Collision avoidance method and device in simulated vehicle driving process and electronic equipment

Abstract

The invention discloses a collision avoidance method and device in a simulated vehicle driving process and electronic equipment, and relates to the technical field of traffic system simulation and vehicle control, and the method comprises the following steps: when a target vehicle is detected to enter a collision judgment area, according to the current position of the target vehicle, the length of a pre-occupied route and an overall driving route, determining the collision of the target vehicle; the method comprises the steps of generating a pre-occupied driving space containing a future advancing path of a target vehicle, performing preliminary screening on surrounding vehicles, generating a possible conflict vehicle set, performing coincidence judgment on each vehicle in the possible conflict vehicle set and the pre-occupied driving space of the target vehicle, and obtaining a possible conflict vehicle set; and controlling the target vehicle to run according to a pre-occupied route until all vehicles in the possible conflict vehicle combination do not conflict with the target vehicle, arriving at a staged running target point, controlling the target vehicle to run in a segmented manner according to the staged running target point, and after each segment of running is completed, controlling the target vehicle to run according to the staged running target point. And updating the driving target point of the next stage according to the real-time position of the target vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic system simulation and vehicle control, and in particular to a collision avoidance method and device and electronic equipment for simulating vehicle driving. Background Art

[0002] With the rapid development of autonomous vehicles, the demand for simulation of safe collision avoidance tests between vehicles is increasing. In order to improve the safety of autonomous vehicles and avoid collisions, virtual simulation is currently a solution with cost and time advantages. Currently, in the simulation test scenarios of autonomous vehicles, safe avoidance tests between vehicles require simulated vehicles to make accurate and reasonable avoidance responses under different driving conditions in order to achieve the purpose of improving the safety and reliability of autonomous vehicles.

[0003] However, in the related art, the vehicle collision avoidance simulation method has the following problems:

[0004] 1) Vehicle collision avoidance simulation algorithms are usually based on collision models and use static algorithms to determine the possibility of collision between two vehicles to simulate avoidance behavior, resulting in poor accuracy of simulation results;

[0005] 2) The vehicle driving trajectory in the simulation scene is complex, and the simulation algorithm cannot optimize the driving path, resulting in low simulation efficiency;

[0006] 3) In the vehicle collision avoidance simulation scenario, other factors besides the collision model need to be considered, such as lane width, vehicle speed, driving space, etc., which leads to a complex simulation algorithm structure and high difficulty in algorithm implementation.

[0007] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0008] The embodiments of the present invention provide a method and device for simulating collision avoidance during vehicle driving, and an electronic device, so as to at least solve the technical problem in the related art that an algorithm for statically judging the possibility of collision between two vehicles is used to simulate avoidance behavior, resulting in poor accuracy of simulation results.

[0009] According to one aspect of an embodiment of the present invention, a collision avoidance method for simulating vehicle driving is provided, which is applied to a vehicle control system of a deployment system simulation model, and includes: when a target vehicle is detected to enter a conflict judgment area, a pre-occupied driving space including the future travel path of the target vehicle is generated according to the current position of the target vehicle, the length of the pre-occupied route and the overall driving route; a preliminary screening of surrounding vehicles is performed to generate a set of possible conflicting vehicles; a judgment is made on the overlap between each vehicle in the set of possible conflicting vehicles and the pre-occupied driving space of the target vehicle, until it is confirmed that all vehicles in the combination of possible conflicting vehicles have no conflict with the target vehicle, and then the target vehicle is controlled to travel along the pre-occupied route to reach a staged driving target point; the target vehicle is controlled to travel in sections according to the staged driving target points, and after each section of driving is completed, the driving target point of the next stage is updated according to the real-time position of the target vehicle.

[0010] Optionally, the step of generating a pre-occupied driving space including the future travel path of the target vehicle according to the current position of the target vehicle, the length of the pre-occupied route and the overall driving route includes: when the target vehicle is detected to enter the conflict judgment area, marking the target vehicle as a vehicle to be judged; obtaining the driving parameters and basic vehicle parameters of the target vehicle, wherein the driving parameters include: current position, driving speed, driving acceleration, and the basic vehicle parameters include: vehicle length, vehicle width and vehicle height; according to the current position and final destination of the target vehicle, using a path planning algorithm to determine the overall driving route of the target vehicle; obtaining the straight-line distance from the current position of the target vehicle along the overall driving route to a predetermined route planning point to obtain the length of the pre-occupied driving route; taking the overall driving route as a reference, extending half of the lane width to both sides as the lane width; generating the pre-occupied driving space based on the pre-occupied driving route length and the lane width.

[0011] Optionally, the step of performing a preliminary screening of surrounding vehicles to generate a set of possible conflicting vehicles includes: based on a distance limit strategy, screening out vehicles whose straight-line distance to the target vehicle is less than a vehicle straight-line distance limit from the vehicles that have entered the conflict judgment area, to obtain an initial screened vehicle set; based on the angle between the forward direction of the target vehicle and the direction of the connection of the vehicles to be judged in the initial screened vehicle set, screening out vehicles in the forward direction of the target vehicle from the initial screened vehicle set, to generate a set of possible conflicting vehicles.

[0012] Optionally, the collision avoidance method during simulated vehicle driving also includes: calculating an initial straight-line distance limit based on the maximum speed and emergency braking performance of the target vehicle; adjusting the initial straight-line distance limit based on the vehicle type and size of the target vehicle to obtain an initial straight-line distance limit; adjusting the initial straight-line distance limit according to current road conditions and road traffic environment to obtain a vehicle straight-line distance limit.

[0013] Optionally, the step of judging the overlap between the pre-occupied driving space between each vehicle in the set of possible conflicting vehicles and the target vehicle comprises: using a polygon overlap judgment algorithm to judge the overlap between the pre-occupied driving space between the target vehicle and each vehicle in the set of possible conflicting vehicles.

[0014] Optionally, after judging the overlap between each vehicle in the set of possible conflicting vehicles and the pre-occupied driving space of the target vehicle, it also includes: if there is overlap, controlling the target vehicle to wait for a predetermined interval to avoid collision; if there is no overlap, continuing to judge the next vehicle in the set of possible conflicting vehicles until it is confirmed that all vehicles in the set of possible conflicting vehicles have no conflict with the target vehicle.

[0015] Optionally, the target vehicle is controlled to travel in sections according to phased driving target points, and after each section of driving is completed, the step of updating the driving target point of the next stage according to the real-time position of the target vehicle includes: generating a driving instruction, wherein the driving instruction is used to instruct the target vehicle to start from the current position and travel to the phased driving target point, and the driving instruction includes: vehicle driving speed, acceleration, and driving direction; during driving, updating the status information of the target vehicle, wherein the status information includes at least: vehicle real-time position, vehicle speed, and acceleration; when the target vehicle arrives at the phased driving target point, re-evaluating the real-time position of the target vehicle, and performing the next round of conflict judgment and driving target point update.

