Vehicle anti-collision method and device and electronic equipment

Abstract

The invention relates to the technical field of intelligent auxiliary driving, in particular to a vehicle anti-collision method and device and electronic equipment, and aims to solve the problem of how to improve driving safety. The method comprises the following steps: determining a distance variation based on a difference value between a transverse distance of a first vehicle at a target moment and a transverse distance at a current moment; determining longitudinal driving time based on the second driving speed, the longitudinal distance and the first driving speed of the first vehicle at the current moment; and under the condition that the distance variation is equal to a first threshold value and the longitudinal driving time is smaller than a time threshold value, generating an avoidance track based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is located currently, the vehicle body length of the target vehicle and the transverse acceleration of the first vehicle at the current moment.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent assisted driving technology, and in particular to a vehicle collision avoidance method, device and electronic equipment. Background Art

[0002] At present, when vehicles are driving, it is common for vehicles in adjacent lanes in the same direction to change lanes without turning on the turn signal, or vehicles in adjacent lanes in the same direction to change lanes without the conditions to change lanes. At this time, if the driver is not paying attention or the driver operates improperly, a collision is likely to occur; and in the process of automatic driving, the same situation will be faced; therefore, how to automatically avoid collisions with lane-changing vehicles without the need for driver operation and improve driving safety has become an urgent problem to be solved. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a vehicle collision avoidance method, device and electronic device.

[0004] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0005] In a first aspect, the present disclosure provides a vehicle collision avoidance method, which is applied to a first vehicle, and includes: obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at a current moment; wherein the rear end of the target vehicle is in front of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; determining a distance change based on the difference between the lateral distance of the first vehicle at the target moment and the lateral distance at the current moment; determining a longitudinal driving time based on the second driving speed, the longitudinal distance and the first driving speed of the first vehicle at the current moment; when the distance change is equal to a first threshold and the longitudinal driving time is less than a time threshold, generating an avoidance trajectory based on a reserved safety distance, a center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, a body length of the target vehicle and a lateral acceleration of the first vehicle at the current moment; and controlling the first vehicle to travel according to the avoidance trajectory.

[0006] In some feasible examples, the longitudinal driving time is determined based on the second driving speed, the longitudinal distance and the first driving speed of the first vehicle at the current moment, including: determining the relative speed between the first vehicle and the target vehicle based on the absolute value of the difference between the second driving speed and the first driving speed of the first vehicle at the current moment; and determining the longitudinal driving time as a ratio based on the ratio of the longitudinal distance and the relative speed.

[0007] In some feasible examples, when the distance change is equal to a first threshold and the longitudinal driving time is less than a time threshold, an avoidance trajectory is generated based on a reserved safety distance, a center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, a body length of the target vehicle, and a lateral acceleration of the first vehicle at the current moment, including: when the distance change is equal to the first threshold and the longitudinal driving time is less than the time threshold, an avoidance distance is obtained based on the reserved safety distance and the body length of the target vehicle; an avoidance trajectory is generated based on the avoidance distance, a center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment.

[0008] In some feasible examples, based on the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment, generating an avoidance trajectory includes: establishing a rectangular coordinate system with the center of the first vehicle; substituting the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment into a trajectory formula to generate an avoidance trajectory; wherein the trajectory formula includes:

[0009]

[0010] Wherein, y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω represents the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0011] In some feasible examples, controlling the first vehicle to travel along the avoidance trajectory includes: controlling the first vehicle to travel along the avoidance trajectory when no other vehicles except the target vehicle exist in the target area.

[0012] In some feasible examples, the vehicle collision avoidance method provided by the present disclosure further includes: when the distance change is equal to a second threshold, controlling the first vehicle to decelerate; wherein the first threshold is less than the second threshold.

[0013] In some feasible examples, the vehicle collision avoidance method provided by the present disclosure also includes: generating warning information when the distance change is equal to a second threshold; wherein the warning information is used to instruct the user to pay attention to the distance from the target vehicle, and the first threshold is less than the second threshold.

[0014] In a second aspect, the present disclosure provides a vehicle collision avoidance device, which is applied to a first vehicle, comprising: an acquisition unit, which is used to acquire a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; a processing unit, which is used to calculate the lateral distance of the first vehicle at the target moment based on the difference between the lateral distance of the first vehicle at the target moment and the lateral distance at the current moment acquired by the acquisition unit; The processing unit is further used to determine the longitudinal travel time based on the second travel speed of the first vehicle at the current moment, the longitudinal distance obtained by the obtaining unit and the first travel speed obtained by the obtaining unit; the processing unit is further used to generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle and the lateral acceleration of the first vehicle at the current moment when the distance change obtained by the obtaining unit is equal to the first threshold and the longitudinal travel time is less than the time threshold; the processing unit is further used to control the first vehicle to travel according to the avoidance trajectory.

