Vehicle emergency collision avoidance control method and system

Abstract

The application provides a vehicle emergency anti-collision control method and system, and relates to the technical field of vehicle anti-collision control. The method comprises the following steps: obtaining whether the vehicle and the obstacle in front of the vehicle lane exist a collision risk; if the collision risk still exists after braking the vehicle, obtaining the information of the obstacle on the adjacent lane of the vehicle lane, and starting the AES function to control the steering of the vehicle; judging whether the collision risk exists when the vehicle is controlled to steer, if the collision risk exists, respectively evaluating the collision severity of the collision between the vehicle and the obstacle in front of the vehicle lane and the collision severity of the collision between the vehicle and the obstacle on the adjacent lane, and selecting the direction with the minimum collision severity to collide. When the steering condition is met, the steering is performed in time, and when the steering condition is not met, the damage degree of the collision between the vehicle and the front vehicle or the lane-changing vehicle is evaluated, so that it is determined whether the vehicle collides with the front vehicle or the lane-changing vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle anti-collision control, and in particular relates to a vehicle emergency anti-collision control method and system. Background Art

[0002] With the development of the automotive industry, cars have become a necessity in our lives. With the increasing maturity of assisted driving technology, safety and collision avoidance are crucial for cars. Most vehicles today widely use Automatic Emergency Braking (AEB) and Automatic Emergency Steering (AES).

[0003] Automatic Emergency Braking System AEB: Commonly used emergency braking systems use cameras and radars placed in front of the vehicle to obtain the following vehicle status parameters, vehicle parameters, and environmental parameters to comprehensively judge the safety status of the vehicle and the vehicle in front. If it is determined that there is a risk of collision, the car will be controlled to brake and slow down to avoid colliding with the vehicle in front.

[0004] Automatic Emergency Steering System (AES): This function uses on-board sensors to obtain information about the external environment around the vehicle and the vehicle's own driving status. The sensors then plan a reasonable steering and collision avoidance path based on these information parameters, thereby eliminating the possibility of dangerous collisions of the vehicle.

[0005] However, these currently used technologies all solely control vehicle braking or steering, making them inadequate for complex real-world traffic conditions. For example, a Chinese invention patent application, published under the publication number CN 112406820 A and titled "Multi-Lane Enhanced Automatic Emergency Braking System Control Method," discloses the following: Currently, AEB systems only determine the motion state of objects ahead within their lane to determine whether to initiate automatic braking. If it determines that the vehicle cannot safely steer into an adjacent lane and the risk of collision with the preceding vehicle is unavoidable, the perception fusion and planning decision module adds a time increment to the original braking timing as the start time for braking, and sends a control command to the brake system control module accordingly.

[0006] As can be seen, the above technical solution still relies on single braking control of the vehicle, but it only applies the brakes in advance. Although this solution can achieve a higher braking acceleration and avoid collisions to a certain extent, the increase in braking acceleration cannot completely avoid collisions. When the vehicle is traveling at a high speed and the distance to the vehicle ahead is close, a more severe collision with the vehicle ahead will still occur. Summary of the Invention

[0007] In order to overcome the above-mentioned deficiencies of the prior art, the present application provides a vehicle emergency anti-collision control method and system, which not only considers the case that the host vehicle rear-ends the front vehicle, but also considers the case that the rear vehicle rear-ends the host vehicle, and judges the conditions of steering and lane changing, and when the steering condition is met, the host vehicle is timely steered, and when the steering condition is not met, the damage degree of the host vehicle when colliding with the front vehicle or the lane-changing vehicle is evaluated, and accordingly it is determined whether the host vehicle collides with the front vehicle or the lane-changing vehicle.

[0008] In order to achieve the above-mentioned purpose, one or more embodiments of the present application provide the following technical solutions:

[0009] The present application provides a vehicle emergency anti-collision control method.

[0010] The vehicle emergency anti-collision control method comprises a front obstacle emergency anti-collision control method, and specifically comprises the following steps:

[0011] Obtain information of the host vehicle and the front obstacle of the host lane, judge whether there is a collision risk between the two, and if there is a collision risk, start the AEB function to control the braking of the host vehicle;

[0012] If there is still a collision risk with the front obstacle of the host lane after braking the host vehicle, obtain information of the obstacle on the adjacent lane of the host lane, and start the AES function to control the steering of the host vehicle;

[0013] Judge whether there is a collision risk with the obstacle on the adjacent lane when the host vehicle is controlled to steer, and if there is, respectively evaluate the collision severity of the host vehicle colliding with the front obstacle of the host lane and the collision severity of the host vehicle colliding with the obstacle on the adjacent lane, and select the direction with the smallest collision severity to collide.

