Vehicle avoidance method, device, apparatus and storage medium

Abstract

The present application belongs to the technical field of vehicles, and discloses a vehicle avoidance method, device, equipment and storage medium. According to the present application, when the current state of the vehicle is a static state and the type of the front vehicle is a preset vehicle type, rear vehicle information is obtained; collision risk calculation is performed according to the rear vehicle information to obtain a collision risk result; a vehicle avoidance strategy of the target vehicle is determined according to vehicle occupant information, adjacent lane information and the collision risk result, and avoidance is performed based on the vehicle avoidance strategy. In the above manner, when a collision is likely to occur or is about to occur and threatens the life of the user, avoidance planning is performed in advance, a reasonable and accurate vehicle avoidance strategy is formulated, effective avoidance measures are provided, the harm suffered by the people in the vehicle is minimized, and the safety of riding and the user experience are improved.

Description

Technical Field

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

[0002] With societal development, the number of vehicles is increasing daily. Sometimes, when a vehicle is stationary, a collision with a vehicle behind can lead to a chain-reaction accident, or the driver's car may be crushed by a large vehicle behind, threatening their life. Although modern intelligent driving vehicles are now very common, and their sensors are capable of perceiving the surrounding environment and accurately sensing the situation inside the vehicle, they cannot provide effective measures to avoid collisions with vehicles behind when the vehicle is stationary and there is a risk of being sandwiched between them.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a vehicle avoidance method, device, equipment, and storage medium, aiming to solve the technical problem that existing technologies cannot provide effective measures to avoid vehicles behind when the vehicle is stationary.

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

[0006] When the vehicle is currently stationary and the vehicle in front is of a preset type, obtain information about the vehicle behind.

[0007] The collision risk is calculated based on the information of the vehicles behind, and the collision risk result is obtained.

[0008] The vehicle avoidance strategy of the target vehicle is determined based on the vehicle occupant information, adjacent lane information and the collision risk results, and the avoidance is performed based on the vehicle avoidance strategy.

[0009] Optionally, the step of calculating the collision risk based on the rear vehicle information to obtain the collision risk result includes:

[0010] The type of vehicle behind is determined based on the information about the vehicles behind;

[0011] When the type of the vehicle behind is a preset vehicle type, determine the current rear distance of the vehicle behind, the current front distance of the vehicle in front, and the current driving speed of the vehicle behind.

[0012] Determine the target deceleration based on the type of vehicle behind;

[0013] The collision risk is calculated based on the current rear distance, the current front distance, the current driving speed, and the target deceleration, and the collision risk result is obtained.

[0014] Optionally, the collision risk calculation based on the current rear distance, the current front distance, the current driving speed, and the target deceleration to obtain the collision risk result includes:

[0015] Obtain the current driving status of the vehicle behind;

[0016] When the current driving state is a preset deceleration state, determine the current deceleration of the vehicle behind;

[0017] The braking time is determined by calculating the time based on the current deceleration, the target deceleration, and the preset deceleration coefficient.

[0018] The vehicle deceleration distance is determined by calculating the distance based on the current deceleration, current travel speed, target deceleration, and braking time.

[0019] The collision risk result is determined based on the vehicle deceleration distance, the current rear distance, and the current front distance.

[0020] Optionally, after obtaining the current driving status of the vehicle behind, the method further includes:

[0021] When the current driving state is a preset driving state, obtain the preset driving time;

[0022] The distance traveled by the vehicle is determined by calculating the distance based on the preset travel time, the target deceleration, and the current travel speed.

[0023] The collision risk result is determined based on the vehicle's travel distance, the current rear distance, and the current front distance.

[0024] Optionally, determining the vehicle avoidance strategy for the target vehicle based on vehicle occupant information, adjacent lane information, and the collision risk result, and performing avoidance based on the vehicle avoidance strategy, includes:

[0025] When the collision risk result indicates that there is a collision risk, the available space of the adjacent lane and the adjacent lane orientation are determined based on the adjacent lane information.

[0026] The required space for evacuation is determined based on the vehicle occupant information.

[0027] The vehicle avoidance position of the target vehicle is determined based on the available space in the adjacent lanes, the orientation of the adjacent lanes, and the space required for avoidance.

[0028] Generate a avoidance voice command based on the vehicle's avoidance position, and broadcast the avoidance voice command.

[0029] Optionally, determining the vehicle avoidance strategy for the target vehicle based on vehicle occupant information, adjacent lane information, and the collision risk result, and performing avoidance based on the vehicle avoidance strategy, includes:

[0030] When the collision risk result indicates that a dangerous situation is imminent, the available space in the adjacent lane is determined based on the adjacent lane information;

[0031] The required space for evacuation is determined based on the vehicle occupant information.