[0016] Optionally, the staged driving target points are generated in the following manner, including: dividing the overall driving route of the target vehicle into multiple continuous sections; determining the staged driving target points in each divided continuous section; after detecting that the target vehicle has arrived at any of the driving target points, updating the driving target points for the next stage according to the real-time position of the target vehicle, the remaining driving route and the road traffic network conditions.

[0017] According to another aspect of an embodiment of the present invention, a collision avoidance device for simulating vehicle driving is provided, which is applied to a vehicle control system of a deployment system simulation model, and includes: an occupied driving space generation unit, which is used to generate a pre-occupied driving space containing the future travel path of the target vehicle according to the current position of the target vehicle, the length of the pre-occupied route and the overall driving route when a target vehicle is detected to enter a conflict judgment area; a vehicle screening unit, which is used to perform preliminary screening of surrounding vehicles and generate a set of possible conflicting vehicles; a conflict judgment unit, which is used to perform overlap judgment on the pre-occupied driving space of each vehicle in the set of possible conflicting vehicles and the target vehicle, until it is confirmed that all vehicles in the combination of possible conflicting vehicles have no conflict with the target vehicle, and then control the target vehicle to travel along the pre-occupied route to reach a staged driving target point; a segmented driving unit, which is used to control the target vehicle to travel in segments according to the staged driving target points, and after each segment of driving is completed, update the driving target point of the next stage according to the real-time position of the target vehicle.

[0018] Optionally, the occupied driving space generation unit includes: a vehicle marking module, which is used to mark the target vehicle as a vehicle to be judged when the target vehicle is detected to enter the conflict judgment area; a vehicle parameter acquisition module, which is used to obtain the driving parameters and basic vehicle parameters of the target vehicle, wherein the driving parameters include: current position, driving speed, driving acceleration, and the basic vehicle parameters include: vehicle length, vehicle width and vehicle height; a driving route planning module, which is used to determine the overall driving route of the target vehicle using a path planning algorithm according to the current position and final destination of the target vehicle; an occupied driving route length acquisition module, which is used to obtain the straight-line distance from the current position of the target vehicle along the overall driving route to a predetermined route planning point to obtain the pre-occupied driving route length; a lane width acquisition module, which is used to take the overall driving route as a reference and extend half of the lane width to both sides as the lane width; the occupied driving space generation module generates the pre-occupied driving space based on the pre-occupied driving route length and the lane width.

[0019] Optionally, the vehicle screening unit includes: a vehicle initial screening module, which is used to screen out vehicles whose straight-line distance to the target vehicle is less than a vehicle straight-line distance limit from the vehicles that have entered the conflict judgment area according to a distance limit strategy, and obtain an initial screening vehicle set; a vehicle screening module, which is used to screen out vehicles in the driving direction of the target vehicle from the initial screening vehicle set based on the angle between the forward direction of the target vehicle and the connecting direction of the vehicles to be judged in the initial screening vehicle set, and generate a possible conflicting vehicle set.

[0020] Optionally, the collision avoidance device simulating vehicle driving also includes: a calculation unit, used to calculate an initial straight-line distance limit based on the maximum speed and emergency braking performance of the target vehicle; a first limit adjustment unit, used to adjust the initial straight-line distance limit based on the vehicle type and size of the target vehicle to obtain an initial straight-line distance limit; a second limit adjustment unit, used to adjust the initial straight-line distance limit according to current road conditions and road traffic environment to obtain a vehicle straight-line distance limit.

[0021] Optionally, the conflict judgment unit includes: an overlap judgment module, which is used to use a polygon overlap judgment algorithm to perform overlap judgment on the pre-occupied driving space between the target vehicle and each vehicle in the set of possible conflicting vehicles.

[0022] Optionally, the collision avoidance device during the simulated vehicle driving process also includes: a waiting unit, which is used to control the target vehicle to wait for a predetermined interval time to avoid collision after judging the overlap between each vehicle in the possible conflicting vehicle set and the pre-occupied driving space of the target vehicle. If there is overlap, a continuing judgment unit is used to continue judging the next vehicle in the possible conflicting vehicle set in the case of non-overlap, until it is confirmed that all vehicles in the possible conflicting vehicle combination have no conflict with the target vehicle.

[0023] Optionally, the segmented driving unit includes: an instruction generation module, which is used to generate driving instructions, wherein the driving instructions are used to instruct the target vehicle to start from the current position and travel to a phased driving target point, and the driving instructions include: vehicle driving speed, acceleration, and driving direction; a status update module, which is used to update the status information of the target vehicle during driving, wherein the status information includes at least: the real-time position of the vehicle, the vehicle speed, and the acceleration; a position update module, which is used to re-evaluate the real-time position of the target vehicle when the target vehicle arrives at the phased driving target point, and perform the next round of conflict judgment and driving target point update.

[0024] Optionally, the staged driving target points are generated in the following manner, including: a route division module, used to divide the overall driving route of the target vehicle into multiple continuous sections; a target point determination module, used to determine the staged driving target points in each divided continuous section; a target point update module, used to update the driving target points of the next stage according to the real-time position of the target vehicle, the remaining driving route and the road traffic network conditions after detecting that the target vehicle has arrived at any of the driving target points.

[0025] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned collision avoidance methods during simulated vehicle driving.

[0026] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any one of the above-mentioned collision avoidance methods during simulated vehicle driving.

[0027] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of any one of the above-mentioned methods for simulating collision avoidance during vehicle driving.

[0028] In the present disclosure, when a target vehicle is detected to enter a conflict judgment area, a pre-occupied driving space including the future travel path of the target vehicle can be generated according to the current position of the target vehicle, the length of the pre-occupied route and the overall driving route, and the surrounding vehicles can be preliminarily screened to generate a set of possible conflicting vehicles. A judgment is made on the overlap between each vehicle in the set of possible conflicting vehicles and the pre-occupied driving space of the target vehicle until it is confirmed that all vehicles in the combination of possible conflicting vehicles have no conflict with the target vehicle. The target vehicle is then controlled to travel along the pre-occupied route to reach a phased driving target point, and the target vehicle is controlled to travel in sections according to the phased driving target points. After each section of driving is completed, the driving target point of the next stage is updated according to the real-time position of the target vehicle.