[0015] In some feasible examples, the processing unit is further used to control the first vehicle to decelerate when the distance change is equal to a second threshold; wherein the first threshold is less than the second threshold.

[0016] In some feasible examples, the processing unit is further used to generate warning information when the distance change is equal to the second threshold; wherein the warning information is used to instruct the user to pay attention to the distance from the target vehicle.

[0017] In some feasible examples, the processing unit is specifically used to determine the relative speed between the first vehicle and the target vehicle based on the absolute value of the difference between the second driving speed of the first vehicle at a current moment and the first driving speed obtained by the acquisition unit; the processing unit is specifically used to determine the longitudinal driving time as a ratio based on the ratio of the longitudinal distance obtained by the acquisition unit and the relative speed.

[0018] In some feasible examples, the processing unit is specifically used to obtain a risk avoidance distance based on a reserved safety distance and a body length of a target vehicle when a distance change is equal to a first threshold and a longitudinal driving time is less than a time threshold; the processing unit is specifically used to generate an avoidance trajectory based on the risk avoidance distance, a center distance between a center of the first vehicle and a center of a lane in which the target vehicle is currently located, and a lateral acceleration of the first vehicle at a current moment.

[0019] In some feasible examples, the processing unit is specifically used to establish a rectangular coordinate system with the center of the first vehicle; the processing unit is specifically used to bring the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment into the trajectory formula to generate the avoidance trajectory; wherein the trajectory formula includes:

[0020]

[0021] Wherein, y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω represents the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0022] In some feasible examples, the processing unit is specifically configured to control the first vehicle to travel according to the avoidance trajectory when there are no other vehicles except the target vehicle in the target area.

[0023] In a third aspect, the present disclosure provides an electronic device, comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to enable the electronic device to implement the vehicle collision avoidance method provided in the first aspect when executing the computer program.

[0024] In a fourth aspect, the present disclosure provides a computer-readable storage medium, comprising: a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a computing device, the computing device implements the vehicle collision avoidance method provided in the first aspect above.

[0025] In a fifth aspect, the present disclosure provides a vehicle, comprising any one of the vehicle anti-collision devices provided in the second aspect.

[0026] In the present disclosure, the name of the above-mentioned vehicle anti-collision device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of the present disclosure, they belong to the scope of the claims of the present disclosure and their equivalent technologies.

[0027] These and other aspects of the present disclosure will become more apparent from the following description.

[0028] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0029] The vehicle anti-collision method provided by the present disclosure, in order to improve driving safety, the first vehicle analyzes the first driving speed of the target vehicle in the same direction adjacent lane at the current moment, and the lateral distance between the first vehicle and the target vehicle in the first direction and the longitudinal distance in the second direction at the current moment, so as to obtain the distance change and the longitudinal travel time. Afterwards, by determining whether the distance change is equal to the first threshold, determining whether the longitudinal travel time is less than the time threshold, it is determined whether the first vehicle and the target vehicle have the risk of sending a collision, such as: when the distance change is equal to the first threshold, and the longitudinal travel time is less than the time threshold, it means that the distance between the target vehicle and the first vehicle is close, and the risk of the first vehicle and the target vehicle colliding is high. At this time, the first vehicle can generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment. Afterwards, the first vehicle is controlled to travel according to the avoidance trajectory, so that it can automatically avoid colliding with the lane-changing vehicle (such as the target vehicle) without the need for driver operation, solving the problem of how to automatically avoid colliding with the lane-changing vehicle without the need for driver operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0031] In order to more clearly illustrate the embodiments of the present invention 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0032] Figure 1 One of the flowcharts of the vehicle collision avoidance method provided in the embodiment of the present disclosure;

[0033] Figure 2 A schematic diagram of a scene of a first vehicle and a target vehicle in the vehicle collision avoidance method provided in an embodiment of the present disclosure;

[0034] Figure 3 A second flowchart of the vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0035] Figure 4 A third flow chart of the vehicle collision avoidance method provided in an embodiment of the present disclosure;

[0036] Figure 5 A fourth flowchart of the vehicle collision avoidance method provided in an embodiment of the present disclosure;

[0037] Figure 6 A fifth flowchart of the vehicle collision avoidance method provided in an embodiment of the present disclosure;

[0038] Figure 7 A sixth flow chart of the vehicle collision avoidance method provided in an embodiment of the present disclosure;

[0039] Figure 8 A seventh flowchart of a vehicle collision avoidance method provided in an embodiment of the present disclosure;

[0040] Fig. 9 A schematic diagram of the structure of a vehicle anti-collision device provided in an embodiment of the present disclosure;

[0041] Fig.10 A schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of the present disclosure;

[0042] Fig.11 A schematic diagram of the structure of a computer program product provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0044] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0045] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0046] The execution subject of the vehicle anti-collision device in the embodiment of the present application is the vehicle anti-collision device, which can be set in a server or other device, and this embodiment does not limit this. For example, when the vehicle anti-collision device is set in a car, the execution subject of the vehicle anti-collision device provided by the embodiment of the present disclosure is the processor of the car.

