Method, device, storage medium and electronic device for preventing vehicle collision

Abstract

The present application provides a method, device, storage medium and electronic device for preventing vehicle collision, which obtains the target distance between the vehicle and the vehicle in front; compares the target distance with the preset first safety distance, and compares the target distance with the second safety distance, and when it is determined that the target distance is less than or equal to the second safety distance, and the target distance is greater than or equal to the first safety distance, brakes the vehicle; wherein the first safety distance and the second safety distance are determined according to the length of the vehicle and the maximum angle at which the wheels can rotate; before the vehicle stops, the vehicle is controlled to steer to avoid collision with the vehicle in front. This effectively reduces the risk of the vehicle being squeezed by the vehicle in front again when it is rear-ended by the vehicle behind, and improves the driving safety of the vehicle. The solution is more flexible and convenient to implement, and the implementation cost is low.

Description

Technical Field

[0001] The present application relates to the field of motor vehicle control technology, and in particular to a method, device, storage medium and electronic device for preventing vehicle collision. Background Art

[0002] With the popularization of automobile intelligence, users have higher and higher requirements for the safety of vehicles when running intelligent driving. When a vehicle is driving on the road, it is inevitable to encounter traffic jams or follow the vehicle in front too closely. In this case, if a traffic accident occurs, it is easy to cause the vehicle to rear-end the vehicle in front, causing a traffic accident, especially if the vehicle in front is a high-body vehicle, such as a truck. If it collides with the vehicle in front, it is easy to cause the body of the vehicle to drill into the side and rear of the front body, affecting the safety of the driver and passengers. However, there is no technical means in the current industry that can effectively prevent this situation from happening and reduce the probability of accidents. For this reason, how to reduce the probability of collision with the vehicle in front again when the vehicle behind is rear-ended by a relatively simple and easy technical method has become one of the important indicators for improving vehicle safety in the field of intelligent driving technology. Summary of the invention

[0003] In view of this, embodiments of the present application provide a method, device, storage medium, and electronic device for preventing vehicle collision, so as to at least or partially solve the above-mentioned problems.

[0004] In a first aspect, an embodiment of the present application provides a method for preventing a vehicle collision, comprising:

[0005] Obtain the target distance between the vehicle and the vehicle ahead;

[0006] Comparing the target vehicle distance with a preset first safety distance, and comparing the target vehicle distance with a second safety distance, and when it is determined that the target vehicle distance is less than or equal to the second safety distance, and the target vehicle distance is greater than or equal to the first safety distance, braking the vehicle; wherein the first safety distance and the second safety distance are determined according to the body length of the vehicle and the maximum angle at which the wheels can rotate;

[0007] Control your vehicle to steer before braking to prevent it from colliding with the vehicle in front.

[0008] Optionally, in an embodiment of the present application, controlling the vehicle to perform steering avoidance before the vehicle brakes to a stop includes:

[0009] Get the current angular velocity v of the vehicle;

[0010] When the vehicle brakes to a stop, the vehicle is controlled to send a turning request to control the vehicle to turn left by an angle α within a preset time T before the vehicle stops, using the vehicle body controller EPS, wherein the preset time T=α / v.

[0011] Optionally, in an embodiment of the present application, the first safety distance is L·cosα, and the second safety distance is L; wherein L is the body length of the vehicle, and α is the maximum angle at which the vehicle can turn to the left.

[0012] Optionally, in an embodiment of the present application, before comparing the target vehicle distance with a preset first safety distance and comparing the target vehicle distance with a second safety distance, the method further includes: monitoring the driving state of the preceding vehicle;

[0013] When the monitoring result indicates that the leading vehicle has stopped running, the target vehicle distance and the first preset safety distance are compared, and the target vehicle distance and the second safety distance are compared.

[0014] Optionally, in an embodiment of the present application, before obtaining the target vehicle distance between the vehicle and the preceding vehicle, the method further includes:

[0015] Using the vehicle sensor of the vehicle to identify the vehicle type of the preceding vehicle, and obtaining an identification result;

[0016] When the recognition result determines that the front vehicle is a target type, the target vehicle distance between the host vehicle and the front vehicle is obtained.

