an urban scene is identified, objects that may cross the intersection include bicycles, electric bikes, strollers, and motorcycles; when a rural scene is identified, objects that may cross the intersection include not only bicycles, electric bikes, and motorcycles, but also various poultry such as pigs, chickens, and cattle.

[0070] It is understandable that bicycles, pedestrians, motorcycles, etc., all have their corresponding constant speeds, which can be obtained directly from the data stored in adjacent vehicles. The target distance between the target object and the pedestrian crossing the road intersection can also be calculated by the controller of the adjacent vehicle.

[0071] It should be understood that the lower limit of the time interval is determined by the product of the slowest walking speed of the target object and the target distance, and the upper limit of the time interval is determined by the product of the fastest traveling speed of the target object and the target distance. For example, the lower limit of the speed interval for a person is the lower limit of walking speed, and the upper limit of the speed interval for a person is the upper limit of running speed. Here, the age and gender of the pedestrian can also be obtained to further refine the speed interval. The lower limit of the speed interval for an object is the lower limit of walking speed, and the upper limit of the speed interval for an object is the upper limit of the speed at which the object is running. For example, the lower limit of the speed interval for an electric vehicle is the lower limit of walking speed, and the upper limit of the speed interval for an electric vehicle is the upper limit of the speed that the electric vehicle can reach when running.

[0072] For ease of understanding, please refer to Figure 5 and Figure 6 To explain, Figure 5 The time interval for determining the outermost lane is shown in the diagram. Figure 6 A time interval determination diagram for the inner lane. Figure 5 The target distances from bicycles and pedestrians (for example, but not limited to) to the intersection where pedestrians cross the road (the intersection corresponding to the adjacent vehicles) are d1 and d2, respectively. g is the maximum distance from the target object to the intersection where pedestrians cross the road, and s1 is the distance from the adjacent vehicle to the intersection where pedestrians cross the road. The first vehicle from top to bottom is the adjacent vehicle, and the second vehicle is the current vehicle. Figure 6 The distances from the bicycle and the pedestrian to the intersection corresponding to the adjacent vehicle are d2+h and d1+h, respectively. From top to bottom, the first vehicle is the adjacent vehicle, and the second vehicle is the current vehicle.

[0073] Step S20: When the arrival time of the adjacent vehicle at the pedestrian crossing intersection is within the time interval, determine the time difference between the arrival time of the current vehicle and the adjacent vehicle at the pedestrian crossing intersection.

[0074] It should be noted that after obtaining the time interval, the speed of adjacent vehicles can be monitored or obtained directly from adjacent vehicles via vehicle-to-vehicle communication. The ratio of the distance between the adjacent vehicle and the intersection to its speed can be calculated in real time to determine the time required for the adjacent vehicle to reach the intersection. If the arrival time of the adjacent vehicle at the pedestrian crossing is less than the specified time interval, it indicates that the adjacent vehicle will leave the intersection before the person or object crossing reaches its driving lane. In this case, the current vehicle does not need to consider the person or object crossing and can maintain its current speed or reduce its speed slightly. If the arrival time of the adjacent vehicle at the pedestrian crossing is greater than the specified time interval, it indicates that the adjacent vehicle will arrive at the intersection after the person or object crossing has left. Therefore, as long as the current vehicle arrives at the intersection after the adjacent vehicle, a collision with the person or object crossing will be avoided. When the time required for the adjacent vehicle to reach the intersection falls within the time range required for a person or object crossing the intersection to reach the adjacent vehicle's driving lane, it means that when the adjacent vehicle arrives at the intersection, the person or object crossing the intersection is also very likely to have already reached the adjacent vehicle's lane. Therefore, to avoid the situation where the adjacent vehicle passes through the intersection smoothly but obstructs the current vehicle's view, causing the current vehicle to collide with a person or object appearing in the current lane, it is necessary to determine the time difference between the current vehicle and the adjacent vehicle arriving at the intersection.