[0032] The avoidance judgment is made based on the available space, the space required for avoidance, and the avoidance conditions of adjacent lanes. When the avoidance environment of adjacent lanes does not meet the avoidance conditions of adjacent lanes, the driving environment on the left is determined based on the image acquired on the left.

[0033] When the driving environment on the left meets the preset avoidance conditions, the target vehicle is controlled to move to the left.

[0034] Optionally, before obtaining information about vehicles behind when the vehicle is currently stationary and the vehicle in front is a preset vehicle type, the method further includes:

[0035] Determine the vehicle's current wheel speed and current vehicle speed based on current driving information;

[0036] The current state of the vehicle is determined based on the current wheel speed and the current vehicle speed.

[0037] Based on the images captured ahead, object recognition is performed to determine the type of vehicle ahead.

[0038] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle avoidance device, the vehicle avoidance device comprising:

[0039] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle avoidance device, the vehicle avoidance device comprising: a memory, a processor, and a vehicle avoidance program stored in the memory and executable on the processor, the vehicle avoidance program being configured to implement the steps of the vehicle avoidance method as described above.

[0040] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a vehicle avoidance program, which, when executed by a processor, implements the steps of the vehicle avoidance method described above.

[0041] This invention obtains information about vehicles behind the vehicle when the vehicle is stationary and the vehicle in front is of a preset type; calculates the collision risk based on this information; determines a vehicle avoidance strategy for the target vehicle based on occupant information, adjacent lane information, and the collision risk result; and performs avoidance based on this strategy. By calculating the collision risk based on the information of vehicles behind the vehicle when the vehicle is stationary and the vehicle in front is of a preset type, and then using the collision risk result, the occupant information of the target vehicle, and adjacent lane information to determine the vehicle avoidance strategy, this invention allows for advance avoidance planning when a collision is possible or imminent and threatens the user's life. It provides effective avoidance measures to minimize injury to occupants, improving passenger safety and user experience. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the vehicle avoidance device in the hardware operating environment involved in the embodiments of the present invention;

[0043] Figure 2 This is a flowchart illustrating the first embodiment of the vehicle avoidance method of the present invention;

[0044] Figure 3 This is a flowchart illustrating the second embodiment of the vehicle avoidance method of the present invention;

[0045] Figure 4 This is a flowchart illustrating the third embodiment of the vehicle avoidance method of the present invention;

[0046] Figure 5 This is a structural block diagram of the first embodiment of the vehicle avoidance 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 for illustrative purposes only and are not intended to limit the scope of the invention.

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

[0050] like Figure 1As shown, the vehicle avoidance 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 or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless 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 a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. 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 vehicle avoidance devices 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 serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle avoidance program.

[0053] exist Figure 1 In the vehicle avoidance device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle avoidance device of the present invention can be set in the vehicle avoidance device, and the vehicle avoidance device calls the vehicle avoidance program stored in the memory 1005 through the processor 1001 and executes the vehicle avoidance method provided in the embodiment of the present invention.

[0054] This invention provides a vehicle avoidance method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of a vehicle avoidance method according to the present invention.

[0055] In this embodiment, the vehicle avoidance method includes the following steps:

[0056] Step S10: When the vehicle is currently stationary and the vehicle in front is of a preset type, obtain information about the vehicle behind.

[0057] It should be noted that the execution subject of this embodiment is a vehicle avoidance device, which has functions such as data processing, data communication and program execution. The vehicle avoidance device can be an integrated controller, a control computer or other devices with similar functions. This embodiment does not limit this.

[0058] Understandably, the system needs to know its current state in real time. When the current state is stationary, a hazard avoidance procedure is initiated. The system then assesses the environment directly in front of the vehicle. If a vehicle is present in front and its type matches a preset vehicle type, the process proceeds to the next step. If no vehicle is present in front or the type of the present vehicle is not a preset vehicle type, the procedure ends. In this embodiment, the current state of the vehicle itself is the same as the current state of the vehicle. The type of vehicle corresponding to the vehicle in front is the type of vehicle in front. The preset vehicle type in this embodiment refers to the type of vehicle larger than the vehicle itself. If the vehicle is a small sedan, the preset vehicle type includes, but is not limited to, trucks, vans, and construction vehicles.

[0059] In practice, when the vehicle is currently stationary and the vehicle in front is of a preset type, the next step of the hazard avoidance process is to determine whether there is a vehicle directly behind the vehicle. If there is a vehicle directly behind the vehicle, relevant information about the vehicle directly behind the vehicle is obtained. The relevant image information of the vehicle directly behind the vehicle is the rear vehicle information. Based on the rear vehicle information, the following can be determined: including but not limited to the current speed of the rear vehicle, the distance between the rear vehicle and the vehicle itself, and the type of the rear vehicle.

