Vehicle risk avoiding method, vehicle, storage medium and program product

Abstract

The invention discloses a vehicle risk avoiding method, a vehicle, a storage medium and a program product, and relates to the technical field of vehicle risk avoiding control, and the method comprises the steps: obtaining the rear vehicle information and adjacent lane information of the vehicle under the condition that the vehicle is in a parking state; determining a risk collision level of the rear vehicle based on the rear vehicle information; and based on the risk collision level, the adjacent lane information and a preset risk avoiding strategy, controlling the vehicle to avoid risks. The technical problem that in the related technology, when the vehicle is in the parking state, urgent danger avoiding is difficult to effectively conduct can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle risk avoidance control, and in particular to a vehicle risk avoidance method, a vehicle, a storage medium, and a program product. Background Art

[0002] In related technologies, a vehicle can monitor the status of the vehicle behind it in real time through a radar installed on the rear side of the vehicle while driving. When it detects that a vehicle is approaching quickly from behind and there is a risk of being rear-ended, an alarm message is issued and the hazard warning lights are turned on to remind the vehicle behind to slow down or maintain a safe distance.

[0003] However, the above-mentioned technology is aimed at risk avoidance during vehicle driving. When the vehicle is in a stopped state due to waiting for traffic lights, congestion ahead, etc. and there are fast-approaching vehicles in the traffic flow behind, if there are no effective risk avoidance measures, it will bring a collision threat to the vehicle and affect the personal safety of the driver and passengers. Summary of the invention

[0004] The main purpose of this application is to provide a vehicle avoidance method, a vehicle, a storage medium and a program product, aiming to solve the technical problem in the related art that it is difficult to effectively perform emergency avoidance when the vehicle is in a parked state.

[0005] To achieve the above purpose, the present application proposes a vehicle risk avoidance method, which includes:

[0006] When the vehicle is in a parking state, obtaining rear vehicle information and adjacent lane information of the vehicle;

[0007] Based on the rear vehicle information, determine the risk collision level of the rear vehicle;

[0008] The vehicle is controlled to avoid risks based on the risk collision level, adjacent lane information and preset avoidance strategies.

[0009] In one embodiment, the rear vehicle information includes the model of the rear vehicle, the speed of the rear vehicle, the acceleration of the rear vehicle, and the distance between the front of the rear vehicle and the rear of the vehicle;

[0010] The steps of determining the risk collision level of the rear vehicle based on the rear vehicle information include:

[0011] Based on the vehicle type, determine the vehicle weight of the vehicle behind;

[0012] Determine the collision speed of the rear vehicle when it collides with the vehicle based on the vehicle speed, acceleration and vehicle distance;

[0013] Determine the impact force of the rear vehicle collision based on the collision speed and vehicle weight;

[0014] Based on the collision impact force, the risk collision level of the rear vehicle is determined.

[0015] In one embodiment, the risk collision level includes a low collision risk, a medium collision risk, and a high collision risk;

[0016] Based on the risk collision level, adjacent lane information and preset risk avoidance strategy, the steps of controlling the vehicle to avoid risk include:

[0017] Based on the adjacent lane information, determine whether there are parked vehicles in the left lane and the right lane of the vehicle respectively;

[0018] If there are no parked vehicles in the left lane or the right lane, control the vehicle to move into the adjacent lane where no vehicles are parked;

[0019] When there are vehicles parked in both the left and right lanes, the vehicle is controlled to avoid danger based on the risk collision level and preset avoidance strategy.

[0020] In one embodiment, when there are vehicles parked in both the left lane and the right lane, based on the risk collision level and the preset risk avoidance strategy, the steps of controlling the vehicle to avoid the risk include:

[0021] When the risk collision level is low, the vehicle is controlled to remain in a parking state;

[0022] When the risk collision level is a medium collision risk or a high collision risk, determine the avoidable space of the lane where the vehicle is located and the distribution information of the vehicle's drivers and passengers; the avoidable space includes the space between the front of the vehicle and the rear of the vehicle in front;

[0023] Based on the distribution information of drivers and passengers, the vehicle is controlled to avoid danger in the avoidable space.

[0024] In one embodiment, before the step of controlling the vehicle to avoid danger, the step further includes:

[0025] When the vehicle is in an ignition-off state, the engine of the vehicle is controlled to restart and the gear position of the vehicle is adjusted to a forward gear state.