[0047] Exemplarily, the vehicle collision avoidance method provided by the embodiment of the present disclosure is introduced by taking the execution subject of the vehicle collision avoidance method provided by the embodiment of the present disclosure as an example of a car.

[0048] like Figure 1 As shown, the vehicle collision avoidance method provided by the embodiment of the present disclosure includes the following steps S11-S15:

[0049] S11, obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at the current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment. The rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle.

[0050] In some examples, the first direction is perpendicular to the direction of travel, and the second direction is parallel to the direction of travel.

[0051] In some examples, in order to prevent vehicles in adjacent lanes in the same direction from changing lanes illegally, or drivers of vehicles in adjacent lanes in the same direction changing lanes without checking rearview mirrors, or drivers of vehicles in adjacent lanes in the same direction changing lanes without turning on turn signals, so that the first vehicle cannot avoid the vehicle in time. To this end, the vehicle collision avoidance method provided by the embodiment of the present disclosure obtains the first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at the current moment, and the lateral distance in the first direction and the longitudinal distance in the second direction between the first vehicle and the target vehicle at the current moment.

[0052] For example, a schematic diagram of a scene of a first vehicle a and a target vehicle b is shown in FIG. Figure 2 As shown in , the right side of the lane where the first vehicle is located is an adjacent lane in the same direction. Among them, the driving directions of the first vehicle a and the target vehicle b are as follows Figure 2As shown by the dashed line, d1 represents the longitudinal distance in the second direction, d2 represents the lateral distance in the first direction, and d3 represents the center distance (a0 represents the center point of the first vehicle a, and b0 represents the center point of the target vehicle b). The longitudinal distance is equal to the distance between the rear of the target vehicle and the front of the first vehicle, and the lateral distance is equal to the distance between the right side of the first vehicle in the forward direction (direction forward of the driving direction) and the left side of the target vehicle; in addition, if the left side of the lane where the first vehicle is located is an adjacent lane in the same direction, and there is a target vehicle in the adjacent lane in the same direction, then the lateral distance is equal to the distance between the left side of the first vehicle and the right side of the target vehicle in the forward direction.

[0053] S12. Determine a distance change based on a difference between the lateral distance at the target moment and the lateral distance at the current moment.

[0054] The target time is the time when the lateral distance between the first vehicle and the target vehicle in the first direction is first acquired.

[0055] In some examples, the first vehicle obtains, through a detection device, a first driving speed of a target vehicle in an adjacent lane in the same direction at a current moment, as well as a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment.

[0056] In addition, historical data can be used to obtain the first driving speed of the target vehicle in the adjacent lane in the same direction as the lane where the first vehicle is located at the target time (such as the time before the current time when the first vehicle first obtains the lateral distance between the first vehicle and the target vehicle in the first direction), as well as the lateral distance in the first direction and the longitudinal distance in the second direction between the first vehicle and the target vehicle at the target time.

[0057] Since the lateral distance at the target moment and the lateral distance at the current moment are both determined, the difference between the lateral distance at the target moment and the lateral distance at the current moment can be obtained, and then the difference is used as the distance change amount.

[0058] In some examples, during the driving process, the target vehicles in the adjacent lanes in the same direction as the lane where the first vehicle is located will constantly change, so different target vehicles correspond to different target moments. For example, the first vehicle determines that vehicle 1 is the target vehicle at the first moment, and at this time the first vehicle will calculate the lateral distance with vehicle 1 at the first moment, that is, the first moment is used as the target moment corresponding to vehicle 1. Or, the first vehicle determines that vehicle 2 is the target vehicle at the second moment, and at this time the first vehicle will calculate the lateral distance with vehicle 2 at the second moment, that is, the second moment is used as the target moment corresponding to vehicle 2.

[0059] S13. Determine the longitudinal travel time based on the second travel speed, the longitudinal distance and the first travel speed of the first vehicle at the current moment.

