Vehicle anti-collision method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle anti-collision method and device, electronic equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the steps that if it is detected that the running speed of a current vehicle is smaller than a first speed threshold value and the running direction is forward running, a passive braking instruction is sent to an automatic emergency braking system, forward area information is obtained through the automatic emergency braking system, and the automatic emergency braking system enters a passive braking state; obtaining azimuth information of the first target object according to the forward region information; wherein the first target object comprises a static object; and obtaining a matched forward control strategy according to the driving speed of the current vehicle and the azimuth information of the first target object. According to the technical scheme provided by the embodiment of the invention, the effective identification of the static obstacle in the low-speed driving state is realized, the accuracy of the static object identification result is improved, the vehicle collision phenomenon is avoided, and the safety performance of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle anti-collision method, device, electronic equipment and storage medium. Background Art

[0002] With the continuous development of automobile intelligent technology, more and more intelligent assistance functions are installed in vehicles, among which the safety system to prevent vehicle collision has become the focus of people's attention.

[0003] In the prior art, in order to ensure the driving safety of the vehicle during forward driving, an automatic emergency braking system (Autonomous Emergency Braking, AEB) is often configured in the vehicle. The control module, ranging module and braking module in the automatic emergency braking system respectively complete the functions of forward area information collection, braking decision generation and braking strategy execution, so as to perform active braking of the vehicle.

[0004] However, the original intention of designing the automatic emergency braking system was mainly to ensure driving safety at high speeds. Its recognition rate for stationary obstacles is poor, and it often filters stationary objects as backgrounds. This leads to poor anti-collision effects at low speeds, reducing the safety performance of the car. Summary of the invention

[0005] The present invention provides a vehicle anti-collision method, device, electronic equipment and storage medium to solve the problem of poor anti-collision effect in a low-speed driving state.

[0006] According to one aspect of the present invention, a vehicle collision avoidance method is provided, which is applied to a vehicle-mounted terminal device, comprising:

[0007] If it is detected that the current driving speed of the vehicle is less than a first speed threshold and the driving direction is forward, a passive braking command is issued to the automatic emergency braking system, so as to obtain forward area information through the automatic emergency braking system and make the automatic emergency braking system enter a passive braking state;

[0008] Acquire the position information of the first target object according to the forward area information; wherein the first target object includes a static object;

[0009] A matching forward control strategy is obtained according to the current driving speed of the vehicle and the orientation information of the first target object.

[0010] The vehicle collision avoidance method also includes: if it is detected that the current vehicle's driving speed is greater than or equal to a first speed threshold and the driving direction is forward, an active braking command is sent to the automatic emergency braking system to put the automatic emergency braking system into an active braking state.

[0011] After issuing an active braking command to the automatic emergency braking system, it also includes: obtaining forward area information through the automatic emergency braking system, and obtaining the orientation information of the first target object based on the forward area information; if it is determined that the current vehicle has a collision risk based on the current vehicle's driving speed and the orientation information of the first target object, a collision risk prompt is sent to the automatic emergency braking system, so that the automatic emergency braking system generates a braking strategy based on the collision risk prompt.

[0012] After obtaining a matched forward control strategy according to the current vehicle's driving speed and the orientation information of the first target object, the method includes: sending the forward control strategy to the automatic emergency braking system to perform a vehicle control operation through the automatic emergency braking system.

[0013] After detecting that the current vehicle's driving speed is less than a first speed threshold and the driving direction is forward, the method further includes: if it is detected that the steering angle of the current vehicle is greater than a preset angle threshold, issuing a start-up operation instruction to the automatic parking system, so as to obtain lateral area information through the automatic parking system, and causing the automatic parking system to enter a passive operation state; obtaining the orientation information of a second target object according to the lateral area information; wherein the second target object includes a static object; and obtaining a steering control strategy according to the current vehicle's driving speed and the orientation information of the second target object.

[0014] The vehicle collision avoidance method also includes: if it is detected that the current vehicle's driving speed is less than a second speed threshold and the driving direction is backward, a passive braking command is issued to the rear automatic emergency braking system to obtain rearward area information through the rear automatic emergency braking system and put the rear automatic emergency braking system into a passive braking state; wherein the second speed threshold is less than the first speed threshold; the orientation information of a third target object is obtained according to the rearward area information; wherein the third target object includes a static object; and a matching backward control strategy is obtained according to the current vehicle's driving speed and the orientation information of the third target object.