[0017] Optionally, in an embodiment of the present application, the using the own vehicle sensor to identify the vehicle type of the preceding vehicle to obtain the identification result includes:

[0018] Using multiple sensors to collect the length, width and height of the front vehicle;

[0019] The collected data is fused to determine the vehicle type of the preceding vehicle according to a result of the fusion, and the vehicle type is determined as the recognition result.

[0020] Optionally, in an embodiment of the present application, obtaining a target vehicle distance between the vehicle and the preceding vehicle includes:

[0021] The driving status data of the preceding vehicle is collected by a radar and / or a camera arranged at the front side of the vehicle, so as to determine the target vehicle distance between the preceding vehicle and the preceding vehicle in real time according to the collected data.

[0022] In a second aspect, based on the method for preventing vehicle collision described in the first aspect of the present application, an embodiment of the present application further provides a device for preventing vehicle collision, including:

[0023] An acquisition module, used to acquire a target distance between the vehicle and the preceding vehicle;

[0024] a comparison module, for comparing the target vehicle distance with a preset first safety distance, and comparing the target vehicle distance with a second safety distance, and performing braking control on the vehicle when it is determined that the target vehicle distance is less than or equal to the second safety distance, and the target vehicle distance is greater than or equal to the first safety distance; wherein the first safety distance and the second safety distance are determined according to the body length of the vehicle and the maximum angle at which the wheels can rotate;

[0025] The control module is used to control the vehicle to steer and avoid before the vehicle brakes to prevent the vehicle from colliding with the vehicle in front.

[0026] In a third aspect, an embodiment of the present application further provides a computer storage medium having computer executable instructions stored thereon, and when the computer executable instructions are executed, any one of the methods for preventing vehicle collision as described in the first aspect of the embodiment of the present application is performed.

[0027] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0028] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute any one of the methods for preventing vehicle collision as described in the first aspect of the embodiment of the present application.

[0029] The present application provides a method, device, storage medium and electronic device for preventing vehicle collision, which obtains the target distance between the vehicle and the vehicle in front; compares the target distance with the preset first safety distance, and compares the target distance with the second safety distance, and when it is determined that the target distance is less than or equal to the second safety distance, and the target distance is greater than or equal to the first safety distance, brakes the vehicle; wherein the first safety distance and the second safety distance are determined according to the length of the vehicle and the maximum angle at which the wheels can rotate; before the vehicle stops, the vehicle is controlled to steer to avoid collision with the vehicle in front. This effectively reduces the risk of the vehicle being squeezed by the vehicle in front again when it is rear-ended by the vehicle behind, and improves the driving safety of the vehicle. The implementation of the solution is flexible and convenient, and the implementation cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0031] Figure 1 A schematic diagram of a working process of a method for preventing vehicle collision provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of the structure of a device for preventing vehicle collision provided in an embodiment of the present application.

[0033] Figure 3 A schematic structural diagram of an electronic device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0035] It should be understood that the various steps described in the method implementation of the present application can be performed in different orders and / or performed in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0036] Embodiment 1

[0037] The present application embodiment provides a method for preventing vehicle collision, such as Figure 1 As shown, Figure 1 A schematic diagram of a process flow of a method for preventing vehicle collision provided in an embodiment of the present application includes:

[0038] Step S101, obtaining the target distance between the vehicle and the vehicle in front. In the embodiment of the present application, the target distance is used to represent the real-time distance between the vehicle and the vehicle in front when the vehicle is traveling in the same direction. In the embodiment of the present application, by determining the target distance between the vehicle and the vehicle in front in real time, it is used to determine whether the vehicle has the risk of rear-ending the vehicle in front. This method of obtaining single-dimensional data as a basis for judging whether to avoid collision with the vehicle in front significantly reduces the amount of data processing during the execution of the method for preventing vehicle collisions described in the embodiment of the present application, and improves the implementation efficiency of the method for preventing vehicle collisions described in the present application.