[0014] As an optional technical solution, the information of the host vehicle and the front obstacle of the host lane is obtained, and it is judged whether there is a collision risk between the two, and if there is a collision risk, the AEB function is started to control the braking of the host vehicle, specifically comprising:

[0015] The speed and distance of the host vehicle and the front obstacle of the host lane are respectively obtained, and the pre-collision time of the host vehicle and the front obstacle of the host lane is calculated, the obstacle includes static obstacle and dynamic obstacle, and the dynamic obstacle includes vehicle;

[0016] The braking deceleration of the host vehicle is calculated based on the pre-collision time, and it is judged whether the braking deceleration of the host vehicle is too large:

[0017] If the braking deceleration of the host vehicle is too large, it means that there is still a collision risk with the front obstacle of the host lane after braking the host vehicle, and at this time the AES function is started to control the steering of the host vehicle;

[0018] If the vehicle's braking deceleration is within the normal range, it means that there will be no risk of collision with obstacles in front of the lane after braking the vehicle. At this time, the AEB function of the vehicle is activated for braking control.

[0019] As an optional technical solution, if there is still a risk of collision with an obstacle ahead of the vehicle after braking, information about obstacles in adjacent lanes is obtained and the AES function is activated to steer the vehicle. Specifically, the following steps are performed:

[0020] Obtain the speed and distance of obstacles to the left, left front, and left rear of the vehicle in the first lane adjacent to the left of the vehicle, and to the right, right front, and right rear of the vehicle in the second lane adjacent to the right of the vehicle. Combined with the vehicle's speed, determine whether the vehicle can safely turn and change lanes.

[0021] Determine an adjacent lane into which the vehicle can safely steer and change lanes, and steer the vehicle into the determined first or second lane based on the AES function.

[0022] As an optional technical solution, if it is determined that the vehicle cannot safely turn and change lanes, that is, if it is determined that there is a risk of collision with an obstacle in the adjacent lane after turning, then:

[0023] Calculate the first collision speed when the vehicle collides with the obstacle in front of the vehicle's lane, the second collision speed when the vehicle collides with the obstacle in the first lane adjacent to the left, and the third collision speed when the vehicle collides with the obstacle in the second lane adjacent to the right;

[0024] The minimum value among the first collision speed, the second collision speed and the third collision speed is determined, the collision direction corresponding to the minimum value is used as the direction with the least collision severity, and the vehicle is controlled to collide along the collision direction corresponding to the minimum value.

[0025] As an optional technical solution, it also includes a rear obstacle emergency collision avoidance control method:

[0026] Obtain information about the vehicle and the obstacle behind it in the lane, calculate the pre-collision time between the two, and if the pre-collision time is less than a first safety threshold, illuminate the brake lights to alert the vehicle to the obstacle behind.

[0027] If the pre-collision time is continuously less than the second safety threshold, the vehicle will be assessed for safe lane change based on the conditions of adjacent lanes.

[0028] If the vehicle can make a safe turn and lane change, the vehicle will be controlled to turn and change lanes into a safe adjacent lane.

[0029] As an optional technical solution, if the vehicle cannot safely turn and change lanes, then:

[0030] obstacle in front of the vehicle, and based on the information of the vehicle and the obstacle in front of the vehicle in the vehicle lane, determining whether there is a possibility of acceleration of the vehicle in the vehicle lane:

[0031] If there is, calculating an acceleration of the vehicle away from the rear obstacle without rear-ending the obstacle in front of the vehicle, and accelerating the vehicle;

[0032] If there is not, then:

[0033] respectively calculating a fourth collision speed when the rear obstacle in the vehicle lane collides with the vehicle, a fifth collision speed when the obstacle on the first lane adjacent to the left collides with the vehicle, and a sixth collision speed when the obstacle on the second lane adjacent to the right collides with the vehicle;

[0034] determining that if the fourth collision speed is greater than a preset personal safety speed threshold, the smaller value of the fifth collision speed and the sixth collision speed is determined, and the vehicle is controlled to collide in the direction corresponding to the smaller value.

[0035] As an alternative technical solution, if the fourth collision speed is less than the preset personal safety speed threshold, the driver is reminded of the rear vehicle by the HMI instrument, and the driver is required to take over.