[0015] According to another aspect of the present invention, a vehicle anti-collision device is provided, which is applied to a vehicle-mounted terminal device, comprising:

[0016] a command sending module, configured to send a passive braking command to the automatic emergency braking system if it is detected that the current driving speed of the vehicle is less than a first speed threshold and the driving direction is forward, so as to obtain forward area information through the automatic emergency braking system and make the automatic emergency braking system enter a passive braking state;

[0017] A position acquisition module, used to acquire the position information of a first target object according to the forward area information; wherein the first target object includes a static object;

[0018] The strategy acquisition module is used to acquire a matching forward control strategy according to the current driving speed of the vehicle and the orientation information of the first target object.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle collision avoidance method described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle collision avoidance method described in any embodiment of the present invention when executed.

[0024] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the vehicle collision avoidance method according to any embodiment of the present invention is implemented.

[0025] According to the technical solution of the embodiment of the present invention, when the vehicle is in a low-speed forward driving state, the vehicle-mounted terminal device first obtains the forward area information through the automatic emergency braking system, and makes the automatic emergency braking system enter a passive braking state, and then obtains the orientation information of the first target object in the forward area information, and finally obtains the matching forward control strategy according to the current vehicle driving speed and the orientation information of the first target object. In this way, the effective recognition of static obstacles in the low-speed driving state is realized, the accuracy of the static object recognition results is improved, the occurrence of vehicle collision is avoided, and the safety performance of the vehicle is improved.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a flow chart of a vehicle collision avoidance method provided according to Embodiment 1 of the present invention;

[0029] Figure 2 is a flow chart of another vehicle collision avoidance method provided according to Embodiment 1 of the present invention;

[0030] Figure 3 is a flow chart of another vehicle collision avoidance method provided according to the first embodiment of the present invention;

[0031] Figure 4 is a flow chart of another vehicle collision avoidance method provided according to the first embodiment of the present invention;

[0032] Figure 5 is a schematic structural diagram of a vehicle anti-collision device provided according to Embodiment 5 of the present invention;

[0033] Figure 6 It is a structural schematic diagram of a vehicle-mounted terminal device for implementing the vehicle collision avoidance method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] Embodiment 1

[0037] Figure 1 This is a flow chart of a vehicle anti-collision method provided in the first embodiment of the present invention. This embodiment can be applied to obtain forward area information through an automatic emergency braking system and formulate a forward control strategy based on this information. This method can be executed by a vehicle anti-collision device in any embodiment of the present invention. The vehicle anti-collision device can be implemented in the form of hardware and / or software. The vehicle anti-collision device can be configured in an electronic device, typically, in a vehicle-mounted terminal device. Figure 1 As shown, the method includes:

[0038] S101. If it is detected that the current driving speed of the vehicle is less than a first speed threshold and the driving direction is forward, a passive braking command is issued to the automatic emergency braking system to obtain forward area information through the automatic emergency braking system and put the automatic emergency braking system into a passive braking state.

[0039] After detecting the vehicle start signal, the on-board terminal device determines the current vehicle's driving direction based on the user's gear selection result; obviously, if the current gear is in the "forward" gear, the vehicle's driving direction is forward; at the same time, the vehicle's driving speed is obtained through a speed sensor or other functional elements, and the vehicle's driving speed is compared with a first speed threshold; wherein, the first speed threshold is the critical threshold for the vehicle to drive at a low speed or slow speed, which can be pre-set according to driving requirements; if it is detected that the current vehicle's driving speed is less than the first speed threshold, and the driving direction is forward, it indicates that the current vehicle is in a low-speed forward driving state.

[0040] The automatic emergency braking system is composed of a control module (i.e., a first control module), a ranging module (i.e., a first ranging module) and a braking module (i.e., a first braking module); wherein, the first ranging module includes one or more data acquisition devices such as millimeter-wave radar, lidar, camera and ultrasonic radar, and different data acquisition devices obtain forward area information in different ways; for example, millimeter-wave radar obtains the distance, speed and angle information of an object by sending electromagnetic waves and receiving echoes; the camera estimates the distance through target recognition and image processing.