[0039] Specifically, in an optional implementation of the embodiment of the present application, obtaining the target distance between the vehicle and the preceding vehicle includes: collecting the driving status data of the preceding vehicle through a radar and / or camera disposed at the front side of the vehicle, so as to determine the target distance between the vehicle and the preceding vehicle in real time based on the collected data. The driving status data of the preceding vehicle includes, but is not limited to, the real-time speed of the preceding vehicle, the relative speed of the preceding vehicle relative to the vehicle, or the relative distance between the preceding vehicle and the vehicle can be directly determined through the data collected by the radar, or the target distance between the vehicle and the preceding vehicle can be determined through multi-modal fusion processing of the data collected by the vehicle-mounted radar and the vehicle-mounted camera, so as to quickly and accurately obtain the target distance between the vehicle and the preceding vehicle, and the method is simple and easy to implement.

[0040] Step S102, compare the target vehicle distance with the preset first safety distance, compare the target vehicle distance with the second safety distance, and when it is determined that the target vehicle distance is less than or equal to the second safety distance, and the target vehicle distance is greater than or equal to the first safety distance, brake control is performed on the vehicle; wherein, the first safety distance and the second safety distance are determined according to the body length of the vehicle and the maximum angle of wheel rotation. In the embodiment of the present application, the preset first safety distance is used to indicate the distance at which the vehicle will rear-end or scrape the vehicle in front if avoidance control is performed. The preset second safety distance is used to indicate the relative safety distance of the vehicle, that is, when the vehicle is braked and is rear-ended by the rear vehicle causing the vehicle to move forward, the vehicle will not collide or scrape with the vehicle in front during avoidance.

[0041] Step S103, before the vehicle stops, the vehicle is controlled to steer to avoid collision with the vehicle in front. The embodiment of the present application is exemplarily described here. When it is determined that the target distance between the vehicle and the vehicle in front is within the preset first safety distance and second safety distance, after the vehicle is controlled by the control method of step S102 to brake, before the vehicle stops, the vehicle is quickly controlled to turn left or right with the steering wheel fully turned, thereby reducing the possibility of collision between the vehicle and the vehicle in front in this simple and easy way, and improving the driving safety of the vehicle.

[0042] Specifically, in an optional implementation of the embodiment of the present application, the preset first safety distance is L·cosα, and the preset second safety distance is L; wherein L is the body length of the vehicle, and α is the maximum angle at which the wheels of the vehicle can turn to the left. The first safety distance and the second safety distance are set to the parameters defined herein in the embodiment of the present application, while effectively avoiding the risk of collision or scratching with the vehicle in front when the vehicle is rear-ended, the relative distance between the vehicle and the vehicle in front is reduced, and other vehicles are prevented from cutting in when queuing or in traffic jams, and the possibility of disputes such as traffic accidents caused by cutting in is reduced. The speed of vehicles in the driving lane of the vehicle can also be guaranteed to a certain extent. In the process of vehicle operation, most countries or regions where vehicles are operated generally follow the method of overtaking from the left. In the embodiment of the present application, collision avoidance is performed by turning left here, which can reduce the safety risk of the vehicle under the premise of meeting the legal provisions of most countries or regions.

[0043] Optionally, in an implementation of an embodiment of the present application, the controlling the vehicle to steer and avoid before the vehicle stops includes: obtaining the current angular velocity v of the vehicle; when the vehicle stops, controlling the vehicle within a preset time T before stopping, using the body controller EPS to send a turning request to control the steering wheel of the vehicle to the left or right for steering control, so that the vehicle turns to the left or right by an angle α, and the turning angle α can be manually preset or determined based on the relative position of the vehicle and the front vehicle, and the present application does not limit this here. Among them, the preset time T=α / v. By the method defined in the embodiment of the present application, the vehicle is controlled to steer at a faster time, such as turning to the left, which can minimize the probability of collision between the vehicle and the front vehicle. At the same time, the embodiment of the present application defines that the vehicle is directly controlled by sending a turning request through the body controller EPS, which improves the response efficiency and response accuracy of the method for preventing vehicle collision described in the present application.