[0075] It should be noted that although it is possible for a person or object crossing the intersection to leave the lane of the adjacent vehicle after the adjacent vehicle arrives at the intersection, but still remain in the lane of the current vehicle, the speed range of the person or object crossing the intersection was calculated based on the extreme values. Therefore, there is a relatively large margin in the time determined. Thus, it can be determined that the probability of the current vehicle arriving at the intersection and the person or object crossing the intersection leaving the lane of the adjacent vehicle and suddenly appearing in the lane of the current vehicle is very small. This can largely avoid collisions between the current vehicle and the person or object crossing the intersection.

[0076] Step S30: Based on the time difference, control the travel time of the current vehicle to the intersection where the pedestrian is crossing the road to be greater than the time difference.

[0077] Understandably, after determining the time difference T, we can obtain the maximum value Tmax of the time difference T. The current vehicle can pass through the intersection Tmax seconds later than the adjacent vehicle. At this time, even if a motorcycle crossing the intersection happens to pass through the adjacent lane and arrive at the current lane when the adjacent vehicle arrives at the intersection, the current vehicle has not yet arrived at the intersection. When it arrives at the intersection Tmax seconds later, the target object has already left the current lane, thus effectively avoiding the occurrence of a collision.

[0078] It should be understood that after determining the time difference, the speed of the current vehicle is controlled according to the maximum value of the time difference so that the time it takes for the current vehicle to reach the pedestrian crossing the road is greater than the time difference. At this time, the target object in the obscured area has already crossed the pedestrian crossing the road, so the current vehicle can pass safely.

[0079] In this embodiment, when the current vehicle's line of sight is obstructed by an adjacent vehicle and acquiring the monitoring image of the obstructed area transmitted by the adjacent vehicle fails, the time interval required for the target object to travel to the road corresponding to the adjacent vehicle is determined. If the arrival time of the adjacent vehicle at the pedestrian crossing is within this time interval, the time difference between the arrival times of the current vehicle and the adjacent vehicle at the pedestrian crossing is determined. Based on this time difference, the current vehicle's travel time to the pedestrian crossing is controlled to be greater than the time difference. In this embodiment, when the current vehicle's route is obstructed and acquiring the monitoring image of the obstructed area by the adjacent vehicle fails, the time interval for the target object to travel to the road corresponding to the adjacent vehicle is determined. If the arrival time of the adjacent vehicle at the pedestrian crossing is within this time interval, the time difference between the current vehicle and the adjacent vehicle at the pedestrian crossing is determined. Based on this time difference, the current vehicle is controlled to travel to the pedestrian crossing after the time difference, thereby avoiding the risk of collision with the target object crossing the pedestrian crossing and preventing traffic accidents caused by obstructed vision.

[0080] Reference Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the collision avoidance vehicle control method of the present invention, based on the above. Figure 2 The first embodiment shown presents a second embodiment of the vehicle control method for collision avoidance of the present invention.

[0081] In the second embodiment, step S20 includes:

[0082] Step S201: When the arrival time of the adjacent vehicle at the pedestrian crossing intersection is within the time interval, determine the first distance from the location of the obstruction area to the pedestrian crossing intersection.

[0083] Step S202: Determine the second distance based on the distance between the adjacent vehicle and the pedestrian crossing the road intersection and the length of the adjacent vehicle;

[0084] Step S203: Determine the speed of the target object based on the first distance, the second distance, and the speed of the adjacent vehicles;

[0085] Step S204: Determine the time difference between the current vehicle and the adjacent vehicle reaching the intersection where the pedestrian is crossing the road based on the driving speed, the driving width of the road corresponding to the adjacent vehicle, and the length of the target object.

[0086] It should be noted that the first distance is the area where the vehicle is currently parallel to the road and is obscured, which is the closest distance between the obscured area and the intersection where the pedestrian is crossing the road. The second distance is the farthest distance between the obscured area and the intersection where the pedestrian is crossing the road.