[0060] In some examples, the second driving speed is the current driving speed of the first vehicle, and the first vehicle determines the relative speed between the first vehicle and the target vehicle based on the second driving speed and the first driving speed, such as by calculating the absolute value of the difference between the first driving speed and the second driving speed, and using the absolute value as the relative speed between the first vehicle and the target vehicle. Then, the ratio of the longitudinal distance and the relative speed is calculated to obtain the longitudinal driving time.

[0061] In some examples, the memory of the first vehicle pre-stores the correspondence between the second driving speed, the longitudinal distance, the first driving speed and the theoretical driving time. Later, when the first vehicle needs to determine the longitudinal driving time, it can query the theoretical driving time corresponding to the second driving speed, the longitudinal distance and the first driving speed in the correspondence. Later, the theoretical driving time is used as the longitudinal driving time.

[0062] It should be noted that there is no order relationship between step S12 and step S13 during the execution process, and they can be executed simultaneously. The execution order of step S12 and step S13 is not limited here.

[0063] S14. When the distance change is equal to the first threshold and the longitudinal driving time is less than the time threshold, an avoidance trajectory is generated based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment.

[0064] In some embodiments, the reserved safety distance includes a minimum braking distance of the first vehicle. Exemplarily, the reserved safety distance is equal to the product of the third driving speed of the first vehicle at the target time and a coefficient a. Preferably, a is equal to 0.06.

[0065] In some examples, in order to prevent the target vehicle from colliding with the first vehicle, the vehicle collision avoidance method provided by the embodiment of the present disclosure is that the first vehicle will continue to monitor the distance change. When the distance change gradually increases to a second threshold value (which is a preset value, such as 0.4m), it means that the distance between the first vehicle and the target vehicle is relatively close, so the first vehicle needs to decelerate (such as the first vehicle decelerates according to a pre-configured deceleration), and / or the first vehicle generates a warning message to remind the user to pay attention to the distance from the target vehicle. Exemplarily, the warning message can give a warning reminder in a preset manner, and the preset manner includes one or more of sound, display, and seat vibration.

[0066] Afterwards, the first vehicle continues to monitor the distance change. If the distance change continues to increase to the first threshold (which is a preset value, such as -0.3m), it means that the distance between the target vehicle and the first vehicle is very close. In order to prevent the first vehicle from rear-ending the target vehicle, the first vehicle continues to determine the longitudinal driving time. If the longitudinal driving time is less than the time threshold (such as 1.1s), it means that the following distance between the first vehicle and the target vehicle is relatively close. Therefore, it is necessary to generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment.

[0067] Alternatively, when the longitudinal travel time is greater than or equal to a time threshold (such as 1.1 s), it indicates that the following distance between the first vehicle and the target vehicle is relatively far, and the first vehicle does not need to avoid the target vehicle.

[0068] In some examples, when the first vehicle generates an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment, it is first necessary to establish a rectangular coordinate system with the center of the first vehicle. After that, the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment are substituted into the trajectory formula to generate the avoidance trajectory.

[0069] Among them, the trajectory formula includes:

[0070]

[0071] Wherein, y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω represents the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0072] In this way, all coordinate points that satisfy the trajectory formula in the rectangular coordinate system can be obtained. Then, the coordinate points are discretized to obtain the discretized coordinate points. Then, the avoidance trajectory is generated based on the discretized coordinate points.

[0073] Since the avoidance trajectory includes discrete coordinate points, the first vehicle can travel in sections. For example, the avoidance trajectory includes three discrete coordinate points, namely coordinate point 1, coordinate point 2, and coordinate point 3. When the first vehicle travels according to the avoidance trajectory, the first vehicle moves from the coordinate origin to coordinate point 1. Afterwards, the first vehicle takes coordinate point 1 as the coordinate origin and moves from the coordinate origin to coordinate point 2. Afterwards, the first vehicle takes coordinate point 2 as the coordinate origin and moves from the coordinate origin to coordinate point 3. In this way, the first vehicle completes the process of traveling according to the avoidance trajectory.

[0074] In some examples, the slope k can be a preset value; it can also be obtained using a preset relationship. For example, when calculating the slope k, the slope relationship table can be queried based on the absolute value of the difference between the speed of the target vehicle at the current moment and the speed of the first vehicle at the current moment to obtain the corresponding slope.

[0075] Exemplarily, the slope relationship table is shown in Table 1.

[0076] Table 1

[0077] Speed ​​difference range Slope (0,10km / h] 0.2 (10km / h, 30km / h] 0.4 (30km / h,+∞] 0.6

[0078] For example, if the target vehicle's speed at the current moment is 50 km / h, and the first vehicle's speed at the current moment is 60 km / h, then |50 km / h-60 km / h|=10 km / h. Afterwards, by querying Table 1, it can be seen that 10 km / h falls into the speed interval (0, 10 km / h], so the slope k is equal to 0.2.