[0044] In an optional implementation of the present application, α can be set to the maximum angle at which the wheels of the vehicle can turn to the left, so as to control the rotation of the vehicle in front through a relatively simple and safe control method to prevent the vehicle from colliding head-on with the vehicle in front.

[0045] Optionally, in an implementation of the embodiment of the present application, the turning angle α is determined based on the relative position of the vehicle and the front vehicle, for example, by determining the distance L1 between the left front end point of the vehicle and the left rear end point of the front vehicle, and the distance L2 between the right front end point of the vehicle and the right rear end point of the front vehicle; comparing the sizes of L1 and L2; when L1 is less than or equal to L2, determining the angle β between the straight line where the right front side of the vehicle and the left rear side of the front vehicle are located and the longitudinal axis of the vehicle, and controlling the turning angle α to turn left at an angle greater than the angle β, and when L1 is greater than L2, determining the angle β between the straight line where the left front side of the vehicle and the right rear side of the front vehicle are located and the longitudinal axis of the vehicle, and controlling the turning angle α to turn right at an angle greater than the angle β. This ensures that the vehicle will not turn too much when performing anti-collision control, causing the vehicle to collide with the vehicle on the side or turning too much to cause the vehicle to turn on the spot. Of course, the embodiment of the present application is here to illustrate the determination of the rotation angle α based on the relative position of the vehicle and the preceding vehicle, and does not mean that the present application is limited thereto.

[0046] Optionally, in an implementation of the embodiment of the present application, before comparing the target vehicle distance with the preset first safety distance, and comparing the target vehicle distance with the second safety distance, the method further includes: monitoring the driving state of the front vehicle, and only when the monitoring result indicates that the front vehicle has stopped running, comparing the target vehicle distance with the preset first safety distance, and comparing the target vehicle distance with the second safety distance. In the embodiment of the present application, if it is determined that the front vehicle has been driving, the possibility of the vehicle colliding with the front vehicle due to the rear-end collision of the rear vehicle is small. If the vehicle is still controlled to perform anti-collision control in this state, it may cause emergency braking and other situations, causing driving risks or other failures, affecting the driving safety of the driver.

[0047] Optionally, in one embodiment of the present application, before obtaining the target vehicle distance between the vehicle and the preceding vehicle, the method further includes: using the vehicle sensor to identify the vehicle type of the preceding vehicle to obtain an identification result; when the identification result determines that the preceding vehicle is of the target type, the target vehicle distance between the vehicle and the preceding vehicle is obtained. In one implementation of the embodiment of the present application, only when the preceding vehicle is determined to be a vehicle of the target type, such as a vehicle with a high body such as a large truck, there is a certain hard space at the lower side and rear. If the vehicle rear-ends such a vehicle, it is easy to cause the A-pillar of the vehicle to be squeezed by the side and rear of the large truck, which is more likely to cause a safety accident. If the preceding vehicle is a small car, even if the vehicle collides with the rear of the preceding vehicle, it may not cause the A-pillar of the vehicle to be squeezed and deformed. However, if the anti-collision control through steering is still performed at this time, there is a certain probability that it will cause a traffic accident caused by a scratch or collision with a sideways straight-moving vehicle, thereby causing the vehicle to bear a greater responsibility for the accident. Therefore, the embodiment of the present application is limited to identifying the vehicle type of the preceding vehicle through the vehicle's own sensors, thereby reducing other safety risks caused by the implementation of the vehicle collision prevention method described in the embodiment of the present application while ensuring the safety of the vehicle itself.

