A vehicle steering collision avoidance time determination method, device, equipment and medium

Abstract

The application discloses a vehicle steering collision avoidance time determination method and device, equipment and medium, and relates to the technical field of automatic driving. The method comprises the following steps: determining a current steering acceleration based on a current longitudinal driving speed of a host vehicle and a preset steering acceleration; predicting a longitudinal relative speed of the host vehicle and a target vehicle at a longitudinal collision moment, and determining a longitudinal safe passing time based on a longitudinal safety distance required by the host vehicle for steering collision avoidance and the longitudinal relative speed; determining a lateral displacement of the target vehicle within the longitudinal safe passing time based on a current lateral driving speed and acceleration of the target vehicle; determining an actual lateral distance required by the host vehicle for steering collision avoidance by using a lateral safety distance required by the host vehicle for steering collision avoidance and the lateral displacement; and determining a steering collision avoidance time of the host vehicle based on a current lateral driving speed and lateral driving acceleration of the host vehicle, the current steering acceleration, the actual lateral distance, and displacement information of the target vehicle at the longitudinal collision moment. The above scheme improves the steering collision avoidance performance.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, device, and medium for determining vehicle steering and collision avoidance time. Background Technology

[0002] When a vehicle encounters an emergency while turning, the driver needs to take quick and timely braking measures to stop the vehicle within a short distance and avoid collisions or other accidents. Driver assistance systems can provide support during driving, allowing drivers to drive more easily and safely on the road. Currently, driver assistance systems can calculate the time to steering (TTS) between the vehicle and a target vehicle based on constant steering acceleration, providing the driver with anticipatory steering decisions. However, the constant acceleration-based TTS calculation method does not consider the braking situation during the vehicle's turning process, resulting in poor performance in actual steering collision avoidance scenarios.

[0003] In summary, how to improve steering and collision avoidance performance, thereby providing drivers with more accurate steering predictions, is a problem that needs to be solved. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method, apparatus, device, and medium for determining vehicle steering collision avoidance time, which can improve steering collision avoidance performance and thus provide the driver with more accurate steering prediction judgments. The specific solution is as follows:

[0005] In a first aspect, this application discloses a method for determining the vehicle steering collision avoidance time, including:

[0006] The current steering acceleration is determined based on the vehicle's current longitudinal speed and preset steering acceleration, and a preset safety distance required for the vehicle to avoid a collision is determined; the preset safety distance includes a longitudinal safety distance and a lateral safety distance.

[0007] Predict the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision, and determine the longitudinal safe passage time based on the longitudinal safe distance and the longitudinal relative speed;

[0008] The lateral displacement of the target vehicle during the longitudinal safe passage time is determined based on the target vehicle's current lateral speed and current lateral acceleration.

[0009] The actual lateral distance required for the vehicle to steer and avoid a collision is determined using the lateral safety distance and the lateral displacement.

[0010] The vehicle's steering and collision avoidance time is determined based on the vehicle's current lateral speed and lateral acceleration, the current steering acceleration, the actual lateral distance, and the displacement information of the target vehicle at the moment of the longitudinal collision.

[0011] Optionally, determining the current steering acceleration based on the vehicle's current longitudinal speed and a preset steering acceleration includes:

[0012] A target array pre-established based on steering acceleration is determined; the target array is used to characterize the correspondence between longitudinal driving speed and steering acceleration.

[0013] The current steering acceleration is determined based on the vehicle's current longitudinal speed and the target array.

[0014] Optionally, determining the current steering acceleration based on the vehicle's current longitudinal speed and the target array includes:

[0015] Obtain the current longitudinal driving speed of the vehicle and the target array; wherein, the first preset longitudinal driving speed and the second preset longitudinal driving speed in the target array are respectively related to the first steering acceleration and the second steering acceleration, and the first preset longitudinal driving speed is less than the second preset longitudinal driving speed;

[0016] The current steering acceleration is determined based on the comparison between the current longitudinal driving speed and the first preset longitudinal driving speed and the second preset longitudinal driving speed.

[0017] Optionally, determining the current steering acceleration based on the comparison between the current longitudinal driving speed and the first preset longitudinal driving speed and the second preset longitudinal driving speed includes:

[0018] If the current longitudinal driving speed is less than or equal to the first preset longitudinal driving speed, then the first steering acceleration is taken as the current steering acceleration;

[0019] If the current longitudinal driving speed is greater than or equal to the second preset longitudinal driving speed, then the second steering acceleration is used as the current steering acceleration;

[0020] If the current longitudinal driving speed is greater than the first preset longitudinal driving speed and less than the second preset longitudinal driving speed, then interpolation is performed based on the current longitudinal driving speed and the target array to determine the current steering acceleration.