[0060] It should be noted that, in order to accurately obtain the current state of the vehicle, further, before obtaining the information of the vehicle behind when the current state of the vehicle is stationary and the type of the vehicle in front is a preset vehicle type, the method further includes: determining the current wheel speed and the current vehicle speed of the vehicle based on the current driving information; determining the current state of the vehicle based on the current wheel speed and the current vehicle speed of the vehicle; and performing object recognition based on the image collected in front to determine the type of the vehicle in front.

[0061] It is understood that the current driving information of the vehicle itself is obtained. The current driving information includes, but is not limited to, the current wheel speed, the current driving speed and the current driving acceleration. The current wheel speed is the same as the current vehicle speed, and the current driving speed is the same as the current vehicle speed. The current state of the vehicle can be determined based on the current wheel speed and the current vehicle speed. It can also be determined whether the vehicle is stationary based on the current driving acceleration. This embodiment does not specifically limit the method of determining the current state of the vehicle.

[0062] In the specific implementation, the image directly in front of itself is acquired, and the image directly in front of itself is the front acquisition image. Based on the front acquisition image, it is determined whether there is a vehicle directly in front of itself. If there is a vehicle directly in front of itself, the vehicle type corresponding to the vehicle directly in front of itself is determined, and the vehicle type corresponding to the vehicle directly in front of itself is the front vehicle type.

[0063] Step S20: Calculate the collision risk based on the information of the vehicles behind to obtain the collision risk result.

[0064] It should be noted that the vehicle type of the vehicle behind is determined based on the information of the vehicles behind. When the vehicle type of the vehicle behind is a preset vehicle type, the current driving state of the vehicle behind is determined. Based on the current driving state of the vehicle behind, a collision risk calculation can be performed, thereby determining the corresponding collision risk result. In this embodiment, the collision risk result includes, but is not limited to, three results: impending danger, existing collision risk, and no collision risk.

[0065] Step S30: Determine the vehicle avoidance strategy of the target vehicle based on the vehicle occupant information, adjacent lane information and the collision risk result, and perform avoidance based on the vehicle avoidance strategy.

[0066] It should be noted that the target vehicle refers to the vehicle itself, and the vehicle occupant information refers to the location information of the occupants inside the target vehicle. The vehicle occupant information can be obtained through the cameras and radar inside the target vehicle. The adjacent lane information includes the relevant image information of the lane to the left of the target vehicle and the relevant image information of the lane to the right of the target vehicle.

[0067] Understandably, different vehicle avoidance strategies need to be developed based on different collision risk outcomes, using vehicle occupant information and adjacent lane information, in order to control the target vehicle to avoid collisions based on the vehicle avoidance strategy.

[0068] This embodiment obtains information about vehicles behind the vehicle when the vehicle is currently stationary and the vehicle in front is of a preset type; it calculates the collision risk based on this information to obtain a collision risk result; and it determines the vehicle avoidance strategy for the target vehicle based on the vehicle occupant information, adjacent lane information, and the collision risk result, and then performs avoidance based on this strategy. By doing so, when the vehicle is currently stationary and the vehicle in front is of a preset type, it calculates the collision risk based on the information of vehicles behind the vehicle, determines the vehicle avoidance strategy for the target vehicle using the collision risk result, the vehicle occupant information, and adjacent lane information, and then performs avoidance. This allows for advance avoidance planning when a collision is possible or imminent and threatens the user's life, formulating a reasonable and accurate avoidance strategy, and providing effective avoidance measures to avoid vehicles behind the vehicle, minimizing injury to occupants and improving passenger safety and user experience.

[0069] refer to Figure 3 , Figure 3 This is a flowchart illustrating a second embodiment of a vehicle avoidance method according to the present invention.

[0070] Based on the first embodiment described above, the vehicle avoidance method of this embodiment includes the following in step S20:

[0071] Step S21: Determine the type of vehicle behind based on the information about the vehicle behind.

[0072] It should be noted that object identification is performed based on information about vehicles behind. When there is a vehicle directly behind the target vehicle, the vehicle type of the vehicle behind is determined, and the vehicle type of the vehicle behind is the vehicle type of the target vehicle. In this embodiment, millimeter-wave radar, lidar, etc., can also be used to determine the vehicle type behind, and this embodiment does not limit this.

[0073] Step S22: When the type of the vehicle behind is a preset vehicle type, determine the current rear distance of the vehicle behind, the current front distance of the vehicle in front, and the current driving speed of the vehicle behind.

[0074] It should be noted that when the type of vehicle behind is also the preset vehicle type, it indicates that there is a risk of being sandwiched between the target vehicle and the vehicle behind. In this case, it is necessary to determine the current driving speed of the vehicle behind and the distance between the vehicle behind and the vehicle itself based on the information of the vehicle behind, and determine the distance between the vehicle in front and the vehicle itself based on the image collected in front. The distance between the vehicle behind and the vehicle itself is the current distance s1 behind, and the distance between the vehicle in front and the vehicle itself is the current distance s2 in front.