[0041] In the traditional technical solution, the first ranging module sends the acquired forward area information to the first control module, the first control module processes and analyzes the acquired forward area information, calculates the collision probability and makes a decision based on it, and the first braking module is responsible for converting the decision instruction of the first control module into an actual braking operation; in the embodiment of the present invention, when the vehicle is in a low-speed forward driving state, the on-board terminal device sends a passive braking instruction to the first control module of the automatic emergency braking system to make the automatic emergency braking system enter a passive braking state; wherein, the passive braking state specifically refers to the first control module in the automatic emergency braking system, which no longer makes a braking decision based on the forward area information sent by the first ranging module; and in the passive braking state, the first ranging module can still execute the operation of acquiring the forward area information.

[0042] S102. Acquire position information of a first target object according to the forward area information; wherein the first target object includes a static object.

[0043] For vehicles in a low-speed or slow-moving state, drivers are actually more concerned about static obstacles such as concrete walls, electric poles, guardrails and trash cans than dynamic objects such as moving vehicles or pedestrians in front. At this time, the on-board terminal device obtains the position information of the static objects based on the forward area information obtained. Among them, the first ranging module of the automatic emergency braking system can detect the position information of each object. The on-board terminal device can directly determine the static objects based on the forward area information, and then obtain the position information of the static objects.

[0044] In addition, the vehicle-mounted terminal device can also predict the predicted position of each object in the forward area information at the current sampling moment based on the current vehicle's driving speed and steering angle, as well as the forward area information obtained at the previous sampling moment; since static objects themselves do not move, they will only move relatively with the movement of the vehicle, so the object position (i.e., the actual position) in the forward area information obtained at the current sampling moment is compared with the predicted position. If the two are the same, it indicates that the object is a static object. If the two are different, it indicates that the object is a dynamic object. In this way, the static objects in the forward area information and the orientation information of the static objects can be determined.

[0045] In particular, the first target object may also include low-speed objects. Since the automatic emergency braking system also has the problem of low recognition rate for low-speed objects, when comparing the above-mentioned actual position with the predicted position, the difference between the actual position and the predicted position (that is, the position difference value) may be compared with the position difference threshold according to a preset position difference threshold; if the position difference value is less than or equal to the position difference threshold, it indicates that the object is a low-speed object and can also be used as the first target object; if the position difference value is greater than the position difference threshold, it indicates that the object is a high-speed object and is not used as the first target object.

[0046] S103: Acquire a matching forward control strategy according to the current driving speed of the vehicle and the orientation information of the first target object.

[0047] According to the orientation information of the first target object, the interval distance between the first target object and the current vehicle in the driving direction can be determined; the difference between the interval distance and the vehicle's driving speed is used as the predicted safety time; the predicted safety time is negatively correlated with the vehicle collision risk, that is, the longer the predicted safety time, the smaller the vehicle collision risk; the shorter the predicted safety time, the greater the vehicle collision risk; the interval distance is positively correlated with the vehicle collision risk, that is, the longer the interval distance, the smaller the vehicle collision risk; the shorter the interval distance, the greater the vehicle collision risk.

[0048] The forward control strategy may include one or more of an active braking strategy, a torque regulation strategy, and a vehicle speed regulation strategy; for example, whether to immediately perform an active braking operation may be determined based on the predicted safety time or the interval distance; if the predicted safety time is less than a safety time threshold, or the interval distance is less than a safety distance threshold, the active braking operation is immediately performed; if the predicted safety time is greater than or equal to the safety time threshold, and the interval distance is greater than or equal to the safety distance threshold, the active braking operation is not performed.

[0049] In addition, the matching maximum torque and / or maximum speed can be obtained based on the numerical range of the predicted safety time and / or interval distance, and configured to the current vehicle to limit the torque and / or speed of the current vehicle; wherein, the torque control of the vehicle can be executed by the vehicle control unit (VCU); the speed control of the vehicle can be executed by the electronic stability control system (ESC).