[0021] Optionally, the step of interpolating based on the current longitudinal driving speed and the target array to determine the current steering acceleration includes:

[0022] The speed weight parameter is determined based on the comparison between the current longitudinal driving speed and the first preset longitudinal driving speed in the target array;

[0023] Based on the speed weight parameters and the first and second steering accelerations in the target array, the current steering acceleration is determined using an interpolation algorithm.

[0024] Optionally, predicting the longitudinal relative velocity between the vehicle and the target vehicle at the moment of longitudinal collision includes:

[0025] Based on the current longitudinal speed and longitudinal acceleration of the vehicle and the target vehicle, respectively, predict the longitudinal speed of the vehicle and the target vehicle at the moment of longitudinal collision.

[0026] The difference between the longitudinal speed of the target vehicle and the longitudinal speed of the driver vehicle is taken as the longitudinal relative speed between the driver vehicle and the target vehicle at the moment of the longitudinal collision.

[0027] Optionally, determining the preset safe distance required for the vehicle to steer and avoid a collision includes:

[0028] The longitudinal safety distance required for the vehicle to turn and avoid a collision is determined based on the length of the vehicle itself, the length of the target vehicle, and a preset safety distance value.

[0029] The lateral safety distance required for the vehicle to turn and avoid a collision is determined based on the width of the vehicle and the width of the target vehicle.

[0030] Secondly, this application discloses a vehicle steering collision avoidance time determination device, comprising:

[0031] The acceleration determination module is used to determine the current steering acceleration based on the vehicle's current longitudinal speed and a preset steering acceleration.

[0032] The distance determination module is used to determine the preset safety distance required for the vehicle to turn and avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance;

[0033] The time determination module is used to predict the longitudinal relative speed of the vehicle and the target vehicle at the moment of longitudinal collision, and to determine the longitudinal safe passage time based on the longitudinal safe distance and the longitudinal relative speed.

[0034] The lateral displacement determination module is used to determine the lateral displacement generated by the target vehicle during the longitudinal safe passage time based on the target vehicle's current lateral travel speed and current lateral travel acceleration.

[0035] The lateral distance determination module is used to determine the actual lateral distance required for the vehicle to turn and avoid a collision using the lateral safety distance and the lateral displacement;

[0036] The steering collision avoidance time determination module is used to determine the steering collision avoidance time of the vehicle based on the current lateral speed and lateral acceleration of the vehicle, the current steering acceleration, the actual lateral distance, and the displacement information of the target vehicle at the moment of the longitudinal collision.

[0037] Thirdly, this application discloses an electronic device, including:

[0038] Memory is used to store computer programs;

[0039] A processor is configured to execute the computer program to implement the steps of the aforementioned method for determining vehicle steering and collision avoidance time.

[0040] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the aforementioned vehicle steering collision avoidance time determination method.

[0041] As can be seen, this application determines the current steering acceleration based on the vehicle's current longitudinal speed and preset steering acceleration, and determines the preset safety distance required for the vehicle to avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance; predicts the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision, and determines the longitudinal safe passage time based on the longitudinal safety distance and the longitudinal relative speed; determines the lateral displacement of the target vehicle within the longitudinal safe passage time based on the target vehicle's current lateral speed and current lateral acceleration; determines the actual lateral distance required for the vehicle to avoid a collision using the lateral safety distance and the lateral displacement; and determines the vehicle's steering collision avoidance time based on the vehicle's current lateral speed and lateral acceleration, the current steering acceleration, the actual lateral distance, and the target vehicle's displacement information at the moment of longitudinal collision. Therefore, this application can determine the current steering acceleration based on the vehicle's current longitudinal speed and preset steering acceleration, thereby improving steering collision avoidance performance. Furthermore, this application also determines the preset safety distance required for the vehicle to avoid a collision; the preset safety distance includes both longitudinal and lateral safety distances. In addition, this application can determine the longitudinal safe passage time based on the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision and the vehicle's longitudinal safety distance. Further, it can determine the lateral displacement of the target vehicle within the longitudinal safe passage time based on the target vehicle's current lateral speed and current lateral acceleration. Then, it can determine the actual lateral distance required for the vehicle to avoid a collision based on the vehicle's lateral safety distance and lateral displacement. Finally, it can determine the vehicle's steering collision avoidance time based on the vehicle's current lateral speed and lateral acceleration, current steering acceleration, actual lateral distance, and the target vehicle's displacement information at the moment of longitudinal collision. In this way, this application can improve steering collision avoidance performance, and by increasing the steering collision avoidance time for the driver, it can remind the driver to react quickly within that time, thereby providing the driver with more accurate steering prediction judgment. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 This is a flowchart of a method for determining vehicle steering collision avoidance time disclosed in this application;

[0044] Figure 2This application discloses a flowchart of a specific method for determining vehicle steering collision avoidance time.