[0036] The second aspect of the present application provides a vehicle emergency anti-collision control system.

[0037] The vehicle emergency anti-collision control system comprises:

[0038] A braking control module configured to obtain information of the vehicle and the obstacle in front of the vehicle in the vehicle lane, determine whether there is a collision risk between the two, and if there is a collision risk, start the AEB function to control the braking of the vehicle;

[0039] A steering control module configured to, if there is still a collision risk with the obstacle in front of the vehicle in the vehicle lane after braking the vehicle, obtain information of the obstacle on the adjacent lane of the vehicle lane, and start the AES function to control the steering of the vehicle;

[0040] A collision selection control module configured to determine whether there is a collision risk with the obstacle on the adjacent lane after the vehicle is steered, if there is, respectively evaluate the collision severity of the vehicle colliding with the obstacle in front of the vehicle lane and the collision severity of the vehicle colliding with the obstacle on the adjacent lane, and select the direction with the smallest collision severity to collide.

[0041] The third aspect of the present application provides a computer readable storage medium having a program stored thereon, the program being executed by a processor to implement the steps of the vehicle emergency anti-collision control method according to the first aspect of the present application.

[0042] The fourth aspect of the present invention provides an electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the vehicle emergency collision avoidance control method as described in the first aspect of the present invention are implemented.

[0043] One or more of the above technical solutions have the following beneficial effects:

[0044] The present invention provides a vehicle emergency collision avoidance control method and system that not only considers the situation where the vehicle in front rear-ends the vehicle in front, but also considers the situation where the vehicle behind rear-ends the vehicle in front. It also integrates the AEB system and the AES system to determine the conditions for turning and changing lanes. When the vehicle in front is in danger of colliding with the vehicle in front, if the collision risk still exists even after the AEB emergency braking is activated, the AES emergency steering function can be activated to avoid the collision: when the steering conditions are met, the steering is carried out in a timely manner; when the steering conditions are not met, if the controller calculates that the vehicle in front is in danger of colliding with the vehicle in front of the lane and the vehicle in front of the adjacent lane, it evaluates the damage level of the vehicle in the event of a collision with the vehicle in front or the adjacent lane, and accordingly determines whether the vehicle will collide with the vehicle in front or the adjacent lane.

[0045] In the event that a rear vehicle rear-ends the vehicle, the present invention illuminates the brake lights based on the pre-collision time between the rear vehicle and the vehicle. If the pre-collision time is too short, the vehicle is prioritized for turning and changing lanes. When the vehicle cannot turn and change lanes safely, consideration is given to whether it is possible to accelerate within the vehicle's lane to avoid the rear vehicle. If acceleration is not possible, and the estimated collision speed of the rear vehicle with the vehicle is too high, threatening the personal safety of the driver of the vehicle, a selective collision is performed in the adjacent lane to minimize personal injury to the driver of the vehicle and effectively avoid the rear vehicle.

[0046] The present invention comprehensively utilizes the control of ESP and EPS, and proposes a logical framework for collision avoidance and collision reduction based on vehicle-mounted sensor technology. The collision avoidance strategy adopted by the vehicle under different working conditions is determined through algorithm calculation, so it has strong adaptability and high reliability.

[0047] The present invention mainly improves the logic strategy and performance of the software algorithm, does not change the sensor layout and traditional structure of the existing car, has low cost and high feasibility.

[0048] The present invention not only avoids obstacles in front, but also takes into account the risk of rear-end collision with vehicles coming from behind, and can effectively cope with complex environments.

[0049] The present invention organically combines the automatic emergency braking system AEB and the automatic emergency steering system AES, thereby increasing the stability of the entire obstacle avoidance system.

[0050] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0052] Figure 1 This is a flow chart of the method of the first embodiment. DETAILED DESCRIPTION

[0053] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0054] It should be noted that the terms used herein are for describing particular embodiments only and are not intended to limit the exemplary embodiments according to the present invention.

[0055] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0056] Example 1

[0057] This embodiment discloses a vehicle emergency collision avoidance control method, which not only considers the situation where the vehicle rear-ends the vehicle in front, but also considers the situation where the vehicle behind rear-ends the vehicle. The overall judgment logic is:

[0058] If your vehicle rear-ends the vehicle ahead of you in the same lane:

[0059] The AEB and AES systems are integrated to determine steering and lane change conditions. If there's a risk of collision between the vehicle ahead and the vehicle ahead, and the risk persists even with AEB emergency braking activated, the AES emergency steering function can be activated to avoid the collision. When the steering conditions are met, the vehicle is steered immediately. If the steering conditions aren't met, and the controller calculates that the vehicle is at risk of collision with both the vehicle ahead in its lane and the vehicle ahead in the adjacent lane, it assesses the extent of damage from each collision, determining whether the vehicle will collide with the preceding vehicle or the adjacent vehicle.