[0029] Based on the above-mentioned disclosed content, the distance between a vehicle and other vehicles during driving can be calculated and driving conflicts can be judged in the system simulation model, thereby controlling each vehicle to continue driving or stop, narrowing the range of vehicles for conflict judgment and reducing the amount of calculation. It can not only effectively avoid collisions, but also optimize vehicle driving paths, improve vehicle simulation operation efficiency, and enhance road traffic capacity, thereby solving the technical problem of poor accuracy of simulation results caused by simulating avoidance behavior through an algorithm that statically judges the possibility of collision between two vehicles in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0031] Figure 1is a flow chart of an optional method for simulating collision avoidance during vehicle driving according to an embodiment of the present invention;

[0032] Figure 2 is a flow chart of an optional computer simulation method for vehicle collision avoidance process according to an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of an optional static model of a traffic network according to an embodiment of the present invention;

[0034] Figure 4 is a schematic diagram of an optional vehicle pre-occupying a driving space according to an embodiment of the present invention;

[0035] Figure 5 is a schematic diagram of an optional collision avoidance device for simulating vehicle driving according to an embodiment of the present invention;

[0036] Figure 6 The present invention is a hardware structure block diagram of an electronic device (or mobile device) for executing a collision avoidance method during simulated vehicle driving according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] To facilitate those skilled in the art to understand the present invention, some terms or nouns involved in the embodiments of the present invention are explained below:

[0040] Staged driving target point: The process of the vehicle driving to the final destination is divided into several sections, and the end point of each section is the staged driving target point. After each section is completed, the staged driving target point of the vehicle's next section is determined based on the vehicle's position, the length of the pre-occupied driving route, and the overall driving route.

[0041] Pre-occupied route length: refers to the length of the route that needs to be occupied in advance before each section of the route from the current location to the final destination. This length should take into account factors such as the safety distance requirements between the vehicle and the vehicle in front and the distance of the vehicle's emergency braking, and be input into the model as a parameter.

[0042] Pre-occupied driving space: In order to ensure driving safety, the vehicle occupies the area required for driving in advance before starting to drive. At this time, other vehicles can no longer occupy all or part of the area. When the vehicle actually leaves part of the area, the part of the area is released and can be occupied by other vehicles again.

[0043] It should be noted that the collision avoidance method and device for simulating vehicle driving in the present disclosure can be used in the fields of traffic system simulation and vehicle control technology to realize collision avoidance simulation in the process of simulating vehicle driving.

[0044] It should be noted that the information (including but not limited to owner information, vehicle status information, basic vehicle parameters, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) collected in this disclosure are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data comply with the relevant laws, regulations and standards of the relevant regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0045] The following embodiments of the present invention can be applied to various systems / applications / devices for simulating collision avoidance during vehicle travel. When the present invention performs simulation modeling and analysis on a container terminal, the present invention is used for simulation of road traffic within the port, thereby enhancing the authenticity of the simulation and making the results of the model output more credible. The present invention can be based on a static model of the traffic network to realize the judgment and simulation of collision avoidance during vehicle travel within a region in a continuous space. By determining a "set of possible conflicting vehicles" through multiple screening rules, the range of vehicles for conflict judgment is narrowed, the amount of calculation is reduced, and the speed and efficiency of the simulation are improved.

[0046] The present invention is described in detail below in conjunction with various embodiments.

[0047] Embodiment 1

[0048] According to an embodiment of the present invention, an embodiment of a method for simulating collision avoidance during vehicle driving is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0049] This embodiment can be applied to a vehicle control system that deploys a system simulation model to achieve collision avoidance during vehicle driving.

[0050] Figure 1 is a flow chart of an optional method for simulating collision avoidance during vehicle driving according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0051] When simulating the driving process of vehicles, vehicles should maintain a sufficient safe distance between each other, so it is necessary to calculate the distance between the vehicle and other vehicles during driving, judge the driving conflict, and then control each vehicle to continue driving or stop. The overall idea is that the vehicle drives in sections and judges in sections, and judges the next section after completing one section.

[0052] First, the overall future driving route is determined based on the current location and final destination, and then the vehicle pre-occupies the driving space and calculates and determines the phased driving target points.

[0053] Step S101, when it is detected that a target vehicle enters a conflict judgment area, a pre-occupied driving space including a future travel path of the target vehicle is generated according to the current position of the target vehicle, the length of the pre-occupied route and the overall driving route.

[0054] It should be noted that the target vehicle mentioned in this embodiment refers to the vehicle that needs to be judged for driving conflict, and is also the vehicle that initiates the driving conflict judgment; and the possible conflict vehicle mentioned below refers to: a vehicle that may conflict with the target vehicle.

[0055] When a vehicle enters an area where conflict judgment is required, it becomes a target vehicle, and then a pre-occupied driving space is generated. When generating the pre-occupied driving space of the vehicle, it includes: determining the driving route of the vehicle in the next stage and determining the staged driving target point according to the vehicle position, the length of the pre-occupied driving route, and the overall driving route. Then, the pre-occupied driving area is determined in combination with the route shape (straight line, broken line, arc, etc.). This area should be selected from the area that the vehicle may sweep during driving, which can be a polygon, a sector, etc. In order to improve the calculation efficiency and ensure the timeliness of the simulation, it can be simplified and a relatively regular polygon can be used. The longitudinal direction of the polygon is from the current position along the driving route, and the range is the input pre-occupied driving route length. The lateral direction is vertical to the driving route, and the range is half of the lane width extending from the driving route to both sides.

[0056] Optionally, step S101 includes: when the target vehicle is detected to enter the conflict judgment area, marking the target vehicle as a vehicle to be judged; obtaining the driving parameters and basic vehicle parameters of the target vehicle, wherein the driving parameters include: current position, driving speed, driving acceleration, and the basic vehicle parameters include: vehicle length, vehicle width and vehicle height; according to the current position and final destination of the target vehicle, using a path planning algorithm to determine the overall driving route of the target vehicle; obtaining the straight-line distance from the current position of the target vehicle along the overall driving route to a predetermined route planning point, and obtaining the pre-occupied driving route length; taking the overall driving route as a reference, extending half of the lane width to both sides as the lane width; based on the pre-occupied driving route length and lane width, generating a pre-occupied driving space.

[0057] It should be noted that, before generating the pre-occupied driving space, the present embodiment needs to obtain the current position, speed, acceleration, length, width and height of the vehicle, and then determine the overall driving route of the vehicle. According to the current position of the vehicle and the final destination, the overall driving route of the vehicle is calculated and determined using a path planning algorithm (such as Dijkstra algorithm, A* algorithm, etc.). This route should include all sections and nodes that the vehicle needs to pass through, taking into account possible straight, left or right turn paths. Afterwards, based on the above longitudinal (from the current position of the vehicle along the overall driving route to a point on the driving route, the straight-line distance of the point from the current vehicle is equal to the length of the pre-occupied driving route) and transverse range (based on the driving route, extending half of the lane width to both sides), determine the shape of the pre-occupied driving space, which can be a polygon, a sector, etc., but in order to improve calculation efficiency and ensure timeliness, it is recommended to use a regular polygon here.