[0045] Figure 3 This is a schematic diagram of a vehicle steering collision avoidance time determination device disclosed in this application;

[0046] Figure 4 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0048] Currently, advanced driver assistance systems (ADAS) can calculate the collision avoidance time between the vehicle and a target vehicle based on constant steering acceleration, providing the driver with steering prediction and judgment. However, the constant acceleration-based TTS calculation method does not consider the braking situation during the vehicle's steering process, resulting in poor performance in actual steering collision avoidance. Therefore, this application discloses a method, apparatus, device, and medium for determining vehicle steering collision avoidance time, which can improve steering collision avoidance performance and thus provide the driver with more accurate steering prediction and judgment.

[0049] See Figure 1 As shown in the figure, this application discloses a method for determining vehicle steering collision avoidance time, the method comprising:

[0050] Step S11: Determine the current steering acceleration based on the vehicle's current longitudinal speed and preset steering acceleration, and determine the preset safety distance required for the vehicle to avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance.

[0051] In this embodiment, based on the vehicle's current longitudinal speed... The current steering acceleration is determined by the preset steering acceleration. This method can help improve steering and collision avoidance performance.

[0052] In a specific implementation, determining the current steering acceleration based on the vehicle's current longitudinal speed and a preset steering acceleration includes: determining a target array pre-established based on the steering acceleration; the target array being used to characterize the correspondence between longitudinal speed and steering acceleration; and determining the current steering acceleration based on the vehicle's current longitudinal speed and the target array. That is, this application pre-establishes a target array based on the steering acceleration, which can specifically be a two-dimensional array used to characterize the correspondence between longitudinal speed and steering acceleration. Therefore, after obtaining the current longitudinal speed, the corresponding current steering acceleration can be determined using this two-dimensional array.

[0053] In addition, this application also needs to determine the preset safety distance required for the vehicle to turn and avoid a collision; that is, when the vehicle needs to turn, what is the minimum safe distance that the vehicle needs to maintain from the target vehicle? The preset safety distance includes longitudinal safety distance and lateral safety distance.

[0054] Specifically, determining the preset safety distance required for the vehicle to turn and avoid a collision includes: determining the longitudinal safety distance required for the vehicle to turn and avoid a collision based on the vehicle length, the target vehicle length, and the preset longitudinal safety distance; and determining the lateral safety distance required for the vehicle to turn and avoid a collision based on the vehicle width and the target vehicle width.

[0055] It is understandable that the longitudinal safety distance d of the vehicle is... long The sum of the vehicle length, the target vehicle length, and the preset safety distance value is expressed as follows:

[0056] ;

[0057] In the formula, d ego Let d be the length of the vehicle. obj Let l represent the target vehicle length, and l represent the preset safety distance value. The value of l typically ranges from 0.4 to 1, with actual testing showing that a value of 0.6 yields the best results. This embodiment, by introducing a necessary longitudinal safety distance value, helps to mitigate the risk of steering collisions.

[0058] Furthermore, the lateral safety distance d of the vehicle lat Determined based on the width of the vehicle and the width of the target vehicle, the specific expression is as follows:

[0059] ;

[0060] In the formula, For the width of the vehicle, The target vehicle width.

[0061] Step S12: Predict the longitudinal relative speed of the vehicle and the target vehicle at the moment of longitudinal collision, and determine the longitudinal safe passage time based on the longitudinal safe distance and the longitudinal relative speed.

[0062] In this embodiment, the longitudinal safe passage time can be determined based on the predicted longitudinal relative speed of the vehicle and the target vehicle at the moment of longitudinal collision and the longitudinal safe distance of the vehicle.

[0063] In a specific implementation, the above-mentioned prediction of the longitudinal relative speed of the vehicle and the target vehicle at the moment of longitudinal collision includes: predicting the longitudinal speed of the vehicle and the longitudinal speed of the target vehicle at the moment of longitudinal collision based on the current longitudinal speed and longitudinal acceleration of the vehicle and the target vehicle, respectively; and using the difference between the longitudinal speed of the target vehicle and the longitudinal speed of the vehicle as the longitudinal relative speed of the vehicle and the target vehicle at the moment of longitudinal collision.