[0079] In some examples, the lateral offset distance is equal to the product of the vehicle width of the first vehicle and a coefficient b, where b is a constant greater than 0. For example, b may be or

[0080] S15. Control the first vehicle to travel according to the avoidance trajectory.

[0081] In some examples, when the first vehicle is traveling along the trajectory, it is also necessary to confirm whether there are other vehicles around, so as to avoid collision between the first vehicle and other vehicles other than the target vehicle. For example, the first vehicle determines whether there are other vehicles other than the target vehicle in the target area, and when there are no other vehicles other than the target vehicle in the target area, the first vehicle is controlled to travel along the avoidance trajectory.

[0082] When there are other vehicles in the target area except the target vehicle, the first vehicle is controlled to decelerate. The first driving speed of the target vehicle in the adjacent lane in the same direction at the current moment, as well as the lateral distance in the first direction and the longitudinal distance in the second direction between the first vehicle and the target vehicle at the current moment are continuously obtained. When there are no other vehicles in the target area except the target vehicle, the first vehicle is controlled to travel according to the avoidance trajectory generated at the moment when there are no other vehicles except the target vehicle.

[0083] In some examples, the first vehicle can determine whether there are other vehicles other than the target vehicle in the target area through the environmental image of the adjacent lane in the same direction captured by an image acquisition device (such as a camera) set on the body of the first vehicle. For example: the first vehicle separates the background and foreground of the environmental image to obtain a foreground image and a background image. Afterwards, image recognition is performed on the foreground image to obtain the vehicle contained in the foreground image. Afterwards, by eliminating the target vehicle from the vehicles contained in the foreground image, if the foreground image still contains a vehicle, it is determined that there are other vehicles other than the target vehicle in the target area. By eliminating the target vehicle from the vehicles contained in the foreground image, if the foreground image does not contain a vehicle, it is determined that there are no other vehicles other than the target vehicle in the target area.

[0084] In some examples, in order to avoid the first vehicle from colliding with other vehicles while driving along the avoidance trajectory. In the vehicle avoidance method provided by the embodiment of the present disclosure, the first vehicle can perform laser detection on the surroundings of the first vehicle by means of a detection device (such as a laser radar) arranged on the body of the first vehicle, so as to determine whether there are other vehicles other than the target vehicle in the target area. For example: the first vehicle determines the position of the vehicle around the body based on the laser reflection result. Afterwards, the first vehicle determines whether there are other vehicles other than the target vehicle in the target area based on the position of the vehicle around the body. For example: when there is only a position corresponding to the target vehicle around the vehicle, it means that there are no other vehicles other than the target vehicle in the target area. Alternatively, when there are positions around the vehicle other than the position corresponding to the target vehicle, it means that there are other vehicles other than the target vehicle in the target area.

[0085] In some examples, the target area includes an area corresponding to a circle drawn with a preset radius (eg, the body length of the first vehicle) starting from the center of the first vehicle.

[0086] Alternatively, the target area includes the area corresponding to the left side of the first vehicle (the left side of the driving direction), the area corresponding to the right side of the first vehicle (the right side of the driving direction), and the area corresponding to the rear of the first vehicle (the opposite direction of the driving direction).

[0087] In some examples, the laser radar includes a vehicle-mounted N-line laser radar, where N is an integer greater than 0. Exemplarily, N=128.

[0088] As can be seen from the above, in the vehicle collision avoidance method provided by the embodiment of the present disclosure, the first vehicle analyzes the first driving speed of the target vehicle in the adjacent lane in the same direction at the current moment, and the lateral distance in the first direction and the longitudinal distance in the second direction with the target vehicle, so as to obtain the distance change and the longitudinal driving time. Afterwards, by determining whether the distance change is equal to the first threshold value, determining whether the longitudinal driving time is less than the time threshold value, it is determined whether the first vehicle and the target vehicle have the risk of sending a collision, such as: when the distance change is equal to the first threshold value, and the longitudinal driving time is less than the time threshold value, it means that the distance between the target vehicle and the first vehicle is close, and the risk of the first vehicle and the target vehicle colliding is high. At this time, the first vehicle can generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment. Afterwards, the first vehicle is controlled to travel according to the avoidance trajectory, so that it can automatically avoid collision with the lane-changing vehicle without the need for driver operation.

[0089] In some possible implementation examples, combined with Figure 1 ,like Figure 3 As shown, the vehicle collision avoidance method provided by the embodiment of the present disclosure further includes S16.