[0026] In one embodiment, the step of obtaining the rear vehicle information of the vehicle includes:

[0027] The rear view image acquisition device and / or the side rear view image acquisition device acquire rear vehicle information; the rear view image acquisition device is arranged in the middle of the top of the rear windshield of the vehicle.

[0028] In one embodiment, the vehicle risk avoidance method further includes:

[0029] Output risk avoidance prompt information.

[0030] In addition, to achieve the above objectives, the present application also proposes a vehicle, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle risk avoidance method as described above.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle risk avoidance method as described above are implemented.

[0032] In addition, to implement the above steps, the present application also proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the vehicle risk avoidance method as described above are implemented.

[0033] One or more technical solutions proposed in this application have at least the following technical effects:

[0034] The vehicle avoidance method proposed in the present application can obtain the rear vehicle information and adjacent lane information of the vehicle when the vehicle is in a parked state; and determine the possible risk collision level of the rear vehicle based on the rear vehicle information; thereby, the vehicle can be controlled to avoid risks based on the risk collision level, adjacent lane information and preset avoidance strategies. When the vehicle is in a parked state and a collision may occur, an effective avoidance strategy can be provided in advance to avoid the rear vehicle to ensure the safety of the driver and passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the vehicle risk avoidance method of the present application;

[0038] Figure 2 It is a detailed flow chart of step S200;

[0039] Figure 3 A schematic diagram of the device structure of the hardware operating environment involved in the vehicle risk avoidance method in the embodiment of the present application;

[0040] Figure 4is a system architecture diagram of an example fuel vehicle;

[0041] Figure 5 A system architecture diagram of an example electric vehicle.

[0042] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0044] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0045] The main solution of the embodiment of the present application is: when the vehicle is in a parked state, obtaining the rear vehicle information and adjacent lane information of the vehicle; determining the risk collision level of the rear vehicle based on the rear vehicle information; and controlling the vehicle to avoid risks based on the risk collision level, adjacent lane information and a preset risk avoidance strategy.

[0046] In related technologies, a vehicle can monitor the status of the vehicle behind it in real time through a radar installed on the rear side of the vehicle while driving. When it detects that a vehicle is approaching quickly from behind and there is a risk of being rear-ended, an alarm message is issued and the hazard warning lights are turned on to remind the vehicle behind to slow down or maintain a safe distance.

[0047] However, the above-mentioned technology is aimed at risk avoidance during vehicle driving. When the vehicle is in a stopped state due to waiting for traffic lights, congestion ahead, etc. and there are fast-approaching vehicles in the traffic flow behind, if there are no effective risk avoidance measures, it will bring a collision threat to the vehicle and affect the personal safety of the driver and passengers.

[0048] The present application provides a solution, which can obtain the rear vehicle information and adjacent lane information of the vehicle when the vehicle is in a parked state; predict the risk collision level of the rear vehicle based on the rear vehicle information; thereby, the vehicle avoidance operation can be performed in a targeted manner based on a preset avoidance strategy. When the vehicle is in a parked state and a collision may occur, an effective avoidance strategy can be provided in advance to avoid the rear vehicle, so as to ensure the safety of the driver and passengers.

[0049] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, etc., or an electronic device capable of realizing the above functions, etc. The following takes the vehicle controller as an example to illustrate this embodiment and the following embodiments.

[0050] Based on this, the present application embodiment provides a vehicle risk avoidance method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle risk avoidance method of the present application.

[0051] In this embodiment, the vehicle risk avoidance method may include steps S100 to S300:

[0052] Step S100: When the vehicle is in a parking state, the rear vehicle information and adjacent lane information of the vehicle are obtained.

[0053] Step S200: determining the risk collision level of the rear vehicle based on the rear vehicle information.

[0054] Step S300, controlling the vehicle to avoid danger based on the risk collision level, adjacent lane information and a preset avoidance strategy.