[0075] Step S23: Determine the target deceleration based on the type of vehicle behind.

[0076] It should be noted that since different vehicle types correspond to different maximum decelerations a1, the maximum deceleration of the vehicle behind is determined based on the vehicle type of the vehicle behind, and the maximum deceleration of the vehicle behind is the target deceleration a1.

[0077] Step S24: Calculate the collision risk based on the current rear distance, current front distance, current driving speed, and target deceleration to obtain the collision risk result.

[0078] It should be noted that when the current driving status of the vehicles behind is different, different methods should be used to calculate the collision risk based on the current distance behind, the current distance in front, the current driving speed, and the target deceleration, so as to obtain the corresponding collision risk results.

[0079] Understandably, when the following vehicle is in a preset deceleration state, in order to accurately obtain the collision risk result based on multiple parameter information, the collision risk calculation based on the current rear distance, the current front distance, the current driving speed, and the target deceleration to obtain the collision risk result includes: obtaining the current driving state of the following vehicle; when the current driving state is in a preset deceleration state, determining the current deceleration of the following vehicle; calculating the braking time based on the current deceleration, the target deceleration, and the preset deceleration coefficient; calculating the vehicle deceleration distance based on the current deceleration, the current driving speed, the target deceleration, and the braking time; and determining the collision risk result based on the vehicle deceleration distance, the current rear distance, and the current front distance.

[0080] In the specific implementation, the preset deceleration coefficient refers to the pre-set deceleration coefficient k1, where the value range of k1 is (0,1], and the unit is s. 3 / m. When the current driving state of the vehicle behind is the preset deceleration state, it means that the driver of the vehicle behind intends to decelerate and will enter the full-speed deceleration state more quickly. At this time, it is necessary to determine the current deceleration a2 of the vehicle behind. Then, based on the current deceleration a2, the target deceleration a1 and the preset deceleration coefficient k1, time calculation is performed to determine the braking time t1 = k1(a1-a2).

[0081] It should be noted that after determining the braking time, the distance can be calculated based on the current deceleration, the current driving speed v1, the target deceleration, and the braking time t1, to determine the vehicle deceleration distance s3 = v1×t1 - (a2×t1×t1) / 2 + (v1–a2×t1) 2 / (2×a1).

[0082] It is understandable that when s3 < s1, the collision condition is not met, and the collision risk result is no collision risk; when s1 ≤ s3 ≤ s1 + s2, the collision risk result is that there is a collision risk; when s3 > s1 + s2, the collision risk result is that danger is about to occur.

[0083] In a specific implementation, when the current driving state of the vehicle behind is a preset driving state, in order to accurately obtain the collision risk result based on multiple parameter information, after obtaining the current driving state of the vehicle behind, the method further includes: when the current driving state is a preset driving state, obtaining a preset driving time; calculating the distance based on the preset driving time, the target deceleration, and the current driving speed to determine the vehicle driving distance; and determining the collision risk result based on the vehicle driving distance, the current distance behind, and the current distance in front.

[0084] It should be noted that the preset driving state includes constant speed driving state and acceleration driving state. When the current driving state of the vehicle behind is the preset driving state, it is necessary to obtain the running time corresponding to the preset current driving speed. The running time corresponding to the preset current driving speed is the preset driving time t2. At this time, the distance is calculated based on the preset driving time, the target deceleration and the current driving speed, and the vehicle driving distance s3 = v1*t2 + v1×v1 / (2×a1) is determined.

[0085] Under the preset driving conditions, if s3 < s1, it is determined that the collision conditions have not been met, and the collision risk result is no collision risk; if s1 ≤ s3 ≤ s1 + s2, the collision risk result is that there is a collision risk; if s3 > s1 + s2, the collision risk result is that danger is about to occur.

[0086] In practice, when the vehicle type of the vehicle behind is not a preset vehicle type, it is considered that there is no collision risk. In the absence of collision risk, no vehicle avoidance strategy is formulated.

[0087] This embodiment determines the type of vehicle behind based on the information of the vehicles behind; when the type of the vehicle behind is a preset vehicle type, it determines the current rear distance of the vehicle behind, the current front distance of the vehicle in front, and the current speed of the vehicle behind; it determines a target deceleration based on the type of the vehicle behind; and it calculates the collision risk based on the current rear distance, the current front distance, the current speed, and the target deceleration to obtain a collision risk result. Through this method, when the type of vehicle behind is a preset vehicle type, accurate collision risk results can be obtained by calculating the collision risk based on the current rear distance, the current front distance, the current speed, and the target deceleration.