[0058] This embodiment provides a method for generating a vehicle's pre-occupied driving space and determining a staged driving target point based on the vehicle's current position and driving route, which provides a basis for subsequent conflict judgment and vehicle control. The key to this step is to ensure that the vehicle can accurately predict and occupy the space on its driving path during driving, thereby providing a basis for avoiding driving conflicts.

[0059] In this embodiment, it is proposed to pre-occupy the driving space, and the judgment of the vehicle driving conflict is converted into a judgment of comparing whether the pre-occupied driving space is intersecting, thereby realizing the judgment and simulation of collision avoidance during the driving process of vehicles within the area range in a continuous space.

[0060] Step S102, preliminarily screening surrounding vehicles to generate a set of possible conflicting vehicles.

[0061] Optionally, step S102 includes: according to the distance limit strategy, screening out vehicles whose straight-line distance to the target vehicle is less than the vehicle straight-line distance limit from the vehicles that have entered the conflict judgment area, and obtaining an initial screening vehicle set; based on the angle between the forward direction of the target vehicle and the connecting direction of the vehicles to be judged in the initial screening vehicle set, screening out vehicles in the forward direction of the target vehicle from the initial screening vehicle combination, and generating a possible conflicting vehicle set.

[0062] Here, the straight-line distance limit between vehicles means: when screening possible conflicting vehicles, first exclude vehicles that are farther away. These vehicles will definitely not conflict with the vehicle to be judged, thereby narrowing the range of vehicles for conflict judgment and reducing the amount of calculation.

[0063] Among other vehicles that have entered the area where conflict judgment is required, first screen out vehicles whose straight-line distance to the vehicle to be judged is less than the input vehicle straight-line distance limit. In the screened vehicle set, further screen out vehicles in the driving direction of the vehicle to be judged, that is, the angle between the forward direction of the vehicle to be judged and the direction of the line from the vehicle to be judged to the screened vehicle should be less than or equal to 90 degrees. Finally, the vehicles that may conflict are obtained, and a set of possible conflict vehicles is formed.

[0064] This embodiment can filter nearby vehicles according to the distance limit. For all vehicle objects in the area, first calculate the straight-line distance between the vehicle to be judged and other vehicles. Here, the pre-set straight-line distance limit between vehicles can be used as the screening standard to exclude all vehicles whose straight-line distance exceeds this limit. The goal of the screening is to reduce the calculation amount of subsequent conflict judgment and only retain vehicles within a certain range around the vehicle to be judged. Then determine the vehicles in the forward direction for the initial screening vehicle set that has been screened, and further screen out the vehicles located in the forward direction of the vehicle to be judged. This step is achieved by comparing the angle between the forward direction of the vehicle to be judged and the direction of the line from the vehicle to be judged to the screening vehicle. Vehicles with an angle of less than or equal to 90 degrees are considered to be potential obstacles ahead and may conflict with the vehicle to be judged on the driving path. After that, the remaining vehicle set is defined as a possible conflict vehicle set, which includes all vehicles within the straight-line distance limit and located in the forward direction of the vehicle to be judged. The possible conflict vehicle set provides a target object for the next step of conflict judgment, ensuring the accuracy and efficiency of the conflict judgment. It can not only effectively narrow the scope of conflict judgment, but also ensure the accuracy of judgment, thereby improving the efficiency and authenticity of the entire traffic simulation process. This distance- and direction-based screening method combines the actual driving conditions of vehicles, avoids unnecessary calculations, and ensures that all possible conflict situations are taken into account.

[0065] Optionally, the collision avoidance method during simulated vehicle driving also includes: calculating an initial straight-line distance limit based on the maximum speed and emergency braking performance of the target vehicle; adjusting the initial straight-line distance limit based on the vehicle type and size of the target vehicle to obtain an initial straight-line distance limit; adjusting the initial straight-line distance limit according to current road conditions and road traffic environment to obtain a vehicle straight-line distance limit.

[0066] In this embodiment, the setting of the straight-line distance limit between vehicles is based on ensuring that other vehicles that may actually conflict with the target vehicle can be effectively screened out during the traffic simulation process, thereby optimizing the calculation efficiency and improving the simulation speed. The setting of the distance limit needs to comprehensively consider the following factors: the speed and acceleration of the vehicle (the speed and acceleration of the vehicle are the key parameters that determine how far it can travel per unit time. Vehicles traveling at high speeds require longer straight-line distance limits because they can cover a larger area in a short time. Conversely, the straight-line distance limit of slow-speed vehicles can be set smaller), emergency braking distance (the distance traveled by the vehicle from the start of braking to a complete stop in an emergency. The straight-line distance limit should at least cover the emergency braking distance at the highest speed to ensure that the vehicle can avoid a collision even in the most extreme cases), and the size and type of the vehicle (different types of vehicles have different sizes and occupy different road resources). The distance between vehicles is also different. For example, large vehicles such as trucks and buses require a longer safety distance to prevent collisions with surrounding vehicles during turns or emergencies), road and traffic environment: (road width, curve radius, traffic density, etc. will also affect the setting of the straight-line distance limit. When the traffic density is high and the road conditions are complex (such as multiple lanes and sharp turns), the straight-line distance limit should be set larger to cover all possible conflict points), simulation accuracy requirements (if a more sophisticated simulation is required, the straight-line distance limit may need to be set smaller to more accurately capture all possible conflicts; conversely, if there are higher requirements for calculation speed, the straight-line distance limit can be appropriately increased to reduce the amount of calculation).

[0067] Therefore, the method for setting the straight-line distance limit between vehicles can be: first, a preliminary straight-line distance limit is calculated based on the maximum speed and emergency braking performance of the vehicle to ensure that the vehicle can safely avoid collision in the worst case. Second, considering the type and size of the vehicle, for large vehicles, the straight-line distance limit is appropriately increased to reflect its larger footprint and longer braking distance. Third, the straight-line distance limit is adjusted according to the road conditions and traffic environment. In complex environments and high-density traffic conditions, the straight-line distance limit should be appropriately increased to include all potential conflict points as much as possible. Finally, according to the simulation accuracy requirements and computing resource constraints, the straight-line distance limit is fine-tuned to balance the simulation accuracy and computing efficiency.