[0055] Specifically, when a vehicle is waiting for a traffic light, there is congestion ahead, or an accident occurs ahead, it will be in a parking state, that is, the vehicle is stationary; if an abnormally moving vehicle appears behind the vehicle at this time, it will pose a collision threat to the vehicle itself. Therefore, when the vehicle is in a parking state, the vehicle's rear vehicle information and adjacent lane information can be obtained to provide data support for subsequent risk assessment and risk avoidance decisions, and to control the vehicle to take risk avoidance actions in a timely manner. In a feasible implementation, the rear vehicle information collected by the rear view image acquisition device and / or the side rear view image acquisition device can be obtained; wherein the side rear view image acquisition device can be set on the side of the vehicle body and facing the rear, and the rear view image acquisition device is set at the top center of the rear windshield of the vehicle. Among them, setting the rear view image acquisition device at the top of the windshield can provide a wide and perpendicular field of view to the vehicle's driving direction (especially the rear of the vehicle). This position can maximize the avoidance of being blocked by other parts of the vehicle (such as luggage racks, etc.), ensuring that the rear vehicle information behind the vehicle is collected more accurately. In addition, the rear view image acquisition device is set on the top of the rear windshield of the vehicle, such as in the middle position, which can also increase the field of view to reduce the probability of the rear view image acquisition device being completely blocked by the rear vehicle, so as to collect the movements of dangerous vehicles such as large trucks behind as much as possible. The side rear view image acquisition device is located on the side of the vehicle body facing the rear, which not only helps to capture the rear vehicle information behind the vehicle, but also can collect the adjacent lane information, so as to better judge the safety of the side vehicles and adjacent lanes.

[0056] Of course, in other feasible implementations, the rear vehicle information can also be obtained based on the vehicle-to-everything (V2X) technology. The vehicle-to-everything technology shares traffic information in real time through communication between vehicles and vehicles, and vehicles and infrastructure (such as traffic lights, road signs, etc.); for example, the rear vehicle can provide relevant information (such as distance, speed, acceleration, etc.) to the front vehicle through V2X technology. Even if other vehicles cannot be directly seen or detected, the vehicle can still obtain the traffic conditions behind in advance; or the rear vehicle information can also be obtained through third-party navigation software.

[0057] After obtaining the rear vehicle information of the vehicle, the potential collision risk of the rear vehicle can be evaluated based on the rear vehicle information, thereby providing support for the vehicle's risk avoidance decision. The rear vehicle information may include the model of the rear vehicle, the speed of the rear vehicle, the acceleration of the rear vehicle, and the distance between the front of the rear vehicle and the rear of the vehicle; in a feasible implementation, step S200 may specifically include steps S210 to S240 to determine the risk collision level of the rear vehicle, such as Figure 2 As shown, Figure 2 It is a detailed flowchart of step S200.

[0058] Step S210, determining the vehicle weight of the rear vehicle based on the vehicle model.

[0059] Step S220, determining the collision speed of the rear vehicle when the rear vehicle collides with the vehicle based on the vehicle speed, acceleration and vehicle distance.

[0060] Step S230, determining the collision impact force of the rear vehicle based on the collision speed and the vehicle weight.

[0061] Step S240: determining the risk collision level of the rear vehicle based on the collision impact force.

[0062] It can be understood that the model of the rear vehicle reflects the basic structure of the rear vehicle, and its approximate vehicle weight can be found or estimated based on the model; for example, different models (super-large trucks, trucks, large trucks, small trucks, MPVs, SUVs, sedans, etc.) and weight parameter mapping tables corresponding to different models can be pre-set. After the model of the rear vehicle is obtained through the rear view image acquisition device and / or the side rear view image acquisition device, the vehicle weight of the rear vehicle can be determined by searching the mapping table accordingly; or a trained neural network is used to estimate the weight of the rear vehicle based on the obtained model to obtain the corresponding vehicle weight; the collision speed when the current vehicle collides with the rear vehicle can be regarded as the comprehensive result of the relative motion speed between the rear vehicle and the self-vehicle, according to the calculation formula: The instantaneous speed of the rear vehicle when it collides with the vehicle itself (i.e., the collision speed) can be calculated; in the above formula, a is the acceleration of the rear vehicle, S is the distance between the front of the rear vehicle and the rear of the vehicle, v1 is the speed of the rear vehicle, and v2 is the collision speed when the rear vehicle collides with the vehicle itself.

[0063] Combined with the collision speed and weight of the rear vehicle, the collision impact force of the rear vehicle is determined. The collision impact force can be expressed in the form of momentum: P = mv2; where m is the weight of the rear vehicle, and P is the momentum of the rear vehicle when it collides. The greater the momentum, the greater the collision impact force brought by the rear vehicle, and the smaller the momentum, the smaller the collision impact force of the rear vehicle. Therefore, the risk collision level of the rear vehicle can be determined according to the magnitude of the collision impact force of the rear vehicle, so as to control the vehicle to take different risk avoidance measures for different risk collision levels.