[0050] Optionally, in an embodiment of the present invention, after obtaining a matching forward control strategy based on the current vehicle's driving speed and the orientation information of the first target object, it includes: sending the forward control strategy to the automatic emergency braking system to perform vehicle control operations through the automatic emergency braking system.

[0051] Specifically, as described in the above technical solution, the automatic emergency braking system itself includes a first braking module, which already has a vehicle braking function. After obtaining the forward control strategy of the current vehicle, the on-board terminal device can send it to the first control module, and then the first braking module performs the vehicle braking operation according to the above forward control strategy. In this way, the functional components of the automatic emergency braking system itself are used to realize braking control and driving parameter control under low-speed conditions, avoiding the addition of new functional components in the vehicle and reducing the hardware cost and control complexity of the vehicle.

[0052] Optionally, in an embodiment of the present invention, the vehicle collision avoidance method further includes: if it is detected that the current vehicle's driving speed is greater than or equal to a first speed threshold, and the driving direction is forward, issuing an active braking command to the automatic emergency braking system to enable the automatic emergency braking system to enter an active braking state.

[0053] Specifically, when the vehicle is in a high-speed driving state, the driver is more concerned about the vehicles and pedestrians in front to avoid vehicle collisions such as rear-end collisions. At this time, the on-board terminal device sends an active braking command to the automatic emergency braking system to make the automatic emergency braking system enter an active braking state, that is, to restore its original braking decision-making function, that is, the first control module can make a braking decision based on the forward area information sent by the first ranging module, and the first braking module converts the command of the first control module into an actual braking operation, thereby ensuring that when the vehicle switches from a low-speed driving state to a high-speed driving state, different types of target objects are monitored through different monitoring methods, thereby improving vehicle safety and avoiding the occurrence of vehicle collisions.

[0054] Optionally, in an embodiment of the present invention, after issuing an active braking command to the automatic emergency braking system, it also includes: obtaining forward area information through the automatic emergency braking system, and obtaining the orientation information of the first target object based on the forward area information; if it is determined that the current vehicle is at risk of collision based on the current vehicle's driving speed and the orientation information of the first target object, a collision risk prompt is sent to the automatic emergency braking system, so that the automatic emergency braking system generates a braking strategy based on the collision risk prompt.

[0055] Specifically, as described in the above technical solution, the vehicle-mounted terminal device has a good detection effect on static objects and low-speed objects. Even when the vehicle is in a high-speed driving state, the user actually still has a need for position detection of static objects and low-speed objects. At this time, the vehicle-mounted terminal device determines that the current vehicle is at risk of collision based on the current vehicle's driving speed and the orientation information of the first target object. For example, when the predicted safety time obtained by the above calculation is less than the safety time threshold, it is determined that the current vehicle is at risk of collision. At this time, the predicted safety time is sent to the automatic emergency braking system. In addition to making decisions based on the forward area information, the automatic emergency braking system can also use the predicted safety time and / or interval distance as reference parameters, and generate braking decisions based on this, thereby improving the accuracy of the braking strategy of the automatic emergency braking system and further improving the safety performance of the vehicle.

[0056] According to the technical solution of the embodiment of the present invention, when the vehicle is in a low-speed forward driving state, the vehicle-mounted terminal device first obtains the forward area information through the automatic emergency braking system, and makes the automatic emergency braking system enter a passive braking state, and then obtains the orientation information of the first target object in the forward area information, and finally obtains the matching forward control strategy according to the current vehicle driving speed and the orientation information of the first target object. In this way, the effective recognition of static obstacles in the low-speed driving state is realized, the accuracy of the static object recognition results is improved, the occurrence of vehicle collision is avoided, and the safety performance of the vehicle is improved.

[0057] Embodiment 2

[0058] Figure 2 This is a flow chart of a vehicle collision avoidance method provided by Embodiment 2 of the present invention. The relationship between this embodiment and the above embodiments is that, in a low-speed forward driving state, it is also necessary to determine whether to start the automatic parking system according to the steering angle of the vehicle. Figure 2 As shown, the method includes:

[0059] S201. If it is detected that the steering angle of the current vehicle is greater than a preset angle threshold, a start-up operation instruction is issued to the automatic parking system, so as to obtain lateral area information through the automatic parking system and put the automatic parking system into a passive operation state.