[0087] It should be noted that the speed range of the target object is determined based on the first and second distances. Then, the time difference is determined based on the speed range, the driving width of the road corresponding to adjacent vehicles, and the length of the target object. The formula for determining the time difference is as follows:

[0088]

[0089]

[0090]

[0091] In the formula, T represents the time difference, h represents the driving width of the road corresponding to the adjacent vehicle, l1 represents the length of the target object, v1 represents the driving speed of the target object, g1 represents the first distance, s1 represents the distance between the adjacent vehicle and the pedestrian crossing the road intersection, k represents the length of the adjacent vehicle, v2 represents the driving speed of the adjacent vehicle, s2 represents the distance between the current vehicle and the pedestrian crossing the road intersection, α represents the rotation angle corresponding to when the detector of the current vehicle detects the head of the adjacent vehicle, and h0 represents the distance of the detector position from the edge line of the adjacent lane.

[0092] It should be noted that if the current vehicle cannot detect the head of an adjacent vehicle, the nearest distance from the obscured area to the intersection is determined to be 0.

[0093] For ease of understanding, please refer to Figure 7 To explain, Figure 7 The time difference determination diagram uses a motorcycle as an example. From top to bottom, the target object, adjacent vehicles, and the current vehicle are represented. The first distance is determined based on the rotation angle corresponding to when the detector of the current vehicle detects the head of the adjacent vehicle. The second distance is determined based on s1+k. The speed of the target object is determined based on the first distance, the second distance, and the speed of the adjacent vehicles. The time difference between the current vehicle and the adjacent vehicles reaching the intersection where the pedestrian is crossing the road is determined based on the speed, the width of the road corresponding to the adjacent vehicles, and the length of the target object.

[0094] In this embodiment, when the arrival time of adjacent vehicles at the pedestrian crossing is within the specified time interval, a first distance from the location of the obstructed area to the pedestrian crossing is determined. A second distance is determined based on the distance between the adjacent vehicle and the pedestrian crossing, and the length of the adjacent vehicle. The travel speed of the target object is determined based on the first distance, the second distance, and the travel speed of the adjacent vehicle. The time difference between the arrival time of the current vehicle and the adjacent vehicle at the pedestrian crossing is determined based on the travel speed, the travel width of the road corresponding to the adjacent vehicle, and the length of the target object. This embodiment determines the first and second distances when the arrival time of adjacent vehicles at the pedestrian crossing is within the specified time interval, determines the travel speed of the target object based on the first and second distances and the travel speed of the adjacent vehicle, and determines the time difference between the arrival time of the current vehicle and the adjacent vehicle at the pedestrian crossing based on the travel speed, the travel width of the road corresponding to the adjacent vehicle, and the length of the target object. The time difference is calculated using a time difference derivation formula instead of manual prediction, thereby improving the accuracy of the time difference calculation.

[0095] Reference Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of the collision avoidance vehicle control method of the present invention, based on the above. Figure 2 The first embodiment shown presents a third embodiment of the vehicle control method for collision avoidance of the present invention.

[0096] In the third embodiment, before step 10, the method further includes:

[0097] Step S01: When the current vehicle's line of sight is blocked by an adjacent vehicle, determine the current road type;

[0098] Step S02: Determine the pedestrian crossing the road intersection based on the judgment result, and determine whether there is a traffic light at the pedestrian crossing the road intersection;

[0099] Step S03: When there are no traffic lights at the intersection where the pedestrian is crossing the road, acquire the monitoring image of the obstructed area transmitted by the adjacent vehicle.