[0048] Specifically, in an optional implementation method of the embodiment of the present application, the vehicle type of the preceding vehicle is identified using the sensors of the vehicle to obtain an identification result, including: using multiple sensors to collect the length, width and height of the preceding vehicle; fusing the collected data to determine the vehicle type of the preceding vehicle based on the result of the fusion processing, and determining the vehicle type as the identification result. Among them, in the embodiment of the present application, the fusion processing includes: data layer fusion, feature layer fusion and decision layer fusion. Data layer fusion refers to directly fusing raw data of different modalities to form a single data representation. Feature layer fusion refers to first extracting the features of each modal data, and then fusing the features to form a unified feature vector. Decision layer fusion refers to fusing the processing results of each modal data to make a final decision. The embodiment of the present application performs the above-mentioned fusion processing on the length, width, height and other data of the leading vehicle collected by multiple sensors, so as to simply, quickly and relatively accurately determine the type of the leading vehicle, such as determining whether the leading vehicle is a truck, a car or other vehicle type, and determining the obtained vehicle type as the identification result of the leading vehicle, thereby significantly improving the accuracy and efficiency of recognition, without the need for complex data processing such as constructing the outer contour of the leading vehicle or knowing its vehicle brand.

[0049] The present application provides a method for preventing vehicle collision, by obtaining a target distance between the vehicle and the vehicle in front; comparing the target distance with a preset first safety distance, comparing the target distance with a second safety distance, and when it is determined that the target distance is less than or equal to the second safety distance, and the target distance is greater than or equal to the first safety distance, braking the vehicle; wherein the first safety distance and the second safety distance are determined according to the vehicle body length and the maximum angle at which the wheels can rotate; before the vehicle stops, the vehicle is controlled to steer to avoid collision with the vehicle in front. This effectively reduces the risk of the vehicle being squeezed by the vehicle in front again when it is rear-ended by the vehicle behind, and improves the driving safety of the vehicle. The solution is more flexible and convenient to implement, and the implementation cost is low.

[0050] Embodiment 2

[0051] Based on the method for preventing vehicle collision provided in the first embodiment of the present application, the embodiment of the present application also provides a device for preventing vehicle collision, such as Figure 2 As shown, Figure 2 A schematic diagram of a structure of a vehicle collision prevention device 20 provided in an embodiment of the present application, wherein the vehicle collision prevention device 20 comprises:

[0052] An acquisition module 201 is used to acquire a target distance between the vehicle and the preceding vehicle;

[0053] A comparison module 202 is used to compare the target vehicle distance with a preset first safety distance, and compare the target vehicle distance with a second safety distance, and when it is determined that the target vehicle distance is less than or equal to the second safety distance, and the target vehicle distance is greater than or equal to the first safety distance, brake the vehicle; wherein the first safety distance and the second safety distance are determined according to the body length of the vehicle and the maximum angle at which the wheels can rotate;

[0054] The control module 203 is used to control the vehicle to perform steering avoidance before the vehicle brakes to prevent the vehicle from colliding with the vehicle in front.

[0055] Optionally, in one implementation of the embodiment of the present application, the control module 203 is also used to: obtain the current angular velocity v of the vehicle; when the vehicle brakes to a stop, control the vehicle to send an angle request within a preset time T before stopping, using the body controller EPS to control the vehicle to turn left by an angle α, wherein the preset time T=α / v, α is the maximum angle that the vehicle can turn left.

[0056] Optionally, in an implementation of the embodiment of the present application, the first safety distance is L·cosα, and the second safety distance is L; wherein L is the body length of the vehicle, and α is the maximum angle at which the vehicle can turn to the left.

[0057] Optionally, in an implementation of the embodiment of the present application, the device includes an identification module (not shown in the accompanying drawings), and the identification module is used to monitor the driving state of the leading vehicle before comparing the target vehicle distance with the preset first safety distance and comparing the target vehicle distance with the second safety distance; when the monitoring result indicates that the leading vehicle has stopped running, the comparison module 202 is used to compare the target vehicle distance with the preset first safety distance and the target vehicle distance with the second safety distance.

[0058] Optionally, in an implementation of the embodiment of the present application, before obtaining the target vehicle distance between the vehicle and the preceding vehicle, the identification module is also used to: use the vehicle sensor of the vehicle to identify the vehicle type of the preceding vehicle to obtain an identification result; when the identification result determines that the preceding vehicle is a target type, the target vehicle distance between the vehicle and the preceding vehicle is obtained through the acquisition module 201.