[0088] refer to Figure 4 , Figure 4 This is a flowchart illustrating a third embodiment of a vehicle avoidance method according to the present invention.

[0089] Based on the first embodiment described above, the vehicle avoidance method of this embodiment includes the following in step S30:

[0090] Step S31: When the collision risk result indicates that there is a collision risk, determine the free space of the adjacent lane and the direction of the adjacent lane based on the adjacent lane information.

[0091] It should be noted that when the collision risk result indicates a collision risk, the available space in the left and right lanes, the lane direction of travel in the left lane, and the lane direction of travel in the right lane are determined based on the adjacent lane information. Available space refers to the open space immediately adjacent to the target vehicle, free of pedestrians, vehicles, guardrails, or other obstacles. Available space in adjacent lanes includes the available space in the left and right lanes. The lane direction of adjacent lanes includes the lane direction of travel in the left and right lanes.

[0092] Step S32: Determine the space required for evacuation based on the vehicle occupant information.

[0093] It should be noted that the space required for avoidance of the target vehicle is determined based on the vehicle occupant information. When there is no one on the right side of the target vehicle, the space required for avoidance is half the width of the left side of the target vehicle. When there is someone on the right side of the target vehicle, the space required for avoidance is the full width of the target vehicle.

[0094] Step S33: Determine the vehicle avoidance position of the target vehicle based on the available space of the adjacent lane, the orientation of the adjacent lane, and the space required for avoidance.

[0095] It should be noted that the avoidance conditions are different when based on different lanes. When avoiding a collision based on the left lane, the empty space of the left lane in the adjacent lane must not be less than the space required for avoidance. The direction of travel of the left lane is not the opposite lane. There is no fast approach lane behind the left lane and the target vehicle turns the steering wheel to the left at the maximum angle. When it moves forward after being hit, it will not collide with the vehicle directly in front of the target vehicle.

[0096] Understandably, when avoiding an obstacle from the right lane, if the space required for avoidance is half the width of the left side of the vehicle, the available space in the right lane among the adjacent lanes must be no less than twice the space required for avoidance. If the space required for avoidance is the full width of the vehicle, the available space in the right lane must be no less than the full width of the vehicle. The right lane is a non-oncoming lane, there is no rear approach lane in the right lane, and the target vehicle is turning the steering wheel to the right at its maximum angle. When the vehicle moves forward after being impacted, it will not collide with the vehicle directly in front of the target vehicle.

[0097] In practice, the lane that meets the avoidance conditions is determined based on the avoidance conditions of different lanes, the available space in adjacent lanes, the orientation of adjacent lanes, and the space required for avoidance, thus obtaining the vehicle's avoidance position. When the left lane meets the avoidance conditions, the vehicle's avoidance position is in the left lane; when the right lane meets the avoidance conditions, the vehicle's avoidance position is in the right lane; when neither lane meets the avoidance conditions, the vehicle's avoidance position is the target vehicle's current position.

[0098] Step S34: Generate an avoidance voice command based on the vehicle's avoidance position, and broadcast the avoidance voice command.

[0099] It should be noted that when the collision risk result indicates a collision risk, if the vehicle's avoidance position is in the left lane, a voice command related to avoidance, "A large vehicle is approaching from behind, please move to the left," will be generated and broadcast, allowing the user to avoid the collision according to the voice command. If the vehicle's avoidance position is in the right lane, a voice command related to avoidance, "A large vehicle is approaching from behind, please move to the right," will be generated and broadcast. If the vehicle's avoidance position is the current location of the target vehicle, a voice command related to avoidance, "A large vehicle is approaching from behind, be careful," will be generated and broadcast.

[0100] Understandably, to maximize user safety, when the collision risk result indicates an impending danger, the target vehicle must automatically evade. Furthermore, the process of determining the target vehicle's evasion strategy based on vehicle occupant information, adjacent lane information, and the collision risk result, and then performing evasion based on that strategy, includes: when the collision risk result indicates an impending danger, determining the available space in adjacent lanes based on the adjacent lane information; determining the space required for evasion based on the vehicle occupant information; making an evasion judgment based on the available space, the required evasion space, and adjacent lane evasion conditions; when the evasion environment in adjacent lanes does not meet the adjacent lane evasion conditions, determining the left-side driving environment based on the left-side acquired image; and when the left-side driving environment meets preset evasion conditions, controlling the target vehicle to move to the left.

[0101] In practical implementation, when the collision risk result is that danger is about to occur, the judgment is made based on the avoidance conditions of different lanes. When avoiding the collision based on the left lane, the avoidance conditions of the adjacent lane are as follows: the empty space of the left lane in the adjacent lane must not be less than the space required for avoidance, the lane travel direction of the left lane is not the opposite lane, there is no fast approach lane behind the left lane, and the target vehicle will not collide with the vehicle directly in front of the target vehicle when it moves forward after being hit by the maximum left steering wheel angle.