[0064] It is understood that, according to the embodiments of this application, the motion state information of the vehicle and the target vehicle at the moment of longitudinal collision can be predicted based on the current motion state information of the vehicle and the target vehicle and the longitudinal collision time. The motion state information includes lateral and longitudinal speed, acceleration and displacement, etc.

[0065] Specifically, with the longitudinal acceleration remaining constant, based on the vehicle's current longitudinal speed... Longitudinal acceleration The longitudinal collision time (TTC) can predict the vehicle's longitudinal position at the moment of longitudinal collision. and longitudinal driving speed The specific calculation expression is as follows:

[0066] ;

[0067] ;

[0068] With the lateral acceleration remaining constant, based on the vehicle's current lateral speed Lateral acceleration The time to longitudinal collision (TTC) can predict the lateral position of the vehicle at the moment of longitudinal collision. and lateral speed The specific calculation expression is as follows:

[0069] ;

[0070] .

[0071] Specifically, with the longitudinal acceleration remaining constant, based on the target vehicle's current longitudinal position X0 and longitudinal speed... Longitudinal acceleration The longitudinal collision time (TTC) can predict the longitudinal position of the target vehicle at the moment of longitudinal collision. and longitudinal driving speed The specific calculation expression is as follows:

[0072] ;

[0073] ;

[0074] Assuming the lateral acceleration remains constant, based on the target vehicle's current lateral position Y0 and lateral speed... Lateral acceleration The longitudinal collision time (TTC) can predict the lateral position of the target vehicle at the moment of longitudinal collision. and lateral speed The specific calculation expression is as follows:

[0075] ;

[0076] .

[0077] Furthermore, determining the longitudinal safe passage time based on the longitudinal safety distance and the longitudinal relative speed includes: determining the ratio of the longitudinal safety distance to the longitudinal relative speed as the longitudinal safe passage time. That is, the longitudinal safe passage time T is the ratio of the longitudinal safety distance to the longitudinal relative speed, expressed as follows:

[0078] ;

[0079] in, Let be the longitudinal relative velocity between the vehicle and the target vehicle at the moment of longitudinal collision. = - .

[0080] Step S13: Determine the lateral displacement of the target vehicle during the longitudinal safe passage time based on the target vehicle's current lateral speed and current lateral acceleration.

[0081] In this embodiment, based on the target vehicle's current lateral speed... and current lateral acceleration Determine the lateral displacement of the target vehicle during the longitudinal safe passage time T. This refers to the lateral displacement generated during this period, and the specific calculation expression is as follows:

[0082] .

[0083] Step S14: Determine the actual lateral distance required for the vehicle to turn and avoid a collision using the lateral safety distance and the lateral displacement.

[0084] In this embodiment, the lateral safety distance d is utilized. lat and lateral displacement Determine the actual lateral distance required for the vehicle to steer and avoid a collision. .

[0085] Specifically, the actual lateral distance is the difference between the lateral safety distance and the lateral displacement, and the calculation expression is as follows:

[0086] .

[0087] Step S15: Determine the steering collision avoidance time of the vehicle based on the current lateral speed and lateral acceleration of the vehicle, the current steering acceleration, the actual lateral distance, and the displacement information of the target vehicle at the moment of the longitudinal collision.

[0088] In this embodiment, based on the vehicle's current lateral speed... and lateral acceleration and current steering acceleration Actual lateral distance Displacement information of the target vehicle at the moment of longitudinal collision Determine the vehicle's steering and collision avoidance time (TTS).

[0089] The calculation formula is:

[0090] ;

[0091] in, = - , .