[0060] In the case of a rear-end collision with a vehicle behind:

[0061] The brake lights are illuminated based on the pre-collision time between the rear vehicle and this vehicle. If the pre-collision time is too short, the vehicle will be given priority to turn and change lanes. When the vehicle cannot turn and change lanes safely, consider whether it can accelerate within the lane to avoid the rear vehicle. If acceleration is not possible and the estimated collision speed of the rear vehicle with this vehicle is too high, threatening the personal safety of the driver of this vehicle, a selective collision will be performed in the adjacent lane to minimize personal injury to the driver of this vehicle and effectively avoid the rear vehicle.

[0062] like Figure 1 As shown, the vehicle emergency collision avoidance control method provided in this embodiment includes a front obstacle emergency collision avoidance control method, which specifically includes the following steps:

[0063] Obtain information about the vehicle and the obstacle ahead in the lane to determine whether there is a risk of collision between the two. If there is a risk of collision, the AEB function is activated to brake the vehicle.

[0064] If there is still a risk of collision with an obstacle ahead of the vehicle after braking, the system obtains information about obstacles in adjacent lanes and activates the AES function to steer the vehicle.

[0065] Determine whether there is a risk of collision with an obstacle in the adjacent lane when the vehicle is steering. If so, evaluate the collision severity of the vehicle's collision with the obstacle in front of the lane and the collision severity of the obstacle in the adjacent lane respectively, and choose the direction with the smallest collision severity to collide.

[0066] Furthermore, in some embodiments, information about the vehicle and the obstacle ahead of the vehicle in the lane is obtained to determine whether there is a collision risk between the two. If there is a collision risk, the AEB function is activated to brake the vehicle, specifically including:

[0067] Obtaining the speed and distance of the vehicle and the obstacle in front of the lane respectively, and calculating the pre-collision time between the vehicle and the obstacle in front of the lane, wherein the obstacle includes a static obstacle and a dynamic obstacle, wherein the dynamic obstacle includes a vehicle;

[0068] Calculate the vehicle's braking deceleration based on the pre-collision time and determine whether the vehicle's braking deceleration is excessive:

[0069] If the vehicle's braking deceleration is too large, it means that there is still a risk of collision with the obstacle in front of the lane after braking. In this case, the AES function of the vehicle is activated to control the steering;

[0070] If the vehicle's braking deceleration is within the normal range, it means that there will be no risk of collision with obstacles in front of the lane after braking the vehicle. At this time, the AEB function of the vehicle is activated for braking control.

[0071] It can be understood that the pre-collision time of the host vehicle and the obstacle in front of the host lane is calculated based on the speed and distance of the host vehicle and the obstacle in front of the host lane, and the specific calculation process is well known in the art, which will not be described here. The improvement of the embodiment as a whole is the improvement of the control logic, and the calculation process known in the art can use the prior art.

[0072] In some embodiments, if there is still a risk of collision with the obstacle in front of the host lane after braking the host vehicle, the information of the obstacles on the adjacent lanes of the host lane is obtained, and the AES function is started to control the steering of the host vehicle, specifically including:

[0073] The speed and distance of the obstacles on the first lane adjacent to the left side of the host lane and on the second lane adjacent to the right side of the host lane are obtained, and the speed of the host vehicle is combined to determine whether the host vehicle can safely change lanes by steering.

[0074] The adjacent lane in which the host vehicle can safely change lanes by steering is determined, and the host vehicle is steered to change lanes into the determined first lane or second lane based on the AES function.

[0075] Here, it is considered that the lanes adjacent to the host lane have two, i.e., the first lane adjacent to the left side of the host lane and the second lane adjacent to the right side of the host lane. When the host vehicle is steered to change lanes into the determined first lane or second lane based on the AES function, the original control mode of the AES can be used.

[0076] The speed and distance of the obstacles on the first lane adjacent to the left side of the host lane and on the second lane adjacent to the right side of the host lane are obtained, and the speed of the host vehicle is combined to determine whether the host vehicle can safely change lanes by steering.