[0102] Understandably, when avoiding an obstacle from the right lane, the conditions for avoiding an obstacle from the adjacent lane are as follows: when the space required for avoidance is half the width of the left side of the vehicle, the available space in the right lane must be no less than twice the space required for avoidance; when the space required for avoidance is the full width of the vehicle, the available space in the right lane must be no less than the full width of the vehicle; the right lane must be a non-oncoming lane; there must be no rear approach lanes on the right; and the target vehicle must not collide with the vehicle directly in front of it when it moves forward after being impacted by a maximum rightward steering wheel angle.

[0103] In practice, when the obstacle avoidance environment in the left lane meets the obstacle avoidance conditions for adjacent lanes, the controller in the target vehicle automatically turns the steering wheel to the left; when the obstacle avoidance environment in the right lane meets the obstacle avoidance conditions for adjacent lanes, the controller in the target vehicle automatically turns the steering wheel to the right.

[0104] It should be noted that if neither the avoidance environment of the left lane nor the avoidance environment of the right lane meets the avoidance conditions of the adjacent lane, the driving environment of the left lane is determined based on the image collected from the left lane. At this time, the judgment is made based on the preset avoidance conditions and the driving environment of the left lane. The preset avoidance conditions are: there is half a car width of space on the left, there are no pedestrians in the driving environment of the left lane, and the vehicle turns the steering wheel to the left at the maximum steering wheel angle. When the vehicle moves forward after being hit, the left half car width will not collide with the vehicle in front. When the driving environment of the left lane meets the preset avoidance conditions, the controller automatically turns the steering wheel to the left. When the driving environment of the left lane does not meet the preset avoidance conditions, only the avoidance voice command "A large vehicle is approaching from behind, pay attention and avoid it" is generated and broadcast, and no avoidance operation is performed.

[0105] This embodiment, when the collision risk result indicates a collision risk, determines the available space and orientation of adjacent lanes based on adjacent lane information; determines the space required for avoidance based on vehicle occupant information; determines the target vehicle's avoidance position based on the available space, orientation, and required avoidance space of the adjacent lanes; generates and broadcasts an avoidance voice command based on the vehicle's avoidance position. Through this method, reasonable and targeted vehicle avoidance strategies can be formulated in different situations, improving the user experience.

[0106] Furthermore, embodiments of the present invention also propose a storage medium storing a vehicle avoidance program, which, when executed by a processor, implements the steps of the vehicle avoidance method described above.

[0107] Reference Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the vehicle avoidance device of the present invention.

[0108] like Figure 5 As shown, the vehicle avoidance device proposed in this embodiment of the invention includes:

[0109] The acquisition module 10 is used to acquire information about vehicles behind when the vehicle is currently stationary and the type of the vehicle in front is a preset type.

[0110] The calculation module 20 is used to calculate the collision risk based on the information of the vehicles behind and obtain the collision risk result.

[0111] The processing module 30 determines the vehicle avoidance strategy of the target vehicle based on the vehicle occupant information, adjacent lane information and the collision risk result, and performs avoidance based on the vehicle avoidance strategy.

[0112] This embodiment obtains information about vehicles behind the vehicle when the vehicle is currently stationary and the vehicle in front is of a preset type; it calculates the collision risk based on this information to obtain a collision risk result; and it determines the vehicle avoidance strategy for the target vehicle based on the vehicle occupant information, adjacent lane information, and the collision risk result, and then performs avoidance based on this strategy. By doing so, when the vehicle is currently stationary and the vehicle in front is of a preset type, it calculates the collision risk based on the information of vehicles behind the vehicle, determines the vehicle avoidance strategy for the target vehicle using the collision risk result, the vehicle occupant information, and adjacent lane information, and then performs avoidance. This allows for advance avoidance planning when a collision is possible or imminent and threatens the user's life, formulating a reasonable and accurate avoidance strategy, and providing effective avoidance measures to avoid vehicles behind the vehicle, minimizing injury to occupants and improving passenger safety and user experience.

[0113] In one embodiment, the calculation module 20 is further configured to determine the type of vehicle behind based on the vehicle information behind;

[0114] When the type of the vehicle behind is a preset vehicle type, determine the current rear distance of the vehicle behind, the current front distance of the vehicle in front, and the current driving speed of the vehicle behind.

[0115] Determine the target deceleration based on the type of vehicle behind;

[0116] The collision risk is calculated based on the current rear distance, the current front distance, the current driving speed, and the target deceleration, and the collision risk result is obtained.

[0117] In one embodiment, the calculation module 20 is further configured to obtain the current driving status of the vehicle behind;

[0118] When the current driving state is a preset deceleration state, determine the current deceleration of the vehicle behind;

[0119] The braking time is determined by calculating the time based on the current deceleration, the target deceleration, and the preset deceleration coefficient.