[0068] Step S103, a judgment is made on the overlap between each vehicle in the possible conflicting vehicle set and the pre-occupied driving space of the target vehicle, until it is confirmed that all vehicles in the possible conflicting vehicle set have no conflict with the target vehicle, and then the target vehicle is controlled to travel along the pre-occupied route to reach the phased driving target point.

[0069] Optionally, step S103 includes: using a polygon overlap judgment algorithm to perform an overlap judgment on the pre-occupied driving space between the target vehicle and each vehicle in the set of possible conflicting vehicles.

[0070] Optionally, after judging the overlap between each vehicle in the set of possible conflicting vehicles and the pre-occupied driving space of the target vehicle, it also includes: if there is overlap, controlling the target vehicle to wait for a predetermined interval to avoid collision; if there is no overlap, continuing to judge the next vehicle in the set of possible conflicting vehicles until it is confirmed that all vehicles in the set of possible conflicting vehicles have no conflict with the target vehicle.

[0071] It should be noted that before the vehicle starts to judge the conflict, it is necessary to ensure that the information of all possible conflicting vehicles is up to date, including but not limited to position, speed, acceleration and direction. For the target vehicle and each possible conflicting vehicle, compare whether the pre-occupied driving space of the two overlaps. If there is overlap, it indicates that there is a possibility of collision avoidance. In addition, it should be noted that the polygon overlap judgment algorithm used in this embodiment is flexible, such as the Suther l and Hodgman algorithm, Wei ler-Atherton algorithm, etc., to judge whether two polygons have overlapping parts.

[0072] If the pre-occupied driving space of the target vehicle and the "capable conflicting vehicle" overlaps, and the overlapping part is on the driving route of the vehicle to be judged, it is judged as a conflict. Once a conflict is judged, it is necessary to judge whether the vehicle should stop or slow down to avoid a collision; if there is no conflict, it is necessary to judge whether the vehicle can continue to drive as planned, or if conditions permit, further optimize the driving strategy. In addition, when judging a conflict, the dynamic performance parameters of the vehicle, such as emergency braking distance, acceleration performance, etc., should be considered to more accurately predict the behavior of the vehicle and its impact on the conflict.

[0073] Furthermore, during the judgment process, if the target vehicle needs to wait, a time interval should be set and the execution should be restarted after a period of time until all possible conflicting vehicles are judged to be non-conflicting. If the vehicle is judged to have failed to find a non-conflicting driving path in several consecutive rounds of judgment, its driving strategy should be adjusted, such as re-planning the route or adjusting the speed.

[0074] Step S104, controlling the target vehicle to travel in sections according to the staged driving target points, and after each section of driving is completed, updating the driving target point of the next stage according to the real-time position of the target vehicle.

[0075] Optionally, step S104 includes: generating a driving instruction, wherein the driving instruction is used to instruct the target vehicle to start from the current position and travel to a phased driving target point, and the driving instruction includes: vehicle driving speed, acceleration, and driving direction; during the driving process, updating the status information of the target vehicle, wherein the status information includes at least: the real-time position of the vehicle, the vehicle speed, and the acceleration; when the target vehicle arrives at the phased driving target point, re-evaluating the real-time position of the target vehicle, and performing the next round of conflict judgment and driving target point update.

[0076] That is, after determining that there is no conflict, how does the vehicle drive along the pre-occupied route? In the process of controlling the vehicle's driving, the following needs to be completed: 1. Generation and execution of driving instructions. After confirming that the vehicle has no conflict with all vehicles in the possible conflict set, the system should generate a driving instruction to instruct the vehicle to start from the current position and drive to the staged driving target point. The driving instruction should include parameters such as the vehicle's speed, acceleration, and direction to ensure that the vehicle drives along the predetermined route within a safe range. After receiving the driving instruction, the vehicle should immediately adjust its own state (such as speed, direction, etc.) according to the instruction and start to execute the vehicle driving control action. 2. Vehicle status update: During the vehicle's driving process, the system should continuously update the vehicle's status information, including but not limited to the vehicle's position, speed, acceleration, etc. When the vehicle approaches or reaches the staged driving target point, the system should re-evaluate the vehicle's position to decide whether it needs to continue the driving instruction or prepare for the next round of conflict judgment and target point update. 3. Path tracking and adjustment: The vehicle should have the ability to track the path, be able to drive along the pre-occupied route, and be able to identify turning points and intersections in the route. During the path tracking process, if there is a situation where the route needs to be adjusted (such as the route ahead is temporarily occupied), the vehicle should be able to respond to new driving instructions and adjust the driving path immediately to avoid obstacles. 4. Interaction with other systems or vehicles: If there are other vehicles and traffic control systems (such as intelligent traffic signal systems) in the simulation model, the vehicle should be able to communicate effectively with these systems during driving to ensure safe and smooth driving. In multi-vehicle driving scenarios, the vehicle should be able to make dynamic adjustments through information provided by the system, such as the speed and position of the vehicle in front, to maintain an appropriate distance between vehicles.

[0077] In this embodiment, after determining that there is no conflict between vehicles, the system generates and executes vehicle driving instructions, which include parameters such as the vehicle's driving speed, direction, acceleration, etc. from the current position to the staged driving target point; the vehicle continuously updates its own status during the execution of the instructions, and has path tracking capabilities, can travel along a preset route, and recognize and respond to changes in road conditions; during the entire driving process, the system ensures that the vehicle complies with traffic regulations, stays within a safe boundary, and conducts effective information exchange with traffic control systems and other vehicles to maintain the stability and authenticity of the entire simulation model.

[0078] Optionally, the staged driving target points are generated in the following manner, including: dividing the overall driving route of the target vehicle into multiple continuous sections; determining the staged driving target points in each divided continuous section; after detecting that the target vehicle has arrived at any driving target point, updating the driving target points for the next stage according to the real-time position of the target vehicle, the remaining driving route and the road traffic network conditions.

[0079] It should be noted that the determination of the staged driving target point includes: determining the next staged driving target point of the vehicle within the range of the pre-occupied driving route length, which is usually a point along the driving route, or in the static model of the traffic network, it is the next node or intersection. The target point update includes: the target point should be continuously updated as the vehicle travels, ensuring that the vehicle has a new target point for the next stage of travel after each section of travel. In addition, the driving state of the vehicle is determined based on the generated vehicle pre-occupied driving space and staged driving target points, including whether it is necessary to wait, whether it can continue to travel, and the adjustment of the driving speed.