[0077] In some embodiments, if it is determined that the host vehicle cannot safely change lanes by steering, i.e., it is determined that there is a risk of collision with the obstacles in the adjacent lanes after steering, then:

[0078] The first collision speed when the host vehicle collides with the obstacle in front of the host lane, the second collision speed when the host vehicle collides with the obstacle on the first lane adjacent to the left side, and the third collision speed when the host vehicle collides with the obstacle on the second lane adjacent to the right side are calculated respectively.

[0079] The minimum value of the first collision speed, the second collision speed and the third collision speed is determined, and the collision direction corresponding to the minimum value is taken as the direction with the smallest collision severity, and the host vehicle is controlled to collide in the direction corresponding to the minimum value.

[0080] Compared with the prior art, this embodiment takes into account the situation where a collision is still inevitable after emergency braking and emergency steering control. In this case, the driver's personal safety can be guaranteed as much as possible by controlling the vehicle to collide along the collision direction corresponding to the minimum value as described above.

[0081] In some embodiments, the system further includes a rear obstacle emergency collision avoidance control method:

[0082] Obtain information about the vehicle and the obstacle behind it in the lane, calculate the pre-collision time between the two, and if the pre-collision time is less than a first safety threshold, illuminate the brake lights to alert the vehicle to the obstacle behind.

[0083] If the pre-collision time is continuously less than the second safety threshold, the vehicle will be assessed for safe lane change based on the conditions of adjacent lanes.

[0084] If the vehicle can make a safe turn and lane change, the vehicle will be controlled to turn and change lanes into a safe adjacent lane.

[0085] It can be understood that both the second safety threshold and the first safety threshold can be set manually, wherein the second safety threshold is smaller than the first safety threshold.

[0086] Here, the process of judging whether the vehicle can safely turn and change lanes can be specifically referred to the above description. Similarly, the speed and distance of the obstacles on the left side, left front side, and left rear side of the vehicle in the first lane adjacent to the left side of the vehicle, and on the right side, right front side, and right rear side of the vehicle in the second lane adjacent to the right side of the vehicle are obtained. Combined with the speed of the vehicle, it is judged whether the vehicle can safely turn and change lanes. The specific process is not described in detail here.

[0087] In some embodiments, if the vehicle cannot perform a safe turn and lane change, then:

[0088] Obtain information about obstacles ahead of the vehicle and, based on the information about the vehicle and the obstacle ahead of the vehicle, determine whether the vehicle is likely to accelerate within the lane:

[0089] If it exists, calculate the acceleration of the vehicle when it moves away from the rear obstacle without rear-ending the obstacle in front, and accelerate the vehicle;

[0090] If it does not exist, then:

[0091] Calculate the fourth collision speed when the vehicle collides with the obstacle behind the vehicle in the own lane, the fifth collision speed when the vehicle collides with the obstacle in the first lane adjacent to the left, and the sixth collision speed when the vehicle collides with the obstacle in the second lane adjacent to the right;

[0092] If it is determined that the fourth collision speed is greater than the preset personal safety speed threshold, the smaller value of the fifth collision speed and the sixth collision speed is determined, and the vehicle is controlled to collide along the collision direction corresponding to the smaller value.

[0093] As can be understood, this embodiment prioritizes directional avoidance of the following vehicle when performing an emergency collision avoidance against a rear obstacle. Specifically, it prioritizes determining whether a lane change is possible, as this maximizes distance from the vehicle behind. If a lane change is unsuccessful, the vehicle then determines whether acceleration is possible. In this scenario, while traveling in the same direction as the vehicle behind, the vehicle attempts to avoid the vehicle behind by distance, while waiting for an opportunity to continue the lane change. Finally, if none of the above conditions are met, meaning there are other vehicles in the adjacent lane or ahead of the vehicle, a selective collision is performed to maximize safety and prevent serious injury to the driver.

[0094] The specific principles of selective collision can also be referred to the above content. This is different from the selective collision when the vehicle rear-ends the vehicle in front. It is still preferred to collide with the vehicle in the adjacent lane, so that the rear vehicle can be avoided as much as possible in the direction of travel to prevent continuous rear-end collisions.

[0095] In some embodiments, if it is determined that the fourth collision speed is less than a preset personal safety speed threshold, the driver is reminded of the oncoming vehicle via the HMI instrument and is asked to take over.