[0064] In addition, after determining the risk collision level of the rear vehicle and the corresponding risk avoidance strategy, risk avoidance prompt information can be output to remind the driver that there is a risk of collision with the rear vehicle and improve the driver's alertness; the risk avoidance prompt information can be in the form of voice, text, etc., such as outputting "there is a vehicle with a risk of collision behind, please pay attention to avoid" in text form on the vehicle display screen, or reminding the driver through the vehicle voice assistant to what specific avoidance measures can be taken at present, and reminding the driver through the vibration of the steering wheel, etc. In a feasible implementation, the risk collision level can include low-level collision risk, medium-level collision risk and high-level collision risk; for example, when the first preset threshold ≤ momentum < second preset threshold, it can be determined that the rear vehicle is a low-level collision risk; when the second preset threshold ≤ momentum < third preset threshold, it can be determined that the rear vehicle is a medium-level collision risk; when the third preset threshold ≤ momentum, it can be determined that the rear vehicle is a high-level collision risk; wherein, the setting of the specific threshold can be determined according to the specifications and models of the vehicle, etc., and the collision impact force that can be tolerated by different models is different, and the corresponding risk level classification standards are also different, which is not specifically limited here. In this implementation, step S300 may specifically include steps S310 to S320:

[0065] Step S310: Based on the adjacent lane information, determine whether there are parked vehicles in the left lane and the right lane of the vehicle.

[0066] Step S320: When there is no vehicle parked in the left lane or the right lane, control the vehicle to drive into an adjacent lane where no vehicle is parked.

[0067] Step S330, when there are vehicles parked in both the left lane and the right lane, the vehicle is controlled to avoid danger based on the risk collision level and the preset avoidance strategy.

[0068] Specifically, the information of the adjacent lanes on the left and right sides of the vehicle can be collected through the vehicle's sensor equipment (such as laser radar, etc.) and the vehicle's side rear view image acquisition device, so as to determine whether there are parked vehicles in the left lane and the right lane respectively; when there is no vehicle parked on at least one side of the left lane or the right lane, the vehicle can be controlled to drive into the adjacent lane where no vehicle is parked to avoid the rear vehicle with a collision risk; and when there are vehicles parked in both the left lane and the right lane, when it is impossible to avoid to the left or right sides, the vehicle can be controlled to avoid risks based on the risk collision level and the preset risk avoidance strategy. For example, when the risk collision level is a low-level collision risk, the vehicle can be controlled to remain in the parking state; and when the risk collision level is a medium-level collision risk or a high-level collision risk, the avoidable space of the lane where the vehicle is located and the distribution information of the vehicle's drivers and passengers can be further determined, and based on the distribution information of the drivers and passengers, the vehicle can be controlled to avoid risks in the avoidable space. Among them, the avoidable space includes the space between the front of the vehicle and the rear of the vehicle in front, and the vehicle can perform avoidance operations in the avoidable space; the distribution information of the driver and passengers in the vehicle can be obtained through seat sensors, in-vehicle monitoring, etc., and in an emergency situation where a rear vehicle collision may occur, the risk avoidance measures can be optimized according to the seating positions of the drivers and passengers; for example, when there is only one driver in the vehicle, the direction of the front of the vehicle can be adjusted to reserve more space in front of the driver to reduce the degree of injury to the driver caused by the collision; the vehicle can also be controlled to turn the position without passengers toward the rear vehicle to reduce the impact of the collision on the people in the vehicle; or when the rear seat of the vehicle is full, the collision caused by the rear vehicle will put the rear passengers in a dangerous state. At this time, the direction of the vehicle can be adjusted in the avoidable space so that the side of the vehicle body faces the rear vehicle to reduce the damage caused by a direct collision.

[0069] It should be noted that when the rear vehicle poses a high-level collision risk and the above-mentioned measures are taken to adjust the position of the vehicle within the avoidable space according to the distribution information of the driver and passengers to avoid the collision risk brought by the rear vehicle, in order to avoid the high-speed vehicle impacting from the rear as much as possible, a slight scratch may be caused to the vehicle in front. However, in order to prevent the driver and passengers in the vehicle from suffering greater impact injuries, even if the current avoidance measures will cause a slight scratch to the vehicle in front, the vehicle will still be controlled to perform the above-mentioned risk avoidance operation to avoid major risks with minor losses.