[0080] Through the above steps, when the target vehicle is detected to enter the conflict judgment area, according to the current position of the target vehicle, the length of the pre-occupied route and the overall driving route, the pre-occupied driving space containing the future travel path of the target vehicle is generated, the surrounding vehicles are preliminarily screened, and a set of possible conflicting vehicles is generated. The pre-occupied driving space of each vehicle in the set of possible conflicting vehicles and the target vehicle is overlapped. After confirming that all vehicles in the combination of possible conflicting vehicles have no conflict with the target vehicle, the target vehicle is controlled to drive according to the pre-occupied route to reach the staged driving target point, and the target vehicle is controlled to drive in sections according to the staged driving target point. After each section of driving is completed, the driving target point of the next stage is updated according to the real-time position of the target vehicle. In this embodiment, the distance between the vehicle and other vehicles during driving can be calculated, the driving conflict can be judged, and then each vehicle can be controlled to continue driving or stop, which reduces the range of vehicles for conflict judgment and reduces the amount of calculation. It can not only effectively avoid collisions, but also optimize the vehicle driving path, improve traffic efficiency, and improve road traffic capacity, thereby solving the technical problem of poor accuracy of simulation results caused by simulating avoidance behavior through an algorithm for statically judging the possibility of collision between two vehicles in the related technology.

[0081] Another implementation method is used below to illustrate the simulation scheme for vehicle collision avoidance.

[0082] Figure 2 is a flow chart of an optional computer simulation method for vehicle collision avoidance according to an embodiment of the present invention, such as Figure 2As shown, including:

[0083] The first step is that the vehicle enters the area where conflict judgment is required.

[0084] Figure 3 is a schematic diagram of an optional static traffic network model according to an embodiment of the present invention, such as Figure 3 As shown, the line segments with arrows are paths that vehicles can travel along, which are one-way, and the nodes are the intersections of multiple paths. Figure 3 31 in is used to simulate the area where multiple roads meet (intersection). After each lane enters the intersection, there are multiple possible routes such as going straight, turning left, and turning right. Figure 3 The 32 in the figure is used to simulate the road. A path can represent a lane, and different lanes require different paths to represent them.

[0085] When simulating the vehicle driving process, vehicles should maintain a sufficient safety distance between each other. Therefore, it is necessary to calculate the distance between the vehicle and other vehicles during driving, judge the driving conflicts, and then control each vehicle to continue driving or stop.

[0086] The second step is to generate the vehicle's pre-occupied driving space.

[0087] Figure 4 It is a schematic diagram of an optional vehicle pre-occupying driving space according to an embodiment of the present invention. When a vehicle enters an area where conflict judgment is required, it becomes a vehicle to be judged, and then the vehicle pre-occupies the driving space and calculates and determines the phased driving target points.

[0088] Among them, when generating the vehicle pre-occupied driving space, it includes:

[0089] ① According to the vehicle position, the length of the pre-occupied driving route, and the overall driving route, determine the vehicle's driving route for the next stage and determine the staged driving target point.

[0090] ② Combine the route shape (straight line, broken line, arc, etc.) to determine the pre-occupied driving area. This area should be selected from the area that the vehicle may sweep during driving, which can be a polygon, sector, etc. In order to improve the calculation efficiency and ensure the timeliness of the simulation, it can be simplified and a relatively regular polygon can be used. The vertical direction of the polygon is from the current position along the driving route, and the range is the input pre-occupied driving route length, and the horizontal direction is vertical to the driving route, and the range is half of the lane width extending from the driving route to both sides.

[0091] The third step is to conduct a preliminary screening of the surrounding vehicles, preliminarily determine the conflicting vehicles, and generate a set of possible conflicting vehicles.

[0092] Among other vehicles that have entered the area where conflict judgment is required, first select vehicles whose straight-line distance to the vehicle to be judged is less than the input vehicle straight-line distance limit.

[0093] In the screened vehicle set, vehicles in the driving direction of the vehicle to be determined are further screened out, that is, the angle between the driving direction of the vehicle to be determined and the direction of the line from the vehicle to be determined to the screened vehicle should be less than or equal to 90 degrees. The vehicles finally obtained are possible conflicting vehicles, and a possible conflicting vehicle set is formed.

[0094] The fourth step is to select a vehicle from the set of possible conflicting vehicles one by one.

[0095] The fifth step is to update the pre-occupied driving space of possible conflicting vehicles.

[0096] The sixth step is to determine whether the selected possible conflicting vehicle conflicts with the target vehicle. If so, wait for a while. If not, determine whether all possible conflicting vehicles in the set have been determined. If so, execute the seventh step. If not, return to the fourth step.

[0097] Before making a judgment, update the pre-occupied driving space of possible conflicting vehicles.

[0098] Then, the pre-occupied driving space of the judging vehicle and the possible conflicting vehicle is judged to be intersected, that is, it is converted to judging whether the two polygons have overlapping parts. If they are intersected (overlapping), the judging vehicle needs to continue waiting and re-execute the conflict judgment operation after a period of time; if they are not intersected (no overlap), the next possible conflicting vehicle is judged.

[0099] When updating the pre-occupied driving space of a vehicle, it includes: as the vehicle travels along the established route, the space that has been passed in the pre-occupied driving space of the vehicle should be released. Therefore, at a certain moment in the vehicle's travel, according to the current position, staged driving target point, driving route, combined with the route shape (straight line, broken line, arc, etc.), the pre-occupied driving space of the vehicle is regenerated, using a relatively regular polygon, the longitudinal direction of the polygon is the area from the current position along the driving route to the target point, the lateral direction is vertical to the driving route, and the range is half of the lane width extending from the driving route to both sides.

[0100] Step 7. Drive along the occupied path.

[0101] Step 8: Arrive at the staged driving target point.

[0102] If all vehicles in the set of potentially conflicting vehicles have been judged and there is no conflict, the vehicle will travel along the pre-occupied route. When the vehicle reaches the staged driving target point, the next round of judgment and driving will begin.

[0103] Through the above-mentioned embodiments, based on the static model of the traffic network, it is possible to realize the judgment and simulation of collision avoidance in the process of vehicle driving in a regional range in a continuous space, and determine the set of possible conflicting vehicles through multiple screening rules, narrow the scope of vehicles for conflict judgment, reduce the amount of calculation, and improve the speed and efficiency of simulation.

[0104] The following is a detailed description in conjunction with another embodiment.

[0105] Embodiment 2

[0106] A collision avoidance device for simulating vehicle driving provided in this embodiment includes multiple implementation units, each of which corresponds to each implementation step in the above-mentioned embodiment 1.

[0107] Figure 5 is a schematic diagram of an optional collision avoidance device for simulating vehicle driving according to an embodiment of the present invention, such as Figure 5 As shown, the collision avoidance device during the simulated vehicle driving process may include: an occupied driving space generation unit 51, a vehicle screening unit 52, a conflict judgment unit 53, and a segmented driving unit 54.