[0100] Understandably, a user's vehicle can use sensors installed around the vehicle to determine if its front, including the front left and front right, is obstructed. When obstruction occurs, the sensors further analyze the image to identify whether the obstruction is caused by a vehicle or a stationary object like a wall or fence. If the obstruction is caused by a stationary object like a wall or fence, since pedestrians cannot suddenly appear on the roadside by crossing a wall and climbing over a fence takes time, the user can see it immediately and determine that the side of the vehicle closest to the wall or fence is safer. In this case, there is no need to determine the type of road. However, if the obstruction is caused by a vehicle, then the type of road needs to be determined. The type of road can include: fully enclosed road, semi-enclosed road, and open road.

[0101] Among them, fully enclosed roads are highways, which are completely closed and cannot be crossed laterally; semi-enclosed roads are urban expressways, elevated roads, etc., with some sections closed, and lateral crossing is only allowed at designated intersections; open roads are roads that are not closed at all, and lateral crossing is allowed from any point along the roadside. Road types can be identified by their names and numbers, or directly by observing the road diagrams on a map.

[0102] Understandably, if the current road is fully enclosed, there are no intersections for pedestrians to cross. However, considering that some fully enclosed roads are located in relatively remote areas with little traffic, some pedestrians may still choose to cross for convenience, despite the extremely high risk. Therefore, locations on fully enclosed roads where pedestrians frequently cross are designated as pedestrian crossing intersections in this plan. These locations can be determined using dashcam footage from passing vehicles, road surveillance cameras, and road information uploaded by drivers. If the current road is semi-enclosed, the fixed intersections corresponding to the semi-enclosed road can be designated as pedestrian crossing intersections. If the current road is open, considering that pedestrians may conveniently cross the road directly to another road on the other side using undesignated crossing points, the intersections of the current road's opposite side with other connecting roads are designated as pedestrian crossing intersections.

[0103] It should be understood that after identifying an intersection where pedestrians will cross the road, it is first necessary to determine whether there are traffic lights at the intersection. If there are traffic lights, the vehicle should proceed through the intersection according to the traffic light signals. It should be noted that if the current time period is a specific time period, and there are specific types of locations around the intersection, the current vehicle's driving status can be determined by observing the driving status of adjacent vehicles that are obscuring its view.

[0104] Understandably, if there are no traffic lights at the intersection, the ratio of the distance (in meters) between the current vehicle and the intersection where the pedestrian is crossing the road to the current vehicle's speed (in meters per second) is calculated. When the ratio is not greater than a preset threshold (e.g., 5 seconds), the monitoring image of the obscured area is obtained from the adjacent vehicle that is obscuring the current vehicle.

[0105] Furthermore, in order to prevent traffic accidents caused by obstruction, this embodiment further includes the following after step S02:

[0106] When there is a traffic light at the intersection where pedestrians are crossing the road, the driving operations of the current vehicle and the adjacent vehicles are synchronized according to the target communication protocol.

[0107] It should be noted that if the current time period falls within a specified time frame, such as morning or evening rush hours, or if there are schools or office buildings near the current intersection and the current time frame coincides with peak school arrival and dismissal times, or office building arrival and dismissal times, or food delivery peak times, some pedestrians may jaywalk due to being in a hurry. Therefore, to avoid collisions, under the specified time frame and intersection conditions, the current vehicle and adjacent vehicles obstructing the current vehicle can synchronize their driving operations via vehicle-to-vehicle (V2C) communication. This means that adjacent vehicles can synchronize their driving operations with the current vehicle, allowing the current vehicle to adjust its own driving operations accordingly. For example, if an adjacent vehicle significantly slows down, the current vehicle will also significantly slow down simultaneously.

[0108] Furthermore, in order to significantly reduce the probability of traffic accidents, the step of synchronizing the driving operations of the current vehicle and the adjacent vehicles according to the target communication protocol when a pedestrian is crossing the road at a traffic light includes:

[0109] When there are traffic lights at the intersection where pedestrians are crossing the road, the safety level authentication of the adjacent vehicles is performed by the current vehicle based on the target communication protocol.