[0060] The automatic parking system (APS), also known as the automatic parking assist system (APAS), is composed of an information detection unit, an electronic control unit and an execution unit. In the traditional technical solution, the information detection unit sends the acquired surrounding environment information (including the lateral area information on both sides of the vehicle) to the electronic control unit, and the electronic control unit processes and analyzes the acquired surrounding environment information to generate an automatic parking strategy. The execution unit is responsible for converting the decision instructions of the electronic control unit into actual parking operations.

[0061] In an embodiment of the present invention, when the vehicle is in a low-speed forward driving state, if it is detected that the current steering angle of the vehicle is greater than a preset angle threshold, it indicates that the vehicle has a driving demand such as turning or changing lanes, and the automatic parking system is usually in a closed state in the forward driving state. At this time, the on-board terminal device sends a start-up operation instruction to the electronic control unit of the automatic parking system to make the automatic parking system enter a passive operation state; wherein, the passive operation state specifically refers to the electronic control unit in the automatic parking system, which no longer makes parking decisions based on the surrounding environment information sent by the information detection unit; and in the passive operation state, the information detection unit can still perform the operation of obtaining lateral area information.

[0062] S202. Acquire position information of a second target object according to the lateral area information; wherein the second target object includes a static object.

[0063] The method for acquiring the orientation information of the second target object is the same as the method for acquiring the orientation information of the first target object. At the same time, the object types included in the second target object are also the same as the object types included in the first target object, that is, it can include only static objects or static objects and low-speed objects.

[0064] S203: Acquire a steering control strategy according to the current driving speed of the vehicle and the orientation information of the second target object.

[0065] Similarly, based on the orientation information of the second target object, the interval distance between the second target object and the current vehicle in the driving direction can be determined; the difference between the interval distance and the vehicle's driving speed is used as the predicted safety time; the predicted safety time is negatively correlated with the vehicle collision risk, that is, the longer the predicted safety time, the smaller the vehicle collision risk; the shorter the predicted safety time, the greater the vehicle collision risk; the interval distance is positively correlated with the vehicle collision risk, that is, the longer the interval distance, the smaller the vehicle collision risk; the shorter the interval distance, the greater the vehicle collision risk.

[0066] The steering control strategy may include one or more of an active braking strategy and a steering angle adjustment strategy; for example, it may be determined whether to immediately perform an active braking operation based on the predicted safety time or the interval distance; if the predicted safety time is less than the safety time threshold, or the interval distance is less than the safety distance threshold, the active braking operation is immediately performed; if the predicted safety time is greater than or equal to the safety time threshold, and the interval distance is greater than or equal to the safety distance threshold, the active braking operation is not performed. In addition, the maximum matching steering angle may be obtained based on the numerical range of the predicted safety time and / or the interval distance, and the maximum matching steering angle may be configured for the current vehicle to limit the steering angle of the current vehicle.

[0067] The technical solution of the embodiment of the present invention is that when the vehicle is in a low-speed forward driving state, if the on-board terminal device detects that the current vehicle's steering angle is greater than a preset angle threshold, it sends a start-up operation instruction to the automatic parking system to obtain lateral area information through the automatic parking system and put the automatic emergency braking system into a passive operation state; then the orientation information of the second target object is obtained according to the lateral area information; finally, the steering control strategy is obtained according to the current vehicle's driving speed and the orientation information of the second target object. In this way, effective recognition of lateral static obstacles is achieved under low-speed driving conditions, the accuracy of static object recognition results is improved, vehicle collisions are avoided, and the safety performance of the vehicle is improved.

[0068] Embodiment 3

[0069] Figure 3 This is a flow chart of a vehicle collision avoidance method provided by Embodiment 3 of the present invention. The relationship between this embodiment and the above embodiments is that, in the backward low-speed driving state, the rear automatic emergency braking system obtains the rear area information, and formulates the rear control strategy based on it. Figure 3 As shown, the method includes:

[0070] S301. If it is detected that the current driving speed of the vehicle is less than a second speed threshold and the driving direction is backward, a passive braking command is issued to the rear automatic emergency braking system to obtain rear area information through the rear automatic emergency braking system and put the rear automatic emergency braking system into a passive braking state; wherein the second speed threshold is less than the first speed threshold.