[0090] S16: When the distance change is equal to a second threshold, control the first vehicle to decelerate, wherein the first threshold is smaller than the second threshold.

[0091] In some examples, the target relationship between the second driving speed and the deceleration is stored in the memory of the first vehicle. When the first vehicle needs to decelerate, the deceleration corresponding to the second driving speed at the current moment can be queried in the target relationship, and deceleration can be performed based on the deceleration.

[0092] In some possible implementation examples, combined with Figure 1 ,like Figure 4 As shown, the vehicle collision avoidance method provided by the embodiment of the present disclosure further includes S17.

[0093] S17: When the distance change is equal to the second threshold, generate warning information, wherein the warning information is used to instruct the user to pay attention to the distance from the target vehicle, and the first threshold is less than the second threshold.

[0094] In some possible implementation examples, combined with Figure 1 ,like Figure 5 As shown, the above S13 can be specifically implemented through the following S130 and S131.

[0095] S130: Determine a relative speed between the first vehicle and the target vehicle based on an absolute value of a difference between the second driving speed and the first driving speed of the first vehicle at a current moment.

[0096] S131. Based on the ratio of the longitudinal distance and the relative speed, determine the longitudinal travel time as the ratio.

[0097] In some possible implementation examples, combined with Figure 1 ,like Figure 6 As shown, the above S14 can be specifically implemented through the following S140 and S141.

[0098] S140: When the distance change is equal to the first threshold and the longitudinal travel time is less than the time threshold, a danger avoidance distance is obtained based on the reserved safety distance and the body length of the target vehicle.

[0099] In some examples, the avoidance distance D0 is equal to the sum of the reserved safety distance S0 of the first vehicle and the body length L of the target vehicle.

[0100] Exemplarily, the body length of the target vehicle can be detected by a detection device.

[0101] S141. Generate an avoidance trajectory based on the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment.

[0102] In some possible implementation examples, combined with Figure 6 ,like Figure 7 As shown, the above S141 can be specifically implemented through the following S1410 and S1411.

[0103] S1410. Establish a rectangular coordinate system with the center of the first vehicle.

[0104] S1411, the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment are substituted into the trajectory formula to generate an avoidance trajectory. The trajectory formula includes:

[0105]

[0106] Wherein, y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω represents the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0107] In some possible implementation examples, combined with Figure 1 ,like Figure 8 As shown, the above S15 can be specifically implemented through the following S150.

[0108] S150: When there are no other vehicles except the target vehicle in the target area, control the first vehicle to travel according to the avoidance trajectory.

[0109] The above mainly introduces the solution provided by the embodiment of the present disclosure from the perspective of the method. In order to achieve the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0110] The embodiments of the present disclosure can divide the functional modules of the vehicle anti-collision device according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0111] like Fig. 9 FIG. 1 is a schematic diagram of the structure of a vehicle anti-collision device 10 provided in an embodiment of the present disclosure, including an acquisition unit 101 and a processing unit 102 .

[0112] The acquisition unit 101 is used to acquire a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment; wherein the rear end of the target vehicle is in front of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; the processing unit 102 is used to determine a distance change based on a difference between the lateral distance of the first vehicle at the target moment and the lateral distance at the current moment acquired by the acquisition unit 101; the processing unit 102 is also used to determine a distance change amount. The processing unit 102 is used to determine the longitudinal driving time based on the second driving speed of the first vehicle at the current moment, the longitudinal distance obtained by the acquisition unit 101, and the first driving speed obtained by the acquisition unit 101; the processing unit 102 is also used to generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment when the distance change obtained by the acquisition unit 101 is equal to the first threshold and the longitudinal driving time is less than the time threshold; the processing unit 102 is also used to control the first vehicle to travel according to the avoidance trajectory.

[0113] In some feasible examples, the processing unit 102 is further configured to control the first vehicle to decelerate when the distance change is equal to a second threshold value; wherein the first threshold value is smaller than the second threshold value.

[0114] In some feasible examples, the processing unit 102 is further used to generate a warning message when the distance change is equal to a second threshold; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

[0115] In some feasible examples, the processing unit 102 is specifically used to determine the relative speed between the first vehicle and the target vehicle based on the absolute value of the difference between the second driving speed of the first vehicle at the current moment and the first driving speed obtained by the acquisition unit 101; the processing unit 102 is specifically used to determine the longitudinal driving time as a ratio based on the ratio of the longitudinal distance and the relative speed obtained by the acquisition unit 101.

[0116] In some feasible examples, the processing unit 102 is specifically used to obtain a risk avoidance distance based on a reserved safety distance and a body length of the target vehicle when the distance change is equal to a first threshold and the longitudinal driving time is less than a time threshold; the processing unit 102 is specifically used to generate an avoidance trajectory based on the risk avoidance distance, the center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment.