[0096] The hardware configuration of this embodiment is described below. This invention provides a radar- and camera-based emergency collision avoidance system. This system uses onboard radar and cameras to monitor the vehicle's surroundings in real time. The information collected by the radar and cameras is sent to a processor for analysis and processing. The processor determines whether an alarm is needed to alert the driver of a collision risk and whether braking or steering is necessary. The processor then sends instructions to an actuator to execute, achieving collision avoidance.

[0097] To achieve the desired effect, the present invention utilizes radar and cameras to implement collision avoidance. Environmental information from the vehicle's surroundings is primarily input by five radars (one forward-facing microwave radar and four millimeter-wave corner radars) and one camera (monocular or binocular). These sensors monitor surrounding vehicles, pedestrians, and road conditions in real time, transmitting this information to a controller. The controller processes this environmental information, along with vehicle operating status information from other sensors, analyzes the current driving environment, and issues vehicle control commands. This information is output through an audible and HMI instrument panel warning the driver to pay attention and avoid a dangerous collision. Furthermore, commands are sent to the vehicle's ESP, EPS, and TCU to control braking or emergency steering.

[0098] When the sensor monitors that there is an obstacle in front of the current lane of the ego vehicle, the pre-collision time of the ego vehicle and the obstacle is calculated by the state of the ego vehicle and the speed and distance of the forward obstacle, and compared with a safety value, and whether the braking deceleration of the vehicle is too large is calculated, so as to decide whether to emergency brake or emergency steer; when the sensor monitors that there is a vehicle quickly approaching from behind of the ego vehicle, there is a risk of being rear-ended, the brake light is lit and the rear vehicle is reminded to keep a safe distance, if the rear vehicle continues to quickly approach, the collision time with the rear vehicle is predicted, and once less than a certain safety threshold, automatic steering lane changing is performed.

[0099] The technical solutions of the embodiments will be explained in detail below with reference to the drawings:

[0100] The vehicle emergency collision avoidance system of the embodiments will start running after the vehicle starts, the system will monitor the vehicles and obstacles around the vehicle through the vehicle-mounted radar and camera, and automatically judge whether there is a collision risk in the driving process.

[0101] I. Acquire the external environment of the vehicle.

[0102] The traffic environment in front of the vehicle is monitored in real time by the radar or camera sensor installed in front of the vehicle, and the traffic environment of the adjacent lane is monitored in real time by the radar installed at the four corners of the vehicle or the camera around the vehicle.

[0103] II. Start of AEB function.

[0104] When the sensor detects that the ego vehicle and the vehicle in front have a collision risk, the AEB function is started to brake the vehicle.

[0105] III. Start of AES function.

[0106] After the AEB function is executed, if the vehicle still has a collision risk, the sensor continues to detect the distance between the ego vehicle and the vehicle in front, and judges that the ego vehicle and the vehicle in front still have a collision risk. If it is known through the sensor that the adjacent lane is safe at this time, the controller starts the AES function to control the vehicle to steer into the adjacent safe lane.

[0107] IV. Collision decision.

[0108] After the AES function is executed, if it is known through the sensor at this time that there is a vehicle in the adjacent lane that has a possibility of collision, the controller will estimate the severity of the collision between the ego vehicle and the vehicle in front of the lane and the severity of the collision with the vehicle in the adjacent lane, and then decide the driving state of the vehicle and select the direction with the smallest collision severity.

[0109] V. Rear collision risk.

[0110] When the vehicle monitors that there is a fast approaching vehicle behind the current lane, the pre-collision time of the ego vehicle and the rear vehicle is calculated through the state of the ego vehicle and the speed and distance of the rear vehicle, and if the pre-collision time is less than a first safety threshold, the brake light is lit to remind the rear vehicle to maintain a safe distance, and the HMI instrument reminds the driver of the risk of rear-end collision.

[0111] If the rear vehicle continues to approach quickly, the pre-collision time is less than a second safety threshold, and at this time, the situation of the adjacent lane of the current lane is combined to determine whether the ego vehicle can safely change lanes:

[0112] If the ego vehicle can safely change lanes, the vehicle is controlled to change lanes and drive into a safe adjacent lane;

[0113] If the ego vehicle cannot safely change lanes, then:

[0114] Obtain information of an obstacle in front of the current lane, and determine whether the ego vehicle has the possibility of acceleration in the current lane based on the information of the ego vehicle and the obstacle in front of the current lane:

[0115] If so, calculate the acceleration of the ego vehicle away from the rear obstacle without rear-ending the front obstacle, and accelerate the ego vehicle;

[0116] If not, perform selective collision to minimize the personal injury of the driver of the ego vehicle.