[0071] The rear autonomous emergency braking system (RAEB) is also composed of a control module (i.e., the second control module), a distance measurement module (i.e., the second distance measurement module), and a braking module (i.e., the second braking module); the rear autonomous emergency braking system has the same working principle as the automatic emergency braking system and is used for braking strategy management during the backward driving process. In addition, since the backward driving speed is often lower than the forward driving speed, for the definition of low speed, the second speed threshold needs to be lower than the first speed threshold.

[0072] S302. Acquire position information of a third target object according to the backward area information; wherein the third target object includes a static object.

[0073] The method for acquiring the orientation information of the third target object is the same as the method for acquiring the orientation information of the first target object. At the same time, the object types included in the third target object are also the same as the object types included in the first target object, that is, it can include only static objects or static objects and low-speed objects.

[0074] S303: Acquire a matching backward control strategy according to the current driving speed of the vehicle and the position information of the third target object.

[0075] Similarly, based on the orientation information of the third target object, the interval distance between the third target object and the current vehicle in the driving direction can be determined; the difference between the interval distance and the vehicle's driving speed is used as the predicted safety time; the predicted safety time is negatively correlated with the vehicle collision risk, that is, the longer the predicted safety time, the smaller the vehicle collision risk; the shorter the predicted safety time, the greater the vehicle collision risk; the interval distance is positively correlated with the vehicle collision risk, that is, the longer the interval distance, the smaller the vehicle collision risk; the shorter the interval distance, the greater the vehicle collision risk. The backward control strategy can also include one or more of the active braking strategy, torque adjustment strategy and vehicle speed adjustment strategy; its specific adjustment strategy is the same as the forward control strategy, except that the safety distance threshold, safety time threshold, maximum torque and maximum speed in the backward control strategy are all smaller than the corresponding values ​​in the forward control strategy.

[0076] According to the technical solution of the embodiment of the present invention, when the vehicle is in a low-speed backward driving state, the vehicle-mounted terminal device first obtains the backward area information through the rear automatic emergency braking system, and makes the rear automatic emergency braking system enter a passive braking state, and then obtains the position information of the third target object in the backward area information, and finally obtains the matching backward control strategy according to the current vehicle driving speed and the position information of the third target object. In this way, the effective identification of the rear static obstacles in the low-speed driving state is realized, the accuracy of the static object identification results is improved, the occurrence of vehicle collision is avoided, and the safety performance of the vehicle is improved.

[0077] Embodiment 4

[0078] Figure 4 This is a flow chart of a vehicle collision avoidance method provided by Embodiment 4 of the present invention. The relationship between this embodiment and the above embodiments is that after the vehicle is started, fault detection is first performed. Figure 4 As shown, the method includes:

[0079] S401. In response to detecting a vehicle start signal, performing fault detection on a target system; wherein the target system includes at least one of an automatic emergency braking system, an automatic parking system, and a rear automatic emergency braking system; if a fault is detected, executing S402; if no fault is detected, executing S403.

[0080] The vehicle-mounted terminal device can send a self-check signal to one or more of the above three systems to enable the above target system to complete fault self-check.

[0081] S402: Send a fault reminder to the user.

[0082] If a fault is detected in the target system, the fault reminder can be issued to the user through different methods such as sound, vision and touch.

[0083] S403, activating target functions; wherein the target functions include low-speed forward collision detection, low-speed turning collision detection, and low-speed rearward collision detection.

[0084] S404: If it is detected that the current driving speed of the vehicle is less than a first speed threshold and the driving direction is forward, a passive braking command is issued to the automatic emergency braking system to obtain forward area information through the automatic emergency braking system and put the automatic emergency braking system into a passive braking state.

[0085] S405. Acquire position information of a first target object according to the forward area information; wherein the first target object includes a static object.

[0086] S406: Acquire a matching forward control strategy according to the current driving speed of the vehicle and the orientation information of the first target object.