[0110] When the safety level certification score reaches a preset threshold and the adjacent vehicle is in an emergency, the system receives a warning message from the adjacent vehicle based on the target communication protocol and controls the current vehicle to perform emergency braking.

[0111] Alternatively, when the score of the safety level certification does not reach the preset threshold and the adjacent vehicle is in an emergency, the system receives a warning prompt from the adjacent vehicle based on the target communication protocol and determines whether to perform emergency braking.

[0112] When no emergency braking control is received from the adjacent vehicle, monitor the speed and acceleration changes of the adjacent vehicle;

[0113] Based on the monitoring results, the current vehicle is controlled to perform emergency braking.

[0114] It should be noted that when the current vehicle is obstructed by an adjacent vehicle, the current vehicle can communicate with the adjacent vehicle and agree on the synchronization of driving operations and the authorization of control permissions in emergency situations during the communication process. During the agreement process, the current vehicle can also perform safety level authentication of the adjacent vehicle, or directly obtain the safety level of the adjacent vehicle from the unified vehicle safety level authentication on the vehicle network based on the adjacent vehicle's identifier, such as the adjacent vehicle's license plate. If the adjacent vehicle's safety level score is high enough to reach a preset threshold, then after authorization of control permissions in an emergency, the current vehicle can directly perform emergency braking on the current vehicle after prompting the current vehicle's user, such as with voice prompts or light prompts, when the adjacent vehicle brakes suddenly. If the adjacent vehicle's safety level score is low enough not to reach the preset threshold, then after authorization of control permissions in an emergency, the current vehicle can prompt the current vehicle's user when the adjacent vehicle brakes suddenly and prepare for braking for the current vehicle's user, so that the vehicle can only brake after the user issues a braking command or performs a braking operation.

[0115] When certifying the safety level of adjacent vehicles, their safety level can be determined based on their driving records, traffic violation records, records of assisting other vehicles in emergency operations, and user evaluations of emergency operations.

[0116] It should be noted that if the current vehicle has not received synchronized driving operations or authorization for control in an emergency, it can monitor changes in the speed and acceleration of adjacent vehicles in real time and adjust its speed accordingly. If the speed of an adjacent vehicle suddenly drops to 0, the current vehicle can initiate emergency braking after alerting its user.

[0117] Furthermore, in order to improve the control accuracy of the current vehicle, this embodiment also includes the following after step S03:

[0118] When acquiring monitoring images of obscured areas, the vehicle's speed is controlled in real time based on the monitoring images of the obscured areas.

[0119] It should be noted that once the surveillance image of the obscured area is acquired, the vehicle can determine people and objects crossing the road based on the image. If the surveillance image determines that a person or object is present in the current lane when the vehicle arrives at the intersection, the vehicle can slow down or brake; if the surveillance image determines that no person or object is present in the current lane when the vehicle arrives at the intersection, the vehicle can proceed normally.

[0120] This embodiment determines the current road type when the current vehicle's line of sight is obstructed by an adjacent vehicle; based on the determination, it identifies a pedestrian crossing the road and determines whether there is a traffic light at the pedestrian crossing; if there is no traffic light at the pedestrian crossing, it acquires the monitoring image of the obstructed area transmitted by the adjacent vehicle. This embodiment determines the current road type and the presence of a traffic light at the pedestrian crossing when the current vehicle's line of sight is obstructed by an adjacent vehicle, and acquires the monitoring image of the obstructed area based on the determination result. Through this layered determination and segmentation, different braking measures are required for different road types, thereby further reducing the probability of traffic accidents.

[0121] Furthermore, this embodiment of the invention also proposes a storage medium storing a collision avoidance vehicle control program, which, when executed by a processor, implements the collision avoidance vehicle control method as described above.

[0122] In addition, refer to Figure 8 The present invention also proposes a collision avoidance vehicle control device, which includes: a time determination module 10, a time difference determination module 20 and a vehicle control module 30.