[0070] In order to ensure that the vehicle can respond to the risk avoidance strategy normally and in a timely manner, before controlling the vehicle to perform the risk avoidance step, the vehicle's engine can be controlled to restart and the vehicle's gear can be adjusted to the forward gear state when the vehicle is in the flameout state. It can be understood that when the vehicle is in the flameout state, the vehicle's engine and power system are usually in a closed or inactive state, and it is difficult to ensure the vehicle's rapid response to changes in the external environment. Therefore, when the vehicle is in the flameout state, the vehicle's engine can be controlled to restart so that the vehicle can regain power; it should be noted that the flameout state generally only exists in fuel vehicles driven by the engine, so the above-mentioned operation of controlling the engine to restart is only performed when the vehicle is a fuel vehicle; for electric vehicles, there is no need for engine start control. If the vehicle is in the parking gear, neutral gear or reverse gear, it may not be possible to avoid the vehicle behind, so the vehicle gear needs to be adjusted to the forward gear state.

[0071] It is not difficult to understand that the vehicle avoidance method provided in the embodiment of the present application can obtain the rear vehicle information and adjacent lane information of the vehicle when the vehicle is in a parked state; and determine the possible risk collision level of the rear vehicle based on the rear vehicle information; thereby, the vehicle can be controlled to avoid risks based on the risk collision level, adjacent lane information and preset avoidance strategies. When the vehicle is in a parked state and a collision may occur, an effective avoidance strategy can be provided in advance to avoid the rear vehicle to ensure the safety of the driver and passengers.

[0072] In addition, when the vehicle in front of the ego vehicle is a large truck and there is also a large truck in the traffic flow behind, it may cause serious pinching damage to the ego vehicle, and the rollover of the large truck will also cause great damage to the ego vehicle. Therefore, when it is detected that the vehicle in front of the ego vehicle is a large truck, the rear vehicle information of the rear area of ​​the ego vehicle is obtained. The rear area can be the area behind the ego vehicle, in the same lane as the ego vehicle, and composed of n adjacent lanes on both sides of the lane. The length of the rear area along the vehicle's driving direction is the first preset length, and the width perpendicular to the vehicle's driving direction is (2n+1)×lane width, where n is the number of adjacent lanes on either side.

[0073] The vehicle image of the vehicle in front can be obtained through the vehicle-mounted forward-looking camera of the vehicle, and the distance between the vehicle in front and the vehicle can be obtained through the front radar of the vehicle; thus, the actual width and actual height of the vehicle in front can be determined based on the vehicle image and the distance. For example, the vehicle size in the image can be obtained through the vehicle image of the vehicle in front, and then the vehicle size in the image is converted into the actual width and actual height of the vehicle in front according to the distance, and the conversion can be obtained through a trained conversion model. The actual width and actual height of the vehicle in front are then input into the pre-trained size calculation model to determine whether the vehicle in front is a large truck; wherein, the input of the training sample set of the size calculation model is the actual width and actual height of the vehicle, and the output is the vehicle type, which includes small cars, medium-sized cars, large and medium-sized cars, MPVs, pickup trucks, large trucks, etc.

[0074] In addition, in a feasible implementation, it is also possible to determine whether the front vehicle is equipped with an anti-collision device based on the vehicle image; the anti-collision device can be an anti-collision plate or an anti-collision beam. If the front vehicle of the self-vehicle is equipped with an anti-collision plate or an anti-collision beam at its rear, it can effectively protect the self-vehicle. When a large truck is speeding behind the self-vehicle, the anti-collision plate or anti-collision beam can protect the self-vehicle so that the self-vehicle is not so easily squeezed into the bottom of the large truck in front, reducing the possibility of "sandwich" or truck rollover. By extracting the features of the anti-collision beam or anti-collision plate in the vehicle image, it is determined whether the vehicle is equipped with an anti-collision plate or an anti-collision beam. When the front vehicle is a large truck and does not have an anti-collision device, the vehicle information of the rear vehicle can be obtained to determine whether there is a large truck that needs to be avoided in the rear traffic. The rear vehicle information can be obtained by the aforementioned side rear view image acquisition device and rear view image acquisition device, or can also be obtained by the vehicle from the cloud. The cloud stores vehicle information of all vehicles in the rear area, where the vehicle information may include the type of vehicle, vehicle weight (load plus deadweight), real-time speed of the vehicle, direction of travel of the vehicle and braking condition of the vehicle. The vehicle type can be sent to the cloud through the vehicle computer, the real-time speed is sent to the cloud by reading the instrument information, the direction of travel is sent to the cloud by reading the steering wheel information, and the braking condition is sent to the cloud by reading the foot brake or hand brake information.