[0087] According to the technical solution of the embodiment of the present invention, when the vehicle is in a low-speed forward driving state, the vehicle-mounted terminal device first obtains the forward area information through the automatic emergency braking system, and makes the automatic emergency braking system enter a passive braking state, and then obtains the orientation information of the first target object in the forward area information, and finally obtains the matching forward control strategy according to the current vehicle driving speed and the orientation information of the first target object. In this way, the effective recognition of static obstacles in the low-speed driving state is realized, the accuracy of the static object recognition results is improved, the occurrence of vehicle collision is avoided, and the safety performance of the vehicle is improved.

[0088] Embodiment 5

[0089] Figure 5 : is a structural block diagram of a vehicle anti-collision device provided by Embodiment 5 of the present invention, and the device specifically comprises:

[0090] The command sending module 501 is used to send a passive braking command to the automatic emergency braking system if it is detected that the current vehicle speed is less than a first speed threshold and the driving direction is forward, so as to obtain forward area information through the automatic emergency braking system and make the automatic emergency braking system enter a passive braking state;

[0091] A position acquisition module 502 is used to acquire the position information of a first target object according to the forward area information; wherein the first target object includes a static object;

[0092] The strategy acquisition module 503 is used to acquire a matching forward control strategy according to the current driving speed of the vehicle and the orientation information of the first target object.

[0093] According to the technical solution of the embodiment of the present invention, when the vehicle is in a low-speed forward driving state, the vehicle-mounted terminal device first obtains the forward area information through the automatic emergency braking system, and makes the automatic emergency braking system enter a passive braking state, and then obtains the orientation information of the first target object in the forward area information, and finally obtains the matching forward control strategy according to the current vehicle driving speed and the orientation information of the first target object. In this way, the effective recognition of static obstacles in the low-speed driving state is realized, the accuracy of the static object recognition results is improved, the occurrence of vehicle collision is avoided, and the safety performance of the vehicle is improved.

[0094] Optionally, the vehicle anti-collision device is also used to send an active braking command to the automatic emergency braking system if it detects that the current vehicle's driving speed is greater than or equal to a first speed threshold and the driving direction is forward, so that the automatic emergency braking system enters an active braking state.

[0095] Optionally, the vehicle anti-collision device is also used to obtain forward area information through the automatic emergency braking system, and obtain the orientation information of the first target object based on the forward area information; if it is determined that the current vehicle is at risk of collision based on the current vehicle's driving speed and the orientation information of the first target object, a collision risk prompt is sent to the automatic emergency braking system, so that the automatic emergency braking system generates a braking strategy based on the collision risk prompt.

[0096] Optionally, the vehicle collision avoidance device is further used to send the forward control strategy to the automatic emergency braking system so as to perform vehicle control operations through the automatic emergency braking system.

[0097] Optionally, the vehicle anti-collision device is also used to send a start-up operation instruction to the automatic parking system if it detects that the steering angle of the current vehicle is greater than a preset angle threshold, so as to obtain lateral area information through the automatic parking system and put the automatic parking system into a passive operation state; obtain the orientation information of a second target object based on the lateral area information; wherein the second target object includes a static object; and obtain a steering control strategy based on the current vehicle's driving speed and the orientation information of the second target object.

[0098] Optionally, the vehicle anti-collision device is also used to send a passive braking command to the rear automatic emergency braking system if it is detected that the current vehicle's driving speed is less than a second speed threshold and the driving direction is backward, so as to obtain rear area information through the rear automatic emergency braking system and put the rear automatic emergency braking system into a passive braking state; wherein the second speed threshold is less than the first speed threshold; the orientation information of a third target object is obtained according to the rear area information; wherein the third target object includes a static object; and a matching backward control strategy is obtained according to the current vehicle's driving speed and the orientation information of the third target object.

[0099] The above device can execute the vehicle collision avoidance method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the vehicle collision avoidance method provided by any embodiment of the present invention.

[0100] Embodiment 6

[0101] Figure 6A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, electronic devices, blade electronic devices, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0102] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0103] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0104] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle collision avoidance method.