[0092] As can be seen, this application determines the current steering acceleration based on the vehicle's current longitudinal speed and preset steering acceleration, and determines the preset safety distance required for the vehicle to avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance; predicts the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision, and determines the longitudinal safe passage time based on the longitudinal safety distance and the longitudinal relative speed; determines the lateral displacement of the target vehicle within the longitudinal safe passage time based on the target vehicle's current lateral speed and current lateral acceleration; determines the actual lateral distance required for the vehicle to avoid a collision using the lateral safety distance and the lateral displacement; and determines the vehicle's steering collision avoidance time based on the vehicle's current lateral speed and lateral acceleration, the current steering acceleration, the actual lateral distance, and the target vehicle's displacement information at the moment of longitudinal collision. Therefore, this application can determine the current steering acceleration based on the vehicle's current longitudinal speed and preset steering acceleration, thereby improving steering collision avoidance performance. Furthermore, this application also determines the preset safety distance required for the vehicle to avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance. In addition, this application can determine the longitudinal safe passage time based on the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision and the vehicle's longitudinal safety distance. Further, it can determine the lateral displacement of the target vehicle within the longitudinal safe passage time based on the target vehicle's current lateral speed and current lateral acceleration. Then, it can determine the actual lateral distance required for the vehicle to avoid a collision based on the vehicle's lateral safety distance and lateral displacement. Finally, it can determine the vehicle's steering collision avoidance time based on the vehicle's current lateral speed and lateral acceleration, current steering acceleration, actual lateral distance, and the target vehicle's displacement information at the moment of longitudinal collision. In this way, this application can improve steering collision avoidance performance, and by increasing the steering collision avoidance time for the driver, it can remind the driver to react quickly within that time, thereby providing the driver with more accurate steering prediction judgment.

[0093] See Figure 2 As shown, this application discloses a specific method for determining vehicle steering collision avoidance time. Compared to the previous embodiment, this embodiment further explains and optimizes the technical solution. Specifically, it includes:

[0094] Step S21: Obtain the current longitudinal driving speed of the vehicle and a target array established based on steering acceleration; wherein, the first preset longitudinal driving speed and the second preset longitudinal driving speed in the target array are respectively related to the first steering acceleration and the second steering acceleration, and the first preset longitudinal driving speed is less than the second preset longitudinal driving speed.

[0095] In this embodiment, the current longitudinal speed of the vehicle and a target array based on steering acceleration are obtained. It should be noted that the target array represents the correspondence between longitudinal speed and steering acceleration. The first preset longitudinal speed and the second preset longitudinal speed in the target array correspond to the first steering acceleration and the second steering acceleration, respectively, and it is stipulated that the first preset longitudinal speed is less than the second preset longitudinal speed. In a specific embodiment, the target array A can be set as follows:

[0096] ;

[0097] In this array, 'a' and 'c' represent the first and second preset longitudinal driving speeds, and 'b' and 'd' represent the first and second steering accelerations, respectively. It should be noted that the vehicle's speed is not very high when turning; the longitudinal driving speed generally does not exceed 30 km / h. Through multiple tests, a longitudinal driving speed of 22 to 30 km / h and an acceleration of 4 m / s² have been found. 2 Up to 7 m / s 2 .

[0098] Step S22: Determine the current steering acceleration based on the comparison between the current longitudinal driving speed and the first preset longitudinal driving speed and the second preset longitudinal driving speed.

[0099] In a first specific embodiment, if the current longitudinal driving speed is less than or equal to the first preset longitudinal driving speed, then the first steering acceleration is used as the current steering acceleration. In this embodiment, if the vehicle's current longitudinal driving speed is less than or equal to the first preset longitudinal driving speed, then the first steering acceleration is used as the current steering acceleration. That is, if the current longitudinal driving speed is less than or equal to 22 km / h, then the current steering acceleration is 7 m / s². 2 .

[0100] In a second specific embodiment, if the current longitudinal driving speed is greater than or equal to the second preset longitudinal driving speed, then the second steering acceleration is used as the current steering acceleration. In this embodiment, if the current longitudinal driving speed is greater than or equal to the second preset longitudinal driving speed, then the second steering acceleration is used as the current steering acceleration. That is, if the current longitudinal driving speed is greater than or equal to 30 km / h, then the current steering acceleration is 4 m / s². 2 .

[0101] In a third specific embodiment, if the current longitudinal driving speed is greater than the first preset longitudinal driving speed and less than the second preset longitudinal driving speed, then interpolation is performed based on the current longitudinal driving speed and the target array to determine the current steering acceleration. In this embodiment, if the current longitudinal driving speed is greater than the first preset longitudinal driving speed and less than the second preset longitudinal driving speed, that is, when the current longitudinal driving speed is between 22 and 30 yards, then linear interpolation is performed based on the current longitudinal driving speed and the target array to determine the current steering acceleration.

[0102] In a specific implementation, the above-mentioned interpolation based on the current longitudinal driving speed and the target array to determine the current steering acceleration includes: determining a speed weight parameter based on the comparison relationship between the current longitudinal driving speed and the first preset longitudinal driving speed in the target array; and determining the current steering acceleration using an interpolation algorithm based on the speed weight parameter and the first steering acceleration and the second steering acceleration in the target array.