[0117] In some practicable examples, the processing unit 102 is specifically configured to establish a rectangular coordinate system with the center of the first vehicle; the processing unit 102 is specifically configured to bring the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment into the trajectory formula to generate the avoidance trajectory; wherein the trajectory formula includes:

[0118]

[0119] Wherein, y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω represents the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0120] In some feasible examples, the processing unit 102 is specifically configured to control the first vehicle to travel according to the avoidance trajectory when there are no other vehicles except the target vehicle in the target area.

[0121] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and its role will not be repeated here.

[0122] Of course, the vehicle anti-collision device 10 provided in the embodiment of the present disclosure includes but is not limited to the above modules, for example, the vehicle anti-collision device 10 may also include a storage unit 103. The storage unit 103 may be used to store the program code of the vehicle anti-collision device 10, and may also be used to store data generated by the vehicle anti-collision device 10 during operation, such as data in a write request, etc.

[0123] Fig.10 A schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of the present disclosure is shown in FIG. Fig.10 As shown, the vehicle-mounted terminal may include: at least one processor 51 , a memory 52 , a communication interface 53 and a communication bus 54 .

[0124] Combine the following Fig.10 The following is a detailed introduction to the various components of the vehicle terminal:

[0125] The processor 51 is the control center of the electronic device 10, and may be a processor or a general term for multiple processing elements. For example, the processor 51 is a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure, such as one or more DSPs, or one or more field programmable gate arrays (FPGAs).

[0126] In a specific implementation, as an embodiment, the processor 51 may include one or more CPUs, such as Fig.10 Also, as an embodiment, the electronic device may include multiple processors, such as Fig.10 51 and 55 are shown in FIG. Each of these processors may be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0127] The memory 52 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 52 may exist independently and be connected to the processor 51 via a communication bus 54. The memory 52 may also be integrated with the processor 51.

[0128] In a specific implementation, the memory 52 is used to store the data in the present disclosure and execute the software program in the present disclosure. The processor 51 can execute various functions of the air conditioner by running or executing the software program stored in the memory 52 and calling the data stored in the memory 52.

[0129] The communication interface 53 uses any transceiver-like device to communicate with other devices or communication networks, such as Radio Access Network (RAN), Wireless Local Area Networks (WLAN), terminals, the cloud, etc. The communication interface 53 may include an acquisition unit to implement the acquisition function.

[0130] The communication bus 54 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0131] For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0132] As an example, combining Fig. 9 The function implemented by the acquisition unit 101 in the vehicle collision avoidance device 10 is similar to Fig.10 The function of the communication interface 53 in the vehicle collision avoidance device 10 is the same as that of the processing unit 102 in the vehicle collision avoidance device 10. Fig.10 The function of the processor 51 in the vehicle collision avoidance device 10 is the same as that of the storage unit 103 in the vehicle collision avoidance device 10. Fig.10 The function of the memory 52 in is the same.

[0133] Another embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computing device, the computing device executes the vehicle collision avoidance method shown in the above method embodiment.

[0134] In some embodiments, the disclosed methods may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or on other non-transitory media or articles of manufacture.

[0135] Fig.11A conceptual partial view of a computer program product provided by an embodiment of the present disclosure is schematically shown, wherein the computer program product includes a computer program for executing a computer process on a computing device.

[0136] In one embodiment, the computer program product is provided using a signal bearing medium 410. The signal bearing medium 410 may include one or more program instructions, which when executed by one or more processors may provide the above-mentioned Figure 1 Thus, for example, reference to Figure 1 In the embodiment shown in , one or more features of S11-S15 can be undertaken by one or more instructions associated with the signal bearing medium 410. In addition, Fig.11 The program instructions in also describe example instructions.

[0137] In some examples, signal bearing medium 410 may include computer readable medium 411, such as, but not limited to, a hard drive, a compact disk (CD), a digital video disk (DVD), a digital tape, a memory, a read-only memory (ROM), or a random access memory (RAM), and the like.

[0138] In some implementations, signal bearing medium 410 may include computer recordable medium 412 such as, but not limited to, memory, read / write (R / W) CD, R / W DVD, and the like.

[0139] In some implementations, signal bearing medium 410 may include communication medium 413 such as, but not limited to, digital and / or analog communication media (eg, fiber optic cables, waveguides, wired communication links, wireless communication links, etc.).

[0140] Signal bearing medium 410 may be communicated by a wireless form of communication medium 413 (eg, wireless communication medium complying with IEEE 802.41 standard or other transmission protocol). The one or more program instructions may be, for example, computing device executable instructions or logic implementing instructions.