[0108] Among them, the occupied driving space generation unit 51 is used to generate a pre-occupied driving space including the future travel path of the target vehicle according to the current position of the target vehicle, the length of the pre-occupied route and the overall driving route when the target vehicle is detected to enter the conflict judgment area.

[0109] The vehicle screening unit 52 is used to perform a preliminary screening of surrounding vehicles and generate a set of possible conflicting vehicles.

[0110] The conflict judgment unit 53 is used to judge the overlap between each vehicle in the possible conflicting vehicle set and the pre-occupied driving space of the target vehicle, until it is confirmed that all vehicles in the possible conflicting vehicle set have no conflict with the target vehicle, and then control the target vehicle to travel along the pre-occupied route to reach the phased driving target point.

[0111] The segmented driving unit 54 is used to control the target vehicle to drive segmentedly according to the staged driving target points. After each segment of driving is completed, the driving target point of the next stage is updated according to the real-time position of the target vehicle.

[0112] The above-mentioned collision avoidance device in the process of simulating vehicle driving can generate a pre-occupied driving space including the future travel path of the target vehicle according to the current position of the target vehicle, the length of the pre-occupied route and the overall driving route through the occupied driving space generation unit 51 when detecting that the target vehicle enters the conflict judgment area, and the surrounding vehicles are preliminarily screened by the vehicle screening unit 52 to generate a set of possible conflicting vehicles, and the conflict judgment unit 53 makes a judgment on the overlap between each vehicle in the set of possible conflicting vehicles and the pre-occupied driving space of the target vehicle until it is confirmed that all vehicles in the combination of possible conflicting vehicles have no conflict with the target vehicle, and then controls the target vehicle to travel along the pre-occupied route to reach the staged driving target point, and controls the target vehicle to travel in sections according to the staged driving target point through the segmented driving unit 54, and after each section of driving is completed, updates the driving target point of the next stage according to the real-time position of the target vehicle. In this embodiment, the distance between the vehicle and other vehicles during driving can be calculated, and driving conflicts can be judged, thereby controlling each vehicle to continue driving or stop, narrowing the range of vehicles for conflict judgment and reducing the amount of calculation. Not only can collisions be effectively avoided, but also the vehicle driving path can be optimized, traffic efficiency can be improved, and road capacity can be increased, thereby solving the technical problem of poor accuracy of simulation results caused by statically judging the possibility of collision between two vehicles through avoidance behavior simulation in related technologies.

[0113] Optionally, the occupied driving space generation unit includes: a vehicle marking module, which is used to mark the target vehicle as a vehicle to be judged when it is detected that the target vehicle enters the conflict judgment area; a vehicle parameter acquisition module, which is used to obtain the driving parameters and basic vehicle parameters of the target vehicle, wherein the driving parameters include: current position, driving speed, driving acceleration, and the basic vehicle parameters include: vehicle length, vehicle width and vehicle height; a driving route planning module, which is used to determine the overall driving route of the target vehicle using a path planning algorithm according to the current position and final destination of the target vehicle; an occupied driving route length acquisition module, which is used to obtain the straight-line distance from the current position of the target vehicle along the overall driving route to a predetermined route planning point, and obtain the pre-occupied driving route length; a lane width acquisition module, which is used to take the overall driving route as a reference and extend half of the lane width to both sides as the lane width; the occupied driving space generation module generates the pre-occupied driving space based on the pre-occupied driving route length and lane width.

[0114] Optionally, the vehicle screening unit includes: a vehicle initial screening module, which is used to screen out vehicles whose straight-line distance to the target vehicle is less than the vehicle straight-line distance limit from the vehicles that have entered the conflict judgment area according to the distance limit strategy, and obtain an initial screening vehicle set; a vehicle screening module, which is used to screen out vehicles in the driving direction of the target vehicle from the initial screening vehicle combination based on the angle between the forward direction of the target vehicle and the connecting direction of the vehicles to be judged in the initial screening vehicle set, and generate a possible conflicting vehicle set.

[0115] Optionally, the collision avoidance device simulating vehicle driving also includes: a calculation unit, used to calculate an initial straight-line distance limit based on the maximum speed and emergency braking performance of the target vehicle; a first limit adjustment unit, used to adjust the initial straight-line distance limit based on the vehicle type and size of the target vehicle to obtain the initial straight-line distance limit; a second limit adjustment unit, used to adjust the initial straight-line distance limit according to the current road conditions and road traffic environment to obtain the vehicle straight-line distance limit.

[0116] Optionally, the conflict judgment unit includes: an overlap judgment module, which is used to use a polygon overlap judgment algorithm to perform overlap judgment on the pre-occupied driving space between the target vehicle and each vehicle in the set of possible conflicting vehicles.

[0117] Optionally, the collision avoidance device during the simulated vehicle driving process also includes: a waiting unit, which is used to control the target vehicle to wait for a predetermined interval time to avoid collision after judging the overlap between each vehicle in the set of possible conflicting vehicles and the pre-occupied driving space of the target vehicle. If there is overlap, a continuing judgment unit is used to continue judging the next vehicle in the set of possible conflicting vehicles in the case of non-overlapping, until it is confirmed that all vehicles in the set of possible conflicting vehicles have no conflict with the target vehicle.

[0118] Optionally, the segmented driving unit includes: an instruction generation module for generating driving instructions, wherein the driving instructions are used to instruct the target vehicle to start from the current position and drive to a staged driving target point, and the driving instructions include: vehicle driving speed, acceleration, and driving direction; a status update module for updating the status information of the target vehicle during driving, wherein the status information includes at least: the real-time position of the vehicle, the vehicle speed, and the acceleration; a position update module for re-evaluating the real-time position of the target vehicle when the target vehicle reaches the staged driving target point, and performing the next round of conflict judgment and driving target point update.

[0119] Optionally, the staged driving target points are generated in the following manner, including: a route division module, used to divide the overall driving route of the target vehicle into multiple continuous sections; a target point determination module, used to determine the staged driving target points in each divided continuous section; a target point update module, used to update the driving target points of the next stage according to the real-time position of the target vehicle, the remaining driving route and the road traffic network conditions after detecting that the target vehicle has arrived at any driving target point.

[0120] The above-mentioned collision avoidance device during simulated vehicle driving may also include a processor and a memory. The above-mentioned occupied driving space generation unit 51, vehicle screening unit 52, conflict judgment unit 53, segmented driving unit 54, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0121] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and collision avoidance simulation control of the vehicle driving process can be realized by adjusting kernel parameters.

[0122] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (fl ash RAM), and the memory includes at least one storage chip.

[0123] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned embodiments of the first embodiment to simulate the collision avoidance method during vehicle driving.

[0124] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement any one of the above-mentioned embodiments of the first embodiment to simulate the collision avoidance method during vehicle driving.