[0103] That is, this embodiment first bases the current longitudinal driving speed on... The speed weighting parameter d is determined by comparing the speed with the first preset longitudinal driving speed 'a' in the target array A. factor The formula is as follows:

[0104] ;

[0105] Based on the aforementioned velocity weighting parameter d factor Given the first steering acceleration b and the second steering acceleration d in the target array A, the current steering acceleration is determined using a linear interpolation algorithm. The formula is as follows:

[0106] .

[0107] Step S23: Determine the preset safety distance required for the vehicle to turn and avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance; predict the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision, and determine the longitudinal safe passage time based on the longitudinal safety distance and the longitudinal relative speed.

[0108] Step S24: Determine the lateral displacement of the target vehicle during the longitudinal safe passage time based on the target vehicle's current lateral speed and current lateral acceleration.

[0109] In this embodiment, it is assumed that the lengths of both the vehicle and the target vehicle are 3.5 meters, the preset safety distance is 0.6, and the longitudinal relative velocity between the vehicle and the target vehicle at the moment of longitudinal collision is 5 meters per second. Then, according to the expression... The longitudinal safety distance is then calculated to be 7.6 meters, according to the expression... Therefore, the longitudinal safe passage time T is 7.6 / 5 = 1.52 seconds.

[0110] Furthermore, based on This allows us to determine the lateral displacement of the target vehicle within the longitudinal safe passage time.

[0111] Step S25: Determine the actual lateral distance required for the vehicle to turn and avoid a collision using the lateral safety distance and the lateral displacement.

[0112] In this embodiment, it is assumed that the width of both the vehicle and the target vehicle is 1.6 meters. Then, according to the expression... Therefore, the lateral safety distance is 1.6 meters. Assuming the calculated lateral displacement of the target vehicle within the longitudinal safety passage time is 0.8 meters, then according to the expression... Therefore, the actual lateral distance required for the vehicle to steer and avoid a collision is 1.6 meters - 0.8 meters = 0.8 meters.

[0113] Step S26: Determine the steering collision avoidance time of the vehicle based on the current lateral speed and lateral acceleration of the vehicle, the current steering acceleration, the actual lateral distance, and the displacement information of the target vehicle at the moment of the longitudinal collision.

[0114] For more detailed processing of steps S23 and S26, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0115] As can be seen, in this embodiment, the obtained target array is used to characterize the correspondence between longitudinal driving speed and steering acceleration. The target array includes a first preset longitudinal driving speed and a second preset longitudinal driving speed, as well as a first steering acceleration and a second steering acceleration. The first preset longitudinal driving speed and the second preset longitudinal driving speed correspond to the first steering acceleration and the second steering acceleration, respectively, and it is stipulated that the first preset longitudinal driving speed is less than the second preset longitudinal driving speed. When the current longitudinal driving speed is greater than the first preset longitudinal driving speed and less than the second preset longitudinal driving speed, linear interpolation is performed based on the current longitudinal driving speed and the target array to determine the current steering acceleration. In this way, this application can linearly interpolate the steering acceleration based on the actual longitudinal driving speed during steering, thereby helping to improve steering collision avoidance performance and providing the driver with accurate steering judgment.

[0116] See Figure 3 As shown in the figure, this application discloses a vehicle steering collision avoidance time determination device, the device comprising:

[0117] The acceleration determination module 11 is used to determine the current steering acceleration based on the vehicle's current longitudinal speed and a preset steering acceleration;

[0118] The distance determination module 12 is used to determine the preset safety distance required for the vehicle to turn and avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance;

[0119] The time determination module 13 is used to predict the longitudinal relative speed of the vehicle and the target vehicle at the moment of longitudinal collision, and to determine the longitudinal safe passage time based on the longitudinal safe distance and the longitudinal relative speed.

[0120] The lateral displacement determination module 14 is used to determine the lateral displacement generated by the target vehicle during the longitudinal safe passage time based on the target vehicle's current lateral travel speed and current lateral travel acceleration.

[0121] The lateral distance determination module 15 is used to determine the actual lateral distance required for the vehicle to turn and avoid a collision using the lateral safety distance and the lateral displacement.

[0122] The steering collision avoidance time determination module 16 is used to determine the steering collision avoidance time of the vehicle based on the current lateral speed and lateral acceleration of the vehicle, the current steering acceleration, the actual lateral distance, and the displacement information of the target vehicle at the time of the longitudinal collision.