[0123] The time determination module 10 is used to determine the time interval required for the target object to travel to the road corresponding to the adjacent vehicle when the driving line of sight of the current vehicle is blocked by the adjacent vehicle and the acquisition of the monitoring image of the blocked area transmitted by the adjacent vehicle fails.

[0124] The time difference determination module 20 is used to determine the time difference between the current vehicle and the adjacent vehicle when the arrival time of the adjacent vehicle at the pedestrian crossing is within the time interval.

[0125] The vehicle control module 30 is used to control the current vehicle to travel to the intersection where the pedestrian is crossing the road in a time difference that is greater than the time difference.

[0126] In this embodiment, when the current vehicle's line of sight is obstructed by an adjacent vehicle and acquiring the monitoring image of the obstructed area transmitted by the adjacent vehicle fails, the time interval required for the target object to travel to the road corresponding to the adjacent vehicle is determined. If the arrival time of the adjacent vehicle at the pedestrian crossing is within this time interval, the time difference between the arrival times of the current vehicle and the adjacent vehicle at the pedestrian crossing is determined. Based on this time difference, the current vehicle's travel time to the pedestrian crossing is controlled to be greater than the time difference. In this embodiment, when the current vehicle's route is obstructed and acquiring the monitoring image of the obstructed area by the adjacent vehicle fails, the time interval for the target object to travel to the road corresponding to the adjacent vehicle is determined. If the arrival time of the adjacent vehicle at the pedestrian crossing is within this time interval, the time difference between the current vehicle and the adjacent vehicle at the pedestrian crossing is determined. Based on this time difference, the current vehicle is controlled to travel to the pedestrian crossing after the time difference, thereby avoiding the risk of collision with the target object crossing the pedestrian crossing and preventing traffic accidents caused by obstructed vision.

[0127] Based on the first embodiment of the collision avoidance vehicle control device of the present invention described above, a second embodiment of the collision avoidance vehicle control device of the present invention is proposed.

[0128] In this embodiment, the time difference determination module 20 is used to determine the first distance from the location of the obstructed area to the pedestrian crossing intersection when the arrival time of the adjacent vehicle to the pedestrian crossing intersection is within the time interval.

[0129] Furthermore, the time difference determination module 20 is also used to determine a second distance based on the distance between the adjacent vehicle and the pedestrian crossing the road intersection and the length of the adjacent vehicle.

[0130] Furthermore, the time difference determination module 20 is also used to determine the driving speed of the target object based on the first distance, the second distance and the driving speed of the adjacent vehicles.

[0131] Furthermore, the time difference determination module 20 is also used to determine the time difference between the current vehicle and the adjacent vehicle reaching the intersection where the pedestrian is crossing the road, based on the driving speed, the driving width of the road corresponding to the adjacent vehicle, and the length of the target object.

[0132] Furthermore, the time determination module 10 is also used to determine the scene of the current driving road when the driving line of sight of the current vehicle is blocked by an adjacent vehicle and the acquisition of the monitoring image of the blocked area transmitted by the adjacent vehicle fails.

[0133] Furthermore, the time determination module 10 is also used to determine the target distance between the target object and the intersection corresponding to the adjacent vehicle based on the judgment result, and to determine the walking speed range of the target object.

[0134] Furthermore, the time determination module 10 is also used to determine the time interval required for the target object to travel to the road corresponding to the adjacent vehicle based on the target distance and the walking speed range.

[0135] Furthermore, the time determination module 10 is also used to determine the current road type when the current vehicle's driving line of sight is blocked by an adjacent vehicle.

[0136] Furthermore, the time determination module 10 is also used to determine whether a pedestrian is crossing a road intersection based on the judgment result, and to determine whether there is a traffic light at the intersection where the pedestrian is crossing the road.

[0137] Furthermore, the time determination module 10 is also used to acquire the obstruction area monitoring image transmitted by the adjacent vehicle when there is no traffic light at the intersection where the pedestrian is crossing the road.