[0075] All vehicle information in the rear area can be obtained from the cloud. When the vehicle model is a large truck and the real-time speed of the vehicle entering the boundary line of the rear area is greater than the first speed threshold, the rear vehicle can be locked as a temporary target vehicle. After receiving the braking information of the temporary target vehicle, the vehicle weight and its speed change rate of the temporary target vehicle can be obtained. At the same time, the parking situation behind the own vehicle can be judged (the parking situation can be divided into whether there are other cars parked behind the own vehicle and no other cars parked behind the own vehicle). Therefore, the braking distance when the speed of the temporary target vehicle is 0 can be determined according to the speed change rate and vehicle weight of the temporary target vehicle, and whether the temporary target vehicle will have a windshield can be judged by the braking distance. risk; for example, when there are other cars parked behind the ego vehicle and the braking distance is greater than the first safety distance, it can be determined that the temporary target vehicle is at risk; when there are no other cars parked behind the ego vehicle and the braking distance is greater than the second safety distance, it is determined that the temporary target vehicle is at risk; wherein the second safety distance is the distance between the rear of the ego vehicle and the temporary target vehicle; the first safety distance is the distance between the rear of the last car parked behind the ego vehicle and the temporary target vehicle, which can be obtained by subtracting the stopping distance from the second safety distance. The stopping distance is the sum of the lengths of all cars parked behind the ego vehicle, which can be calculated based on the image taken by the rear-view camera installed as high as possible above the rear windshield of the ego vehicle and the shooting angle.

[0076] When there is a risk with the provisional target vehicle and the provisional target vehicle is in the same lane as the ego vehicle, the provisional target vehicle can be marked as a Class I target vehicle; Class I target vehicles correspond to the risk of being pinched by trucks. For Class I target vehicles, the adjacent lane information on both sides of the vehicle can be obtained. If there is no other vehicle parked on at least one side of the adjacent lanes on both sides, a reminder signal can be sent to the driver to quickly drive the ego vehicle into the adjacent lane where no other vehicles are parked; if there are other vehicles parked on both sides of the adjacent lanes, the drivable space on both sides is obtained, and a reminder is sent to the driver to quickly drive the front of the ego vehicle into the space on the side with the larger drivable space so that the ego vehicle faces the Class I target vehicle sideways, and a reminder signal is sent to the driver to quickly leave the cockpit; thereby, the danger of the ego vehicle being pinched on both sides by the large truck in front and the large truck coming from the same lane from the rear can be avoided.

[0077] When the tentative target vehicle is at risk and is in another lane adjacent to the ego vehicle, the tentative target vehicle can be determined as a Class II target vehicle, which corresponds to the risk of a truck rollover; when a braking signal from a Class II target vehicle is received and the driving direction of the Class II target vehicle suddenly changes toward the direction of the ego vehicle's lane, the Class II target vehicle is calibrated as a Class I or II target vehicle; Class I or II target vehicles correspond to the possible rollover risk of large trucks changing lanes quickly; specifically, the rate of change of the driving direction of the Class II target vehicle can be obtained through a sensor installed on the steering wheel and uploaded to the cloud, so that the ego vehicle can obtain the above information from the cloud to determine whether the driving direction of the Class II target vehicle has suddenly changed. For Class I or II target vehicles, it can be determined whether there are other vehicles parked in the lane away from the offset direction of the Class I or II target vehicles. When there are no other vehicles parked, a reminder message can be issued to quickly drive the ego vehicle into the lane farthest from the offset direction of the Class I or II target vehicles. When the braking signal of the second-class target vehicle is received, the curvature of the road where the self-vehicle is parked can be obtained; wherein, the curvature of the lane of the self-vehicle is the same as the curvature of the adjacent lanes on both sides; when the curvature of the road where the self-vehicle is parked is greater than the preset curvature value, the second-class target vehicle can be calibrated as the second-class target vehicle; the second-class target vehicle corresponds to the rollover risk that may occur when a large truck brakes on a curve. For the second-class target vehicle, it can be determined whether there are other vehicles parked in the lanes inside and outside the curved direction of the road where the self-vehicle is parked. When there are no other vehicles parked on either side (inside or outside), a reminder message can be issued to quickly drive the self-vehicle into the lane farthest from the curved direction. In this way, the danger of the self-vehicle being crushed by the large truck coming from the adjacent lane behind due to an emergency lane change or a sharp turn caused by the truck rollover.