[0123] As can be seen, this application determines the current steering acceleration based on the vehicle's current longitudinal speed and preset steering acceleration, and determines the preset safety distance required for the vehicle to avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance; predicts the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision, and determines the longitudinal safe passage time based on the longitudinal safety distance and the longitudinal relative speed; determines the lateral displacement of the target vehicle within the longitudinal safe passage time based on the target vehicle's current lateral speed and current lateral acceleration; determines the actual lateral distance required for the vehicle to avoid a collision using the lateral safety distance and the lateral displacement; and determines the vehicle's steering collision avoidance time based on the vehicle's current lateral speed and lateral acceleration, the current steering acceleration, the actual lateral distance, and the target vehicle's displacement information at the moment of longitudinal collision. Therefore, this application can determine the current steering acceleration based on the vehicle's current longitudinal speed and preset steering acceleration, thereby improving steering collision avoidance performance. Furthermore, this application also determines the preset safety distance required for the vehicle to avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance. In addition, this application can determine the longitudinal safe passage time based on the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision and the vehicle's longitudinal safety distance. Further, it can determine the lateral displacement of the target vehicle within the longitudinal safe passage time based on the target vehicle's current lateral speed and current lateral acceleration. Then, it can determine the actual lateral distance required for the vehicle to avoid a collision based on the vehicle's lateral safety distance and lateral displacement. Finally, based on the vehicle's current lateral speed and lateral acceleration, current steering acceleration, target lateral distance, and target vehicle displacement information at the moment of longitudinal collision, the vehicle's steering collision avoidance time can be determined. In this way, this application can improve steering collision avoidance performance, and by increasing the steering collision avoidance time for the driver, it can remind the driver to react quickly within that time, thereby providing the driver with more accurate steering prediction judgment.

[0124] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Specifically, it may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the vehicle steering collision avoidance time determination method performed by the electronic device disclosed in any of the foregoing embodiments.

[0125] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0126] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0127] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored on it include operating system 221, computer program 222 and data 223, etc., and the storage method can be temporary storage or permanent storage.

[0128] The operating system 221 manages and controls the various hardware devices and computer programs 222 on the electronic device 20 to enable the processor 21 to perform calculations and processing on the massive amounts of data 223 in the memory 22. The operating system can be Windows, Unix, Linux, etc. The computer program 222, in addition to including a computer program capable of performing the vehicle steering collision avoidance time determination method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, may further include computer programs capable of performing other specific tasks. The data 223 may include data received by the electronic device from external devices, as well as data collected by its own input / output interface 25.

[0129] Furthermore, this application also discloses a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, it implements the steps of the vehicle steering collision avoidance time determination method disclosed in any of the foregoing embodiments.

[0130] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0131] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0132] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, compact disc read-only memory (CD-ROM), or any other form of storage medium known in the art.

[0133] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0134] The present invention has provided a detailed description of a method, apparatus, device, and storage medium for determining vehicle steering collision avoidance time. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for determining the vehicle steering collision avoidance time, characterized in that, include: The current steering acceleration is determined based on the vehicle's current longitudinal speed and preset steering acceleration, and the preset safety distance required for the vehicle to avoid a collision is also determined. The preset safety distance includes a longitudinal safety distance and a lateral safety distance; Predict the longitudinal relative speed between the vehicle and the target vehicle at the moment of longitudinal collision, and determine the longitudinal safe passage time based on the longitudinal safe distance and the longitudinal relative speed; The lateral displacement of the target vehicle during the longitudinal safe passage time is determined based on the target vehicle's current lateral speed and current lateral acceleration. The actual lateral distance required for the vehicle to steer and avoid a collision is determined using the lateral safety distance and the lateral displacement. The vehicle's steering collision avoidance time is determined based on the vehicle's current lateral speed and lateral acceleration, the current steering acceleration, the actual lateral distance, and the displacement information of the target vehicle at the moment of the longitudinal collision. The determination of the current steering acceleration based on the vehicle's current longitudinal speed and preset steering acceleration includes: A target array pre-established based on steering acceleration is determined; the target array is used to characterize the correspondence between longitudinal driving speed and steering acceleration. The current steering acceleration is determined based on the vehicle's current longitudinal speed and the target array; The determination of the current steering acceleration based on the vehicle's current longitudinal speed and the target array includes: Obtain the current longitudinal driving speed of the vehicle and the target array; wherein, the first preset longitudinal driving speed and the second preset longitudinal driving speed in the target array are respectively related to the first steering acceleration and the second steering acceleration, and the first preset longitudinal driving speed is less than the second preset longitudinal driving speed; The current steering acceleration is determined based on the comparison between the current longitudinal driving speed and the first preset longitudinal driving speed and the second preset longitudinal driving speed.