[0125] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method for simulating collision avoidance during vehicle driving described in each embodiment of the present application.

[0126] The present application also provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for simulating collision avoidance during vehicle driving described in each embodiment of the present application are implemented.

[0127] Figure 6 1 is a hardware structure block diagram of an electronic device (or mobile device) for executing a collision avoidance method during simulated vehicle driving according to an embodiment of the present invention. Figure 6 As shown, the electronic device may include one or more ( Figure 6 602a, 602b, ..., 602n are used to illustrate) a processor (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 604 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 6 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 6 More or fewer components as shown, or with Figure 6 Different configurations are shown.

[0128] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0129] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 units or modules, which can be electrical or other forms.

[0131] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0132] In addition, each functional unit in each embodiment of the present invention 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.

[0133] 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 computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, 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, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0134] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for simulating collision avoidance during vehicle driving, characterized in that: Applied to vehicle control systems where system simulation models are deployed, including: When a target vehicle is detected to enter a conflict determination area, a pre-occupied driving space including a future travel path of the target vehicle is generated according to the current position of the target vehicle, the length of the pre-occupied route, and the overall driving route; Perform a preliminary screening of surrounding vehicles to generate a set of possible conflicting vehicles; The overlap of the pre-occupied driving space between each vehicle in the set of possible conflicting vehicles and the target vehicle is judged until it is confirmed that all vehicles in the set of possible conflicting vehicles have no conflict with the target vehicle, and then the target vehicle is controlled to travel along the pre-occupied route to reach the staged driving target point; The target vehicle is controlled to travel in sections according to the staged driving target points. After each section of driving is completed, the driving target point of the next stage is updated according to the real-time position of the target vehicle.

2. The collision avoidance method according to claim 1, characterized in that: The step of generating a pre-occupied driving space including a future travel path of the target vehicle according to the current position of the target vehicle, the length of the pre-occupied route, and the overall travel route comprises: When the target vehicle is detected to enter the conflict judgment area, the target vehicle is marked as a vehicle to be judged; Acquire the driving parameters and basic vehicle parameters of the target vehicle, wherein the driving parameters include: current position, driving speed, driving acceleration, and the basic vehicle parameters include: vehicle length, vehicle width, and vehicle height; Determine the overall driving route of the target vehicle using a path planning algorithm based on the current location and final destination of the target vehicle; Obtaining the straight-line distance from the current position of the target vehicle along the overall driving route to the predetermined route planning point to obtain the pre-occupied driving route length; Taking the overall driving route as a reference, half of the lane width extending to both sides is the lane width; The pre-occupied driving space is generated based on the pre-occupied driving route length and the lane width.

3. The collision avoidance method according to claim 1, characterized in that: The steps of preliminarily screening surrounding vehicles and generating a set of possible conflicting vehicles include: According to the distance limit strategy, vehicles whose straight-line distance to the target vehicle is less than the vehicle straight-line distance limit are screened out from the vehicles that have entered the conflict judgment area to obtain an initial screened vehicle set; Based on the angle between the forward direction of the target vehicle and the direction of the connection of the vehicles to be determined in the initial screening vehicle set, the vehicles in the forward direction of the target vehicle are screened out from the initial screening vehicle set to generate a set of possible conflicting vehicles.

4. The collision avoidance method according to claim 3, characterized in that: Also includes: Calculating an initial straight-line distance limit based on the maximum speed and emergency braking performance of the target vehicle; Based on the vehicle type and size of the target vehicle, adjusting the initial straight-line distance limit to obtain an initial straight-line distance limit; The initial straight-line distance limit is adjusted according to the current road conditions and road traffic environment to obtain the vehicle straight-line distance limit.

5. The collision avoidance method according to claim 1, characterized in that: The step of determining whether each vehicle in the set of possible conflicting vehicles overlaps with the pre-occupied driving space of the target vehicle comprises: A polygon overlap judgment algorithm is adopted to judge the overlap of the pre-occupied driving space between the target vehicle and each vehicle in the set of possible conflicting vehicles.

6. The collision avoidance method according to claim 5, characterized in that: After determining whether each vehicle in the set of possible conflicting vehicles overlaps with the pre-occupied driving space of the target vehicle, the method further includes: If they overlap, the target vehicle is controlled to wait for a predetermined interval to avoid collision; If there is no overlap, continue to determine the next vehicle in the set of possible conflicting vehicles until it is confirmed that all vehicles in the set of possible conflicting vehicles have no conflict with the target vehicle.

7. The collision avoidance method according to claim 1, characterized in that: The step of controlling the target vehicle to travel in sections according to the staged travel target points, and updating the travel target point of the next stage according to the real-time position of the target vehicle after each section of travel is completed, comprises: Generate a driving instruction, wherein the driving instruction is used to instruct the target vehicle to start from the current position and drive to a staged driving target point, and the driving instruction includes: vehicle driving speed, acceleration, and driving direction; During the driving process, the state information of the target vehicle is updated, wherein the state information at least includes: the real-time position, speed and acceleration of the vehicle; When the target vehicle reaches a staged driving target point, the real-time position of the target vehicle is re-evaluated, and the next round of conflict judgment and driving target point update is performed.

8. The collision avoidance method according to claim 1, characterized in that: The staged driving target points are generated in the following manner, including: Dividing the overall driving route of the target vehicle into a plurality of continuous sections; In each divided continuous road section, determine the staged driving target point; After the target vehicle is detected to have arrived at any of the driving target points, the driving target point for the next stage is updated according to the real-time position of the target vehicle, the remaining driving route and the road traffic network conditions.

9. A collision avoidance device simulating a vehicle in motion, characterized in that: Applied to vehicle control systems where system simulation models are deployed, including: An occupied driving space generating unit is used to generate a pre-occupied driving space including a future travel path of the target vehicle according to the current position of the target vehicle, the length of the pre-occupied route and the overall travel route when a target vehicle is detected to enter the conflict judgment area; A vehicle screening unit is used to perform a preliminary screening of surrounding vehicles and generate a set of possible conflicting vehicles; a conflict judgment unit, configured to judge the overlap between each vehicle in the set of possible conflicting vehicles and the pre-occupied driving space of the target vehicle, and control the target vehicle to travel along the pre-occupied route to reach a staged driving target point after confirming that all vehicles in the set of possible conflicting vehicles have no conflict with the target vehicle; The segmented driving unit is used to control the target vehicle to drive in segments according to the staged driving target points. After each segment of driving is completed, the driving target point of the next stage is updated according to the real-time position of the target vehicle.

10. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the collision avoidance method in the process of simulating vehicle driving as described in any one of claims 1 to 8.

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