[0120] The vehicle deceleration distance is determined by calculating the distance based on the current deceleration, current travel speed, target deceleration, and braking time.

[0121] The collision risk result is determined based on the vehicle deceleration distance, the current rear distance, and the current front distance.

[0122] In one embodiment, the calculation module 20 is further configured to obtain a preset driving time when the current driving state is a preset driving state;

[0123] The distance traveled by the vehicle is determined by calculating the distance based on the preset travel time, the target deceleration, and the current travel speed.

[0124] The collision risk result is determined based on the vehicle's travel distance, the current rear distance, and the current front distance.

[0125] In one embodiment, the processing module 30 is further configured to determine the free space of the adjacent lane and the adjacent lane orientation of the adjacent lane based on the adjacent lane information when the collision risk result indicates that there is a collision risk;

[0126] The required space for evacuation is determined based on the vehicle occupant information.

[0127] The vehicle avoidance position of the target vehicle is determined based on the available space in the adjacent lanes, the orientation of the adjacent lanes, and the space required for avoidance.

[0128] Generate a avoidance voice command based on the vehicle's avoidance position, and broadcast the avoidance voice command.

[0129] In one embodiment, the processing module 30 is further configured to determine the free space of the adjacent lane based on the adjacent lane information when the collision risk result is that a danger is about to occur;

[0130] The required space for evacuation is determined based on the vehicle occupant information.

[0131] The avoidance judgment is made based on the available space, the space required for avoidance, and the avoidance conditions of adjacent lanes. When the avoidance environment of adjacent lanes does not meet the avoidance conditions of adjacent lanes, the driving environment on the left is determined based on the image acquired on the left.

[0132] When the driving environment on the left meets the preset avoidance conditions, the target vehicle is controlled to move to the left.

[0133] In one embodiment, the acquisition module 10 is further configured to determine the current wheel speed and the current vehicle speed based on the current driving information;

[0134] The current state of the vehicle is determined based on the current wheel speed and the current vehicle speed.

[0135] Based on the images captured ahead, object recognition is performed to determine the type of vehicle ahead.

[0136] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0137] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0138] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0139] Furthermore, 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.

[0140] 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.

[0141] 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 read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0142] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for avoiding a vehicle, characterized in that, The vehicle avoidance method includes: When the vehicle is currently stationary and the vehicle in front is of a preset type, obtain information about the vehicle behind. The collision risk is calculated based on the information of the vehicles behind, and the collision risk result is obtained. Based on vehicle occupant information, adjacent lane information, and the collision risk results, a vehicle avoidance strategy for the target vehicle is determined, and avoidance is performed based on the vehicle avoidance strategy: The step of calculating the collision risk based on the rear vehicle information to obtain the collision risk result includes: The type of vehicle behind is determined based on the information about the vehicles behind; When the type of the vehicle behind is a preset vehicle type, determine the current rear distance of the vehicle behind, the current front distance of the vehicle in front, and the current driving speed of the vehicle behind. Determine the target deceleration based on the type of vehicle behind; The collision risk is calculated based on the current rear distance, the current front distance, the current driving speed, and the target deceleration to obtain the collision risk result. The collision risk calculation based on the current rear distance, current front distance, current driving speed, and target deceleration to obtain the collision risk result includes: Obtain the current driving status of the vehicle behind; When the current driving state is a preset deceleration state, determine the current deceleration of the vehicle behind; The braking time is determined by calculating the time based on the current deceleration, the target deceleration, and the preset deceleration coefficient. The vehicle deceleration distance is determined by calculating the distance based on the current deceleration, current travel speed, target deceleration, and braking time. The collision risk result is determined based on the vehicle deceleration distance, the current rear distance, and the current front distance. The process includes determining a vehicle avoidance strategy for the target vehicle based on vehicle occupant information, adjacent lane information, and the collision risk results, and then performing avoidance based on the vehicle avoidance strategy, including: The required space for evasive maneuver is determined based on the vehicle occupant information. When there is no one on the right side of the target vehicle, the required space is determined to be half the width of the left side of the target vehicle. When there is someone on the right side of the target vehicle, the required space is determined to be the full width of the target vehicle. When evading from the left lane, the empty space of the left lane in the adjacent lanes is not less than the required space for evasive maneuver. When evading from the right lane, and the required space is half the width of the left side of the target vehicle, the empty space of the right lane in the adjacent lanes is not less than twice the required space for evasive maneuver. When evading from the right lane, and the required space is the full width of the target vehicle, the empty space of the right lane is not less than the full width of the target vehicle.