2. The method for determining vehicle steering collision avoidance time according to claim 1, characterized in that, The step of determining the current steering acceleration based on the comparison between the current longitudinal driving speed and the first preset longitudinal driving speed and the second preset longitudinal driving speed includes: If the current longitudinal driving speed is less than or equal to the first preset longitudinal driving speed, then the first steering acceleration is taken as the current steering acceleration; If the current longitudinal driving speed is greater than or equal to the second preset longitudinal driving speed, then the second steering acceleration is used as the current steering acceleration; If the current longitudinal driving speed is greater than the first preset longitudinal driving speed and less than the second preset longitudinal driving speed, then interpolation is performed based on the current longitudinal driving speed and the target array to determine the current steering acceleration.

3. The method for determining vehicle steering collision avoidance time according to claim 2, characterized in that, The step of interpolating based on the current longitudinal driving speed and the target array to determine the current steering acceleration includes: The speed weight parameter is determined based on the relationship between the current longitudinal driving speed and the first preset longitudinal driving speed in the target array; Based on the speed weight parameters and the first and second steering accelerations in the target array, the current steering acceleration is determined using an interpolation algorithm.

4. The method for determining vehicle steering collision avoidance time according to claim 1, characterized in that, The prediction of the longitudinal relative velocity between the vehicle and the target vehicle at the moment of longitudinal collision includes: Based on the current longitudinal speed and longitudinal acceleration of the vehicle and the target vehicle, respectively, predict the longitudinal speed of the vehicle and the target vehicle at the moment of longitudinal collision. The difference between the longitudinal speed of the target vehicle and the longitudinal speed of the driver vehicle is taken as the longitudinal relative speed between the driver vehicle and the target vehicle at the moment of the longitudinal collision.

5. The method for determining vehicle steering collision avoidance time according to any one of claims 1 to 4, characterized in that, Determining the preset safe distance required for the vehicle to steer and avoid a collision includes: The longitudinal safety distance required for the vehicle to turn and avoid a collision is determined based on the length of the vehicle itself, the length of the target vehicle, and a preset safety distance value. The lateral safety distance required for the vehicle to turn and avoid a collision is determined based on the width of the vehicle and the width of the target vehicle.

6. A vehicle steering collision avoidance time determination device, characterized in that, include: The acceleration determination module is used to determine the current steering acceleration based on the vehicle's current longitudinal speed and a preset steering acceleration. The distance determination module is used to determine the preset safety distance required for the vehicle to turn and avoid a collision; the preset safety distance includes a longitudinal safety distance and a lateral safety distance; The time determination module is used to predict the longitudinal relative speed of the vehicle and the target vehicle at the moment of longitudinal collision, and to determine the longitudinal safe passage time based on the longitudinal safe distance and the longitudinal relative speed. The lateral displacement determination module is used to determine the lateral displacement generated by the target vehicle during the longitudinal safe passage time based on the target vehicle's current lateral travel speed and current lateral travel acceleration. The lateral distance determination module is used to determine the actual lateral distance required for the vehicle to turn and avoid a collision using the lateral safety distance and the lateral displacement; The steering collision avoidance time determination module is used to determine the steering collision avoidance time of the vehicle based on the current lateral speed and lateral acceleration of the vehicle, the current steering acceleration, the actual lateral distance, and the displacement information of the target vehicle at the moment of the longitudinal collision. Specifically, the acceleration determination module is used to determine a target array pre-established based on steering acceleration; the target array is used to characterize the correspondence between longitudinal driving speed and steering acceleration; and the current steering acceleration is determined based on the vehicle's current longitudinal driving speed and the target array. The acceleration determination module is further configured to obtain the current longitudinal driving speed of the vehicle and the target array; wherein, the first preset longitudinal driving speed and the second preset longitudinal driving speed in the target array are respectively related to the first steering acceleration and the second steering acceleration, and the first preset longitudinal driving speed is less than the second preset longitudinal driving speed; the current steering acceleration is determined based on the comparison relationship between the current longitudinal driving speed and the first preset longitudinal driving speed and the second preset longitudinal driving speed.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the vehicle steering collision avoidance time determination method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the vehicle steering collision avoidance time determination method as described in any one of claims 1 to 5.

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