[0141] In some examples, such as for Fig. 9 The described vehicle collision avoidance device 10 may be configured to provide various operations, functions, or actions in response to one or more program instructions via computer readable media 411 , computer recordable media 412 , and / or communication media 413 .

[0142] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0143] In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0144] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0145] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0147] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle collision avoidance method, characterized in that: Applied to a first vehicle, comprising: Obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; Determine the distance change based on the difference between the lateral distance of the first vehicle at the target time and the lateral distance at the current time; determine the longitudinal travel time based on the second travel speed of the first vehicle at the current time, the longitudinal distance and the first travel speed; When the distance change is equal to a first threshold and the longitudinal travel time is less than a time threshold, generating an avoidance trajectory based on a reserved safety distance, a center distance between a center of the first vehicle and a center of a lane in which the target vehicle is currently located, a body length of the target vehicle, and a lateral acceleration of the first vehicle at the current moment; controlling the first vehicle to travel according to the avoidance trajectory; The target time is the time when the lateral distance between the first vehicle and the target vehicle in the first direction is first acquired.

2. The vehicle collision avoidance method according to claim 1, characterized in that: The determining of the longitudinal travel time based on the second travel speed of the first vehicle at the current moment, the longitudinal distance and the first travel speed comprises: determining a relative speed between the first vehicle and the target vehicle based on an absolute value of a difference between a second driving speed of the first vehicle at the current moment and the first driving speed; Based on a ratio of the longitudinal distance and the relative speed, a longitudinal travel time is determined as the ratio.

3. The vehicle collision avoidance method according to claim 1, characterized in that: The method generates an avoidance trajectory based on a reserved safety distance, a center distance between a center of the first vehicle and a center of a lane where the target vehicle is currently located, a body length of the target vehicle, and a lateral acceleration of the first vehicle at the current moment when the distance change is equal to a first threshold and the longitudinal travel time is less than a time threshold, including: When the distance change is equal to the first threshold value and the longitudinal travel time is less than the time threshold value, a danger avoidance distance is obtained based on the reserved safety distance and the body length of the target vehicle; An avoidance trajectory is generated based on the avoidance distance, a center distance between a center of the first vehicle and a center of a lane in which the target vehicle is currently located, and a lateral acceleration of the first vehicle at the current moment.

4. The vehicle collision avoidance method according to claim 3, characterized in that: The generating an avoidance trajectory based on the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment includes: Establishing a rectangular coordinate system with the center of the first vehicle; Substitute the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment into a trajectory formula to generate an avoidance trajectory; wherein the trajectory formula includes: Wherein, y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω represents the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

5. The vehicle collision avoidance method according to claim 1, characterized in that: The controlling the first vehicle to travel according to the avoidance trajectory includes: When there is no other vehicle except the target vehicle in the target area, the first vehicle is controlled to travel according to the avoidance trajectory.

6. The vehicle collision avoidance method according to claim 1, characterized in that: The method further comprises: When the distance change is equal to a second threshold, the first vehicle is controlled to decelerate; wherein the first threshold is smaller than the second threshold.

7. The vehicle collision avoidance method according to claim 1, characterized in that: The method further comprises: When the distance change is equal to a second threshold, a warning message is generated; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle, and the first threshold is less than the second threshold.

8. A vehicle anti-collision device, characterized in that: Applied to a first vehicle, comprising: an acquisition unit, configured to acquire a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; a processing unit, configured to determine a distance change amount based on a difference between a lateral distance of the first vehicle at a target time and the lateral distance at the current time acquired by the acquisition unit; The processing unit is further configured to determine a longitudinal travel time based on a second travel speed of the first vehicle at the current moment, the longitudinal distance obtained by the obtaining unit, and the first travel speed obtained by the obtaining unit; The processing unit is further configured to generate an avoidance trajectory based on a reserved safety distance, a center distance between a center of the first vehicle and a center of a lane in which the target vehicle is currently located, a body length of the target vehicle, and a lateral acceleration of the first vehicle at the current moment, when the distance change amount obtained by the obtaining unit is equal to a first threshold value and the longitudinal travel time is less than a time threshold value; The processing unit is further used to control the first vehicle to travel according to the avoidance trajectory.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory is used to store a computer program; and the processor is used to enable the electronic device to implement the vehicle collision avoidance method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: include: The computer-readable storage medium stores a computer program, and when the computer program is executed by a computing device, the computing device implements the vehicle collision avoidance method according to any one of claims 1 to 7.

11. A vehicle, comprising the vehicle anti-collision device according to claim 8.

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