[0059] Optionally, in an implementation of the embodiment of the present application, the recognition module is also used to: collect the length, width and height of the front vehicle using multiple sensors; perform fusion processing on the collected data to determine the vehicle type of the front vehicle based on the result of the fusion processing, and determine the vehicle type as the recognition result, wherein the fusion processing includes data layer fusion processing, feature layer fusion processing and decision layer fusion processing. Data layer fusion refers to directly fusing raw data of different modalities to form a single data representation. Feature layer fusion refers to first extracting the features of each modal data, and then fusing the features to form a unified feature vector. Decision layer fusion refers to fusing the processing results of each modal data to make a final decision.

[0060] Optionally, in an implementation of the embodiment of the present application, the acquisition module 201 is also used to collect the driving status data of the leading vehicle by means of a radar and / or camera arranged at the front side of the vehicle, so as to determine the target vehicle distance between the vehicle and the leading vehicle in real time based on the collected data.

[0061] The present application provides a device for preventing vehicle collision, which is used to obtain the target distance between the vehicle and the front vehicle by setting an acquisition module; a comparison module is used to compare the size between the target distance and the preset first safety distance, and the size between the target distance and the second safety distance. When it is determined that the target distance is less than or equal to the second safety distance, and the target distance is greater than or equal to the first safety distance, the vehicle is braked, and the first safety distance and the second safety distance are determined according to the body length of the vehicle and the maximum angle that the wheels can rotate; a control module is set to control the vehicle to steer and avoid before the vehicle stops, so as to prevent the vehicle from colliding with the front vehicle. Thereby, the vehicle can be effectively prevented from colliding with the front vehicle again before stopping with the front vehicle, and the vehicle can be squeezed by the rear vehicle, which improves the driving safety of the vehicle and reduces the possibility of traffic accidents. The structure of the device is relatively simple and easy to implement, and the operation process of the device is relatively flexible and convenient.

[0062] Embodiment 3

[0063] An embodiment of the present application also provides a storage medium on which a computer program is stored. When the program is executed by a processor, any one of the methods for preventing vehicle collision as described in the first embodiment of the present application is implemented.

[0064] Embodiment 4:

[0065] The present application also provides an electronic device, such as Figure 3 As shown, Figure 3 A schematic diagram of the structure of an electronic device 30 is provided for an embodiment of the present application. The electronic device 30 includes:

[0066] One or more processors 301, communication interface 302, memory 303 and communication bus 304, the processor 301, memory 303 and communication interface 302 communicate with each other via the communication bus 304;

[0067] Memory 303, used to store one or more programs;

[0068] When the one or more programs are executed by the one or more processors 301, the one or more processors 301 implement any one of the methods for preventing vehicle collision as described in Embodiment 1 of the present application.

[0069] So far, the application has described specific embodiments of the subject matter. In some cases, the actions recorded in the claims can be performed in different orders and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing can be advantageous.

[0070] In the 1990s, it was very clear whether the improvement of a technology was hardware improvement (for example, improvement of the circuit structure of diodes, transistors, switches, etc.) or software improvement (improvement of the method flow). However, with the development of technology, many improvements of the method flow today can be regarded as direct improvements of the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be implemented with hardware entity modules. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system layer on a PLD by programming themselves, without having to ask chip manufacturers to design and make dedicated integrated circuit chips. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one kind of HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0071] The controller may be implemented in any suitable manner, for example, the controller may take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (e.g., software or firmware) executable by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, and the memory controller may also be implemented as part of the control logic of the memory. It is also known to those skilled in the art that, in addition to implementing the controller in a purely computer-readable program code manner, the controller may be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, such a controller may be considered as a hardware component, and the devices for implementing various functions included therein may also be considered as structures within the hardware component. Or even, the devices for implementing various functions may be considered as both software modules for implementing the method and structures within the hardware component.