[0105] In some embodiments, the vehicle collision avoidance method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on a heterogeneous hardware accelerator via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the vehicle collision avoidance method described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform the vehicle collision avoidance method in any other appropriate manner (e.g., by means of firmware).

[0106] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or electronic device.

[0108] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0109] To provide interaction with a user, the systems and techniques described herein may be implemented on a heterogeneous hardware accelerator having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the heterogeneous hardware accelerator. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0110] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data electronic device), or a computing system that includes middleware components (e.g., an application electronic device), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0111] The computing system may include a client and an electronic device. The client and the electronic device are generally remote from each other and usually interact through a communication network. The relationship between the client and the electronic device is generated by computer programs running on corresponding computers and having a client-electronic device relationship with each other. The electronic device may be a cloud electronic device, also known as a cloud computing electronic device or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0112] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0113] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle collision avoidance method, characterized in that: Applied to vehicle terminal equipment, including: If it is detected that the current driving speed of the vehicle is less than a first speed threshold and the driving direction is forward, a passive braking command is issued to the automatic emergency braking system, so as to obtain forward area information through the automatic emergency braking system and make the automatic emergency braking system enter a passive braking state; Acquire the position information of the first target object according to the forward area information; wherein the first target object includes a static object; A matching forward control strategy is obtained according to the current driving speed of the vehicle and the orientation information of the first target object.

2. The method according to claim 1, characterized in that The vehicle collision avoidance method further comprises: If it is detected that the current driving speed of the vehicle is greater than or equal to the first speed threshold and the driving direction is forward, an active braking command is sent to the automatic emergency braking system to put the automatic emergency braking system into an active braking state.

3. The method according to claim 2, characterized in that After issuing an active braking command to the automatic emergency braking system, it also includes; Acquiring forward area information through the automatic emergency braking system, and acquiring position information of the first target object according to the forward area information; If it is determined that the current vehicle is at risk of collision based on the current vehicle's driving speed and the orientation information of the first target object, a collision risk prompt is sent to the automatic emergency braking system so that the automatic emergency braking system generates a braking strategy based on the collision risk prompt.

4. The method according to claim 1, characterized in that After obtaining a matching forward control strategy according to the current vehicle speed and the orientation information of the first target object, the method includes: The forward control strategy is sent to the automatic emergency braking system to perform vehicle control operations through the automatic emergency braking system.

5. The method according to claim 1, characterized in that After detecting that the current vehicle's driving speed is less than the first speed threshold and the driving direction is forward driving, the method further includes: If it is detected that the steering angle of the current vehicle is greater than a preset angle threshold, a start-up operation instruction is issued to the automatic parking system, so as to obtain lateral area information through the automatic parking system and put the automatic parking system into a passive operation state; Acquire the position information of the second target object according to the lateral area information; wherein the second target object includes a static object; A steering control strategy is obtained according to the current driving speed of the vehicle and the orientation information of the second target object.

6. The method according to claim 1, characterized in that The vehicle collision avoidance method further comprises: If it is detected that the current vehicle speed is less than a second speed threshold and the driving direction is backward, a passive braking command is issued to the rear automatic emergency braking system to obtain rearward area information through the rear automatic emergency braking system and make the rear automatic emergency braking system enter a passive braking state; wherein the second speed threshold is less than the first speed threshold; Acquire the position information of the third target object according to the backward area information; wherein the third target object includes a static object; A matching backward control strategy is obtained according to the current driving speed of the vehicle and the orientation information of the third target object.

7. A vehicle anti-collision device, characterized in that: Applied to vehicle terminal equipment, including: a command sending module, configured to send a passive braking command to the automatic emergency braking system if it is detected that the current driving speed of the vehicle is less than a first speed threshold and the driving direction is forward, so as to obtain forward area information through the automatic emergency braking system and make the automatic emergency braking system enter a passive braking state; A position acquisition module, used to acquire the position information of a first target object according to the forward area information; wherein the first target object includes a static object; The strategy acquisition module is used to acquire a matching forward control strategy according to the current driving speed of the vehicle and the orientation information of the first target object.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle collision avoidance method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle collision avoidance method according to any one of claims 1 to 6 when executed.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the vehicle collision avoidance method according to any one of claims 1 to 6 is implemented.

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