[0078] The present application provides a vehicle, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle risk avoidance method in the above-mentioned embodiment one.

[0079] Reference below Figure 3 , which shows a schematic diagram of the structure of a vehicle suitable for implementing the embodiment of the present application. The vehicle in the embodiment of the present application may include but is not limited to a mobile terminal such as a vehicle-mounted terminal (such as a vehicle-mounted navigation terminal). Figure 3 The vehicle shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0080] like Figure 3As shown, the vehicle may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for vehicle operation are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0081] For easier understanding, please refer to Figure 4 , Figure 4A system architecture diagram of an exemplary fuel vehicle is provided, specifically: the fuel vehicle may include an information acquisition system 10, a vehicle control system 20 and a risk avoidance execution system 30; wherein the information acquisition system may include an image acquisition module 11 and a radar module 12, etc., the image acquisition module 11 may include the aforementioned side rear view image acquisition device and rear view image acquisition device, for obtaining the rear vehicle information of the vehicle, and may also include a front view image acquisition device, for obtaining the vehicle information in front of the vehicle; the radar module 12 may include a laser radar, etc., which can help determine the distance between the vehicle and the vehicle in front and the vehicle status of the adjacent lanes on both sides of the vehicle, so as to facilitate the acquisition of more comprehensive vehicle information for risk collision assessment; the vehicle control system 20 may include a vehicle controller 21, and the vehicle controller 21 may perform the collision risk assessment in the above-mentioned vehicle risk avoidance method (i.e., determining the risk collision of the rear vehicle The risk avoidance execution system 30 can perform risk avoidance actions according to the instructions output by the vehicle control system 20; wherein, the risk avoidance execution system 30 may include components such as an on-board display screen 31, a steering wheel 32, an engine 33, an accelerator 34, and a brake 35. The above-mentioned components work closely together to ensure that the vehicle can respond quickly and effectively in an emergency. The on-board display screen 31 can output risk avoidance prompt information to provide risk avoidance information and guidance. The steering wheel 32 controls the offset direction of the vehicle. The engine 33 provides the power response of the fuel vehicle. The accelerator 34 and the brake 35 jointly adjust the speed and motion trajectory of the vehicle. These components of the risk avoidance execution system 30 work together, which can not only help the driver avoid danger, but also realize efficient and autonomous risk avoidance operations in automatic driving.

[0082] Figure 5 An example system architecture diagram of an electric vehicle is provided, such as Figure 5 As shown, similar to a fuel vehicle, the electric vehicle may also include an information acquisition system 10, a vehicle control system 20 and a risk avoidance execution system 30; wherein the information acquisition system may include an image acquisition module 11 and a radar module 12, etc.; the vehicle control system 20 may include a vehicle controller 21; and since the electric vehicle does not need to perform an engine restart operation, compared to a fuel vehicle, the risk avoidance execution system 30 of the electric vehicle may only include components such as a vehicle display screen 31, a steering wheel 32, an accelerator 34, and a brake 35; the detailed description of the above systems can be referred to Figure 4 The description of each component will not be repeated here.

[0083] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0084] The vehicle provided by the present application adopts the vehicle avoidance method in the above embodiment, which can solve the technical problem in the related art that it is difficult to effectively perform emergency avoidance when the vehicle is in a parking state. Compared with the related art, the beneficial effects of the vehicle provided by the present application are the same as the beneficial effects of the vehicle avoidance method provided by the above embodiment, and the other technical features of the vehicle are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0085] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0086] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0087] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the vehicle risk avoidance method in the above-mentioned embodiment.

[0088] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0089] The computer-readable storage medium may be included in the vehicle, or may exist independently without being installed in the vehicle.