[0072] The system layers, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0073] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0074] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0075] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, system layers, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0076] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific transactions or implement specific abstract data types. The present application may also be practiced in distributed computing environments where transactions are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0077] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system layer embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0078] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for preventing vehicle collision, characterized in that: include: Obtain the target distance between the vehicle and the vehicle ahead; Compare the target vehicle distance with a preset first safety distance, and compare the target vehicle distance with a second safety distance, and when it is determined that the target vehicle distance is less than or equal to the second safety distance, and the target vehicle distance is greater than or equal to the first safety distance, brake the vehicle; wherein the first safety distance and the second safety distance are determined according to the vehicle body length and the maximum angle at which the wheels can rotate; the first safety distance is L·cosα, and the second safety distance is L; wherein L is the vehicle body length, and α is the maximum angle at which the vehicle can rotate to the left; Control your vehicle to steer before braking to prevent it from colliding with the vehicle in front.

2. The method for preventing vehicle collision according to claim 1, characterized in that: The controlling the vehicle to perform steering avoidance before the vehicle stops includes: Get the current angular velocity v of the vehicle; When the vehicle brakes to a stop, the vehicle is controlled to send a turning request to control the vehicle to turn left by an angle α within a preset time T before the vehicle stops, using the vehicle body controller EPS, wherein the preset time T=α / v.

3. The method for preventing vehicle collision according to claim 1, characterized in that: Before comparing the target vehicle distance with the preset first safety distance and comparing the target vehicle distance with the second safety distance, the method further includes: monitoring the driving state of the preceding vehicle; When the monitoring result indicates that the leading vehicle has stopped running, the target vehicle distance is compared with the preset first safety distance, and the target vehicle distance is compared with the second safety distance.

4. The method for preventing vehicle collision according to claim 1, characterized in that: Before obtaining the target vehicle distance between the vehicle and the preceding vehicle, the method further includes: Using the vehicle sensor of the vehicle to identify the vehicle type of the preceding vehicle, and obtaining an identification result; When the recognition result determines that the front vehicle is a target type, the target vehicle distance between the host vehicle and the front vehicle is obtained.

5. The method for preventing vehicle collision according to claim 4, characterized in that: The method of using the vehicle sensor to identify the vehicle type of the preceding vehicle to obtain an identification result includes: Using multiple sensors to collect the length, width and height of the front vehicle; The collected data is fused to determine the vehicle type of the preceding vehicle according to the result of the fusion processing, and the vehicle type is determined as the recognition result, wherein the fusion processing includes data layer fusion processing, feature layer fusion processing and decision layer fusion processing.

6. The method for preventing vehicle collision according to claim 1, characterized in that: The step of obtaining a target distance between the vehicle and the preceding vehicle includes: The driving status data of the preceding vehicle is collected by a radar and / or a camera arranged at the front side of the vehicle, so as to determine the target vehicle distance between the preceding vehicle and the preceding vehicle in real time according to the collected data.

7. A device for preventing vehicle collision, characterized in that: include: An acquisition module, used to acquire a target distance between the vehicle and the preceding vehicle; a comparison module, for comparing the target vehicle distance with a preset first safety distance, and comparing the target vehicle distance with a second safety distance, and when it is determined that the target vehicle distance is less than or equal to the second safety distance, and the target vehicle distance is greater than or equal to the first safety distance, performing braking control on the vehicle; wherein the first safety distance and the second safety distance are determined according to the vehicle body length and the maximum angle at which the wheels can rotate, the first safety distance is L·cosα, and the second safety distance is L; wherein L is the vehicle body length, and α is the maximum angle at which the vehicle can rotate to the left; The control module is used to control the vehicle to steer and avoid before the vehicle stops, so as to prevent the vehicle from colliding with the vehicle in front.

8. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and when the computer executable instructions are executed, the method for preventing vehicle collision according to any one of claims 1 to 6 is performed.

9. An electronic device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the method for preventing vehicle collision as described in any one of claims 1-6.

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