[0138] Furthermore, the time determination module 10 is also used to synchronize the driving operations of the current vehicle and the adjacent vehicle according to the target communication protocol when there is a traffic light at the intersection where the pedestrian is crossing the road.

[0139] Furthermore, the time determination module 10 is also used to perform safety level authentication of the adjacent vehicles based on the target communication protocol when there is a traffic light at the intersection where the pedestrian is crossing the road.

[0140] Furthermore, the time determination module 10 is also used to receive a warning message from the adjacent vehicle based on the target communication protocol and control the current vehicle to perform emergency braking when the score of the safety level certification reaches a preset threshold and the adjacent vehicle is in an emergency state.

[0141] Furthermore, the time determination module 10 is also used to, or, when the score of the safety level certification does not reach the preset threshold and the adjacent vehicle is in an emergency state, receive the warning prompt from the adjacent vehicle based on the target communication protocol and determine whether to perform emergency braking.

[0142] Furthermore, the time determination module 10 is also used to monitor the speed and acceleration changes of the adjacent vehicle when it does not receive emergency braking control from the adjacent vehicle.

[0143] Furthermore, the time determination module 10 is also used to control the current vehicle to perform emergency braking based on the monitoring results.

[0144] Furthermore, the time determination module 10 is also used to monitor the obstructed area monitoring image in real time and control the current vehicle speed.

[0145] Other embodiments or specific implementations of the collision avoidance vehicle control device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0146] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0147] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0148] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0149] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A vehicle control method for collision avoidance, characterized in that, The collision avoidance vehicle control method includes the following steps: When the current vehicle's line of sight is obstructed by an adjacent vehicle and it fails to acquire the monitoring image of the obstructed area transmitted by the adjacent vehicle, the time interval required for the target object to travel to the road corresponding to the adjacent vehicle is determined. When the arrival time of the adjacent vehicle at the pedestrian crossing intersection is within the time interval, the time difference between the arrival time of the current vehicle and the adjacent vehicle at the pedestrian crossing intersection is determined. The travel time of the current vehicle to the intersection where the pedestrian is crossing the road is controlled to be greater than the time difference based on the time difference. The step of determining the time interval required for the target object to travel to the road corresponding to the adjacent vehicle when the current vehicle's line of sight is obstructed by an adjacent vehicle and acquiring the monitoring image of the obstructed area transmitted by the adjacent vehicle fails includes, before: When the current vehicle's line of sight is obstructed by an adjacent vehicle, determine the current road type; Based on the judgment result, determine the pedestrian crossing the road intersection, and determine whether there is a traffic light at the intersection where the pedestrian is crossing the road; When there is a traffic light at the intersection where pedestrians are crossing the road, the driving operations of the current vehicle and the adjacent vehicles are synchronized according to the target communication protocol.

2. The vehicle control method for collision avoidance as described in claim 1, characterized in that, The step of determining the time difference between the arrival times of the current vehicle and the adjacent vehicle at the pedestrian crossing when the arrival times of the adjacent vehicles are within the time interval includes: When the arrival time of the adjacent vehicle at the pedestrian crossing intersection is within the time interval, determine the first distance from the location of the obstructed area to the pedestrian crossing intersection; The second distance is determined based on the distance between the adjacent vehicle and the pedestrian crossing the road intersection and the length of the adjacent vehicle; The travel speed of the target object is determined based on the first distance, the second distance, and the travel speed of the adjacent vehicles; The time difference between the current vehicle and the adjacent vehicle reaching the intersection where the pedestrian is crossing the road is determined based on the driving speed, the driving width of the road corresponding to the adjacent vehicle, and the length of the target object.