2. The vehicle avoidance method as described in claim 1, characterized in that, After obtaining the current driving status of the vehicle behind, the method further includes: When the current driving state is a preset driving state, obtain the preset driving time; The distance traveled by the vehicle is determined by calculating the distance based on the preset travel time, the target deceleration, and the current travel speed. The collision risk result is determined based on the vehicle's travel distance, the current rear distance, and the current front distance.

3. The vehicle avoidance method as described in claim 1, characterized in that, The step of determining the vehicle avoidance strategy for the target vehicle based on vehicle occupant information, adjacent lane information, and the collision risk result, and performing avoidance based on the vehicle avoidance strategy, includes: When the collision risk result indicates that there is a collision risk, the available space of the adjacent lane and the adjacent lane orientation are determined based on the adjacent lane information. The required space for evacuation is determined based on the vehicle occupant information. The vehicle avoidance position of the target vehicle is determined based on the available space in the adjacent lanes, the orientation of the adjacent lanes, and the space required for avoidance. Generate a avoidance voice command based on the vehicle's avoidance position, and broadcast the avoidance voice command.

4. The vehicle avoidance method as described in claim 1, characterized in that, The step of determining the vehicle avoidance strategy for the target vehicle based on vehicle occupant information, adjacent lane information, and the collision risk result, and performing avoidance based on the vehicle avoidance strategy, includes: When the collision risk result indicates that a dangerous situation is imminent, the available space in the adjacent lane is determined based on the adjacent lane information; The required space for evacuation is determined based on the vehicle occupant information. The avoidance judgment is made based on the available space, the space required for avoidance, and the avoidance conditions of adjacent lanes. When the avoidance environment of adjacent lanes does not meet the avoidance conditions of adjacent lanes, the driving environment on the left is determined based on the image acquired on the left. When the driving environment on the left meets the preset avoidance conditions, the target vehicle is controlled to move to the left.

5. The vehicle avoidance method as described in any one of claims 1 to 4, characterized in that, Before obtaining information about vehicles behind when the vehicle is currently stationary and the vehicle in front is of a preset type, the method further includes: Determine the vehicle's current wheel speed and current vehicle speed based on current driving information; The current state of the vehicle is determined based on the current wheel speed and the current vehicle speed. Based on the images captured ahead, object recognition is performed to determine the type of vehicle ahead.

6. A vehicle avoidance device, characterized in that, The vehicle avoidance device includes: The acquisition module is used to acquire information about vehicles behind when the vehicle is currently stationary and the vehicle in front is of a preset type. The calculation module is used to calculate the collision risk based on the information of the vehicles behind and obtain the collision risk result; The processing module determines the vehicle avoidance strategy of the target vehicle based on the vehicle occupant information, adjacent lane information and the collision risk result, and performs avoidance based on the vehicle avoidance strategy. The calculation module is further configured to determine the type of the vehicle behind based on the information of the vehicle behind; when the type of the vehicle behind is a preset vehicle type, determine the current distance behind the vehicle, the current distance in front of the vehicle, and the current speed of the vehicle behind; determine the target deceleration based on the type of the vehicle behind; and perform collision risk calculation based on the current distance behind, the current distance in front, the current speed, and the target deceleration to obtain the collision risk result. The calculation module is further configured to: acquire the current driving state of the vehicle behind; determine the current deceleration of the vehicle behind when the current driving state is a preset deceleration state; perform time calculation based on the current deceleration, the target deceleration, and the preset deceleration coefficient to determine the braking time; perform distance calculation based on the current deceleration, the current driving speed, the target deceleration, and the braking time to determine the vehicle deceleration distance; and determine the collision risk result based on the vehicle deceleration distance, the current distance behind, and the current distance in front. The process includes determining a vehicle avoidance strategy for the target vehicle based on vehicle occupant information, adjacent lane information, and the collision risk results, and then performing avoidance based on the vehicle avoidance strategy, including: The required space for evasive maneuver is determined based on the vehicle occupant information. When there is no one on the right side of the target vehicle, the required space is determined to be half the width of the left side of the target vehicle. When there is someone on the right side of the target vehicle, the required space is determined to be the full width of the target vehicle. When evading from the left lane, the empty space of the left lane in the adjacent lanes is not less than the required space for evasive maneuver. When evading from the right lane, and the required space is half the width of the left side of the target vehicle, the empty space of the right lane in the adjacent lanes is not less than twice the required space for evasive maneuver. When evading from the right lane, and the required space is the full width of the target vehicle, the empty space of the right lane is not less than the full width of the target vehicle.

7. A vehicle avoidance device, characterized in that, The device includes: a memory, a processor, and a vehicle avoidance program stored in the memory and executable on the processor, the vehicle avoidance program being configured to implement the vehicle avoidance method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores a vehicle avoidance program, which, when executed by a processor, implements the vehicle avoidance method as described in any one of claims 1 to 5.

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