[0117] If it is determined that the collision speed of the rear vehicle on the ego vehicle is less than a preset personal safety speed threshold, the HMI instrument reminds the driver of the rear approaching vehicle and requires the driver to take over.

[0118] The above is based on the existing sensor technology scheme and the traditional actuator technology scheme of the automobile, and the present application is developed and designed from the software strategy dimension, thereby ensuring the realizability and safety of the anti-collision system.

[0119] Embodiment Two

[0120] The embodiment discloses a vehicle emergency anti-collision control system.

[0121] The vehicle emergency anti-collision control system comprises:

[0122] The brake control module is configured to obtain information of the ego vehicle and an obstacle in front of the current lane, determine whether there is a collision risk between the two, and if there is a collision risk, start the AEB function to control the braking of the ego vehicle;

[0123] The steering control module is configured to obtain information of the obstacles on the adjacent lane of the current lane if there is still a collision risk with the obstacle in front of the current lane after braking the ego vehicle, and start the AES function to control the steering of the ego vehicle.

[0124] The collision selection control module is configured to: determine whether there is a risk of collision with an obstacle in the adjacent lane after the vehicle turns; if so, evaluate the collision severity of the vehicle colliding with the obstacle in front of the lane and the collision severity of the vehicle colliding with the obstacle in the adjacent lane, and select the direction with the smallest collision severity for collision.

[0125] Example 3

[0126] The purpose of this embodiment is to provide a computer-readable storage medium.

[0127] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the vehicle emergency collision avoidance control method as described in Example 1 of the present disclosure.

[0128] Example 4

[0129] The purpose of this embodiment is to provide an electronic device.

[0130] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the vehicle emergency collision avoidance control method as described in Example 1 of the present disclosure are implemented.

[0131] The steps involved in the apparatuses of Examples 2, 3, and 4 above correspond to those of Method Example 1. For detailed implementations, please refer to the relevant description of Example 1. The term "computer-readable storage medium" should be understood to mean a single medium or multiple media containing one or more instruction sets; it should also be understood to include any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and causing the processor to perform any method of the present invention.

[0132] Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computer device. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0133] Although the above describes the specific embodiments of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without any creative work are still within the scope of protection of the present invention.

Claims

1. A vehicle emergency collision avoidance control method, characterized in that: The method includes an emergency collision avoidance control method for a front obstacle, specifically comprising the following steps: Obtain information about the vehicle and the obstacle ahead in the lane to determine whether there is a risk of collision between the two. If there is a risk of collision, the AEB function is activated to brake the vehicle. If there is still a risk of collision with an obstacle ahead of the vehicle after braking, the system obtains information about obstacles in adjacent lanes and activates the AES function to steer the vehicle. Determine whether there is a risk of collision with an obstacle in the adjacent lane when the vehicle is steering. If so, evaluate the collision severity of the vehicle with the obstacle in front of the vehicle and the collision severity of the obstacle in the adjacent lane, and choose the direction with the lowest collision severity to collide. If it is determined that the vehicle cannot safely change lanes, that is, if it is determined that there is a risk of collision with an obstacle in the adjacent lane after the vehicle changes lanes, then: Calculate the first collision speed when the vehicle collides with the obstacle in front of the vehicle's lane, the second collision speed when the vehicle collides with the obstacle in the first lane adjacent to the left, and the third collision speed when the vehicle collides with the obstacle in the second lane adjacent to the right; The minimum value among the first collision speed, the second collision speed and the third collision speed is determined, the collision direction corresponding to the minimum value is used as the direction with the least collision severity, and the vehicle is controlled to collide along the collision direction corresponding to the minimum value.

2. The vehicle emergency collision avoidance control method according to claim 1, characterized in that: Obtain information about the vehicle and the obstacle ahead of it in the lane to determine whether there is a collision risk between the two. If there is a collision risk, the AEB function is activated to brake the vehicle, specifically including: Obtaining the speed and distance of the vehicle and the obstacle in front of the lane respectively, and calculating the pre-collision time between the vehicle and the obstacle in front of the lane, wherein the obstacle includes a static obstacle and a dynamic obstacle, wherein the dynamic obstacle includes a vehicle; Calculate the vehicle's braking deceleration based on the pre-collision time and determine whether the vehicle's braking deceleration is excessive: If the vehicle's braking deceleration is too large, it means that there is still a risk of collision with the obstacle in front of the lane after braking. In this case, the AES function of the vehicle is activated to control the steering; If the vehicle's braking deceleration is within the normal range, it means that there will be no risk of collision with obstacles in front of the lane after braking the vehicle. At this time, the AEB function of the vehicle is activated for braking control.