[0090] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle, the vehicle: obtains the rear vehicle information and adjacent lane information of the vehicle when the vehicle is in a parking state; determines the risk collision level of the rear vehicle based on the rear vehicle information; and controls the vehicle to avoid risks based on the risk collision level, adjacent lane information and a preset risk avoidance strategy.

[0091] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0092] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0093] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0094] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle avoidance method, and can solve the technical problem in the related art that it is difficult to effectively perform emergency avoidance when the vehicle is in a parking state. Compared with the related art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vehicle avoidance method provided by the above-mentioned embodiment, and will not be repeated here.

[0095] The present application also provides a computer program product, including a computer program, which implements the steps of the vehicle risk avoidance method as described above when executed by a processor.

[0096] The computer program product provided by this application can solve the technical problem in the related art that it is difficult to effectively perform emergency avoidance when the vehicle is in a parked state. Compared with the related art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the vehicle avoidance method provided by the above embodiment, and will not be repeated here.

[0097] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle risk avoidance method, characterized in that: The vehicle risk avoidance method comprises: When the vehicle is in a parking state, obtaining rear vehicle information and adjacent lane information of the vehicle; Determining a risk collision level of the rear vehicle based on the rear vehicle information; Based on the risk collision level, the adjacent lane information and a preset risk avoidance strategy, the vehicle is controlled to avoid the risk.

2. The vehicle risk avoidance method according to claim 1, characterized in that: The rear vehicle information includes the model of the rear vehicle, the speed of the rear vehicle, the acceleration of the rear vehicle, and the distance between the front of the rear vehicle and the rear of the vehicle; The step of determining the risk collision level of the rear vehicle based on the rear vehicle information comprises: Based on the vehicle type, determining the vehicle weight of the rear vehicle; determining a collision speed when the rear vehicle collides with the vehicle based on the vehicle speed, the acceleration and the vehicle distance; Determining a collision impact force of the rear vehicle based on the collision speed and the vehicle weight; Based on the collision impact force, a risk collision level of the rear vehicle is determined.

3. The vehicle risk avoidance method according to claim 1, characterized in that: The risk collision levels include low-level collision risk, medium-level collision risk and high-level collision risk; The step of controlling the vehicle to avoid danger based on the risk collision level, the adjacent lane information and the preset avoidance strategy includes: Based on the adjacent lane information, determining whether there are vehicles parked in the left lane and the right lane of the vehicle respectively; When no vehicle is parked in the left lane or the right lane, controlling the vehicle to drive into an adjacent lane where no vehicle is parked; In the case where both the left lane and the right lane have parked vehicles, the vehicle is controlled to avoid danger based on the risk collision level and a preset avoidance strategy.

4. The vehicle risk avoidance method according to claim 3, characterized in that: In the case where both the left lane and the right lane have parked vehicles, the step of controlling the vehicle to avoid danger based on the risk collision level and the preset avoidance strategy includes: When the risk collision level is a low-level collision risk, controlling the vehicle to maintain a parking state; When the risk collision level is a medium collision risk or a high collision risk, determining the avoidable space of the lane where the vehicle is located and the distribution information of the driver and passengers of the vehicle; the avoidable space includes the space between the front of the vehicle and the rear of the vehicle in front; Based on the driver and passenger distribution information, the vehicle is controlled to avoid danger in the avoidable space.

5. The vehicle risk avoidance method according to claim 1, characterized in that: Before the step of controlling the vehicle to avoid danger, the step further includes: When the vehicle is in an ignition-off state, the engine of the vehicle is controlled to restart and the gear position of the vehicle is adjusted to a forward gear state.

6. The vehicle risk avoidance method according to claim 1, characterized in that: The step of obtaining the rear vehicle information of the vehicle comprises: A rear view image acquisition device and / or a side rear view image acquisition device is used to acquire the rear vehicle information; the rear view image acquisition device is arranged in the middle of the top of the rear windshield of the vehicle.

7. The vehicle risk avoidance method according to any one of claims 1 to 6, characterized in that: The vehicle risk avoidance method further comprises: Output risk avoidance prompt information.

8. A vehicle, characterized in that: The vehicle comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle risk avoidance method according to any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle risk avoidance method according to any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the vehicle risk avoidance method according to any one of claims 1 to 7 are implemented.

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