3. The vehicle control method for collision avoidance as described in claim 1, characterized in that, The step of determining the time interval required for the target object to travel to the road corresponding to the adjacent vehicle when the current vehicle's line of sight is obstructed by an adjacent vehicle and acquiring the monitoring image of the obstructed area transmitted by the adjacent vehicle fails includes: When the current vehicle's line of sight is obstructed by an adjacent vehicle and it fails to acquire the monitoring image of the obstructed area transmitted by the adjacent vehicle, the scenario of the current driving road is determined. Based on the judgment result, the target distance between the target object and the intersection corresponding to the adjacent vehicle is determined, and the walking speed range of the target object is determined; The time interval required for the target object to travel to the road corresponding to the adjacent vehicle is determined based on the target distance and the walking speed range.

4. The vehicle control method for collision avoidance as described in claim 1, characterized in that, After determining whether a pedestrian is crossing the road intersection based on the judgment result, and determining whether there is a traffic light at the intersection where the pedestrian is crossing the road, the method further includes: When there are no traffic lights at the intersection where pedestrians are crossing the road, acquire the monitoring image of the obstructed area transmitted by the adjacent vehicle.

5. The vehicle control method for collision avoidance as described in claim 1, characterized in that, The step of synchronizing the driving operations of the current vehicle and the adjacent vehicles according to the target communication protocol when there is a traffic light at the intersection where pedestrians are crossing the road includes: When there are traffic lights at the intersection where pedestrians are crossing the road, the safety level authentication of the adjacent vehicles is performed by the current vehicle based on the target communication protocol. When the safety level certification score reaches a preset threshold and the adjacent vehicle is in an emergency, the system receives a warning message from the adjacent vehicle based on the target communication protocol and controls the current vehicle to perform emergency braking. Alternatively, when the score of the safety level certification does not reach the preset threshold and the adjacent vehicle is in an emergency, the system receives a warning prompt from the adjacent vehicle based on the target communication protocol and determines whether to perform emergency braking. When no emergency braking control is received from the adjacent vehicle, monitor the speed and acceleration changes of the adjacent vehicle; Based on the monitoring results, the current vehicle is controlled to perform emergency braking.

6. The collision avoidance vehicle control method as described in claim 4, characterized in that, After the step of acquiring the monitoring image of the obstructed area transmitted by the adjacent vehicle when there is no traffic light at the intersection where the pedestrian is crossing the road, the method further includes: When acquiring monitoring images of obscured areas, the vehicle's speed is controlled in real time based on the monitoring images of the obscured areas.

7. A collision avoidance vehicle control device, characterized in that, The collision avoidance vehicle control device includes: a time determination module, a time difference determination module, and a vehicle control module; The time determination module is used to determine the time interval required for the target object to travel to the road corresponding to the adjacent vehicle when the current vehicle's driving line of sight is blocked by an adjacent vehicle and it fails to acquire the monitoring image of the blocked area transmitted by the adjacent vehicle. The time difference determination module is used to determine the time difference between the current vehicle and the adjacent vehicle when the arrival time of the adjacent vehicle at the pedestrian crossing is within the time interval. The vehicle control module is used to control the current vehicle to travel to the intersection where the pedestrian is crossing the road to make the travel time greater than the time difference based on the time difference. The time determination module is further configured to determine the current road type when the current vehicle's line of sight is obstructed by an adjacent vehicle; determine the intersection where a pedestrian is crossing the road based on the determination result, and determine whether there is a traffic light at the intersection where the pedestrian is crossing the road; and synchronize the driving operations of the current vehicle and the adjacent vehicle according to the target communication protocol when there is a traffic light at the intersection where the pedestrian is crossing the road.

8. A collision avoidance vehicle control device, characterized in that, The collision avoidance vehicle control device includes: a memory, a processor, and a collision avoidance vehicle control program stored in the memory and executable on the processor, wherein the collision avoidance vehicle control program, when executed by the processor, implements the steps of the collision avoidance vehicle control method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a collision avoidance vehicle control program, which, when executed by a processor, implements the steps of the collision avoidance vehicle control method as described in any one of claims 1 to 6.

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