3. The vehicle emergency collision avoidance control method according to claim 1, wherein: If there is still a risk of collision with an obstacle ahead of the vehicle after braking, information about obstacles in adjacent lanes is obtained and the AES function is activated to control the vehicle's steering, including: Obtain the speed and distance of obstacles to the left, left front, and left rear of the vehicle in the first lane adjacent to the left of the vehicle, and to the right, right front, and right rear of the vehicle in the second lane adjacent to the right of the vehicle. Combined with the vehicle's speed, determine whether the vehicle can safely turn and change lanes. Determine an adjacent lane into which the vehicle can safely steer and change lanes, and steer the vehicle into the determined first or second lane based on the AES function.

4. The vehicle emergency collision avoidance control method according to claim 1, wherein: Also includes rear obstacle emergency collision avoidance control method: Obtain information about the vehicle and the obstacle behind it in the lane, calculate the pre-collision time between the two, and if the pre-collision time is less than a first safety threshold, illuminate the brake lights to alert the vehicle to the obstacle behind. If the pre-collision time is continuously less than the second safety threshold, the vehicle will be assessed for safe lane change based on the conditions of adjacent lanes. If the vehicle can make a safe turn and lane change, the vehicle will be controlled to turn and change lanes into a safe adjacent lane.

5. The vehicle emergency collision avoidance control method according to claim 4, characterized in that: If the vehicle cannot make a safe lane change, then: Obtain information about obstacles ahead of the vehicle and, based on the information about the vehicle and the obstacle ahead of the vehicle, determine whether the vehicle is likely to accelerate within the lane: If it exists, calculate the acceleration of the vehicle when it moves away from the rear obstacle without rear-ending the obstacle in front, and accelerate the vehicle; If it does not exist, then: Calculate the fourth collision speed when the vehicle collides with the obstacle behind the vehicle in the own lane, the fifth collision speed when the vehicle collides with the obstacle in the first lane adjacent to the left, and the sixth collision speed when the vehicle collides with the obstacle in the second lane adjacent to the right; If it is determined that the fourth collision speed is greater than the preset personal safety speed threshold, the smaller value of the fifth collision speed and the sixth collision speed is determined, and the vehicle is controlled to collide along the collision direction corresponding to the smaller value.

6. The vehicle emergency collision avoidance control method according to claim 5, characterized in that: If it is determined that the fourth collision speed is lower than the preset personal safety speed threshold, the driver will be reminded of the oncoming vehicle through the HMI instrument and asked to take over.

7. Vehicle emergency collision avoidance control system, characterized in that, include: The brake control module is configured to obtain information about the vehicle and the obstacle ahead in the lane, determine whether there is a risk of collision between the two, and activate the AEB function to brake the vehicle if there is a risk of collision; The steering control module is configured to obtain information about obstacles in lanes adjacent to the vehicle's lane and activate the AES function to control the vehicle's steering if there is still a risk of collision with an obstacle ahead of the vehicle's lane after braking. a collision selection control module configured to: determine whether there is a risk of collision with an obstacle in an adjacent lane after the vehicle makes a turn; if so, evaluate the collision severity of the vehicle's collision with the obstacle in front of the vehicle's lane and the collision severity of the obstacle in the adjacent lane, and select the direction with the lowest collision severity for collision; If it is determined that the vehicle cannot safely change lanes, that is, if it is determined that there is a risk of collision with an obstacle in the adjacent lane after the vehicle changes lanes, then: Calculate the first collision speed when the vehicle collides with the obstacle in front of the vehicle's lane, the second collision speed when the vehicle collides with the obstacle in the first lane adjacent to the left, and the third collision speed when the vehicle collides with the obstacle in the second lane adjacent to the right; The minimum value among the first collision speed, the second collision speed and the third collision speed is determined, the collision direction corresponding to the minimum value is used as the direction with the least collision severity, and the vehicle is controlled to collide along the collision direction corresponding to the minimum value.

8. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle emergency collision avoidance control method according to any one of claims 1 to 6 are implemented.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the vehicle emergency collision avoidance control method according to any one of claims 1 to 6 are implemented.

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