Vehicle collision prediction processing method, device and equipment, vehicle, medium and product

Abstract

The invention provides a vehicle predicted collision processing method, device and equipment, a vehicle, a medium and a product. In the method, after a current road adhesion coefficient and a first relative speed and a first distance between a vehicle and a vehicle in front of a current lane are obtained, a first predicted collision duration is calculated according to the first relative speed and the first distance; according to the current road adhesion coefficient, an unlocking duration threshold value and a windowing duration threshold value are calculated; if it is determined that the first predicted collision duration is smaller than or equal to the preset avoidance speed reduction duration threshold value, it is indicated that collision is about to occur, and according to the size relation between the first predicted collision duration and the unlocking duration threshold value and the size relation between the first predicted collision duration and the window opening duration threshold value, the vehicle is controlled to avoid, reduce the speed, open the window or unlock the vehicle door. According to the scheme, when it is determined that the vehicle is about to be collided, the vehicle is controlled to avoid, decelerate, open the window or unlock the vehicle door, and the safety of a driver and passengers is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle prediction collision processing method, device, equipment, vehicle, medium and product. Background Art

[0002] With the development of technology, vehicles have more and more functions, which can realize vehicle collision prediction.

[0003] In the prior art, when a vehicle predicts that a collision is about to occur, it will sound an alarm or display a warning message so that the driver can be informed of the impending collision and react accordingly.

[0004] However, in some cases, the driver may not be aware of an impending collision, resulting in reduced safety for the driver and passengers. Summary of the Invention

[0005] The vehicle prediction collision processing method, device, equipment, vehicle, medium and product provided in the embodiments of the present application are used to solve the problem in the prior art that when an impending collision is predicted, only an alarm is issued or a warning message is displayed, and the driver may not be aware of the impending collision, resulting in lower safety for the driver and passengers.

[0006] In a first aspect, an embodiment of the present application provides a vehicle prediction collision processing method, comprising:

[0007] Obtain the current road adhesion coefficient, as well as the first relative speed and first distance between the vehicle and the preceding vehicle in the current lane;

[0008] calculating a first predicted collision time according to the first relative speed and the first distance;

[0009] Calculating an unlocking time threshold and a window opening time threshold based on the current road adhesion coefficient, wherein the unlocking time threshold is less than the window opening time threshold, and the window opening time threshold is less than a preset speed reduction avoidance time threshold;

[0010] If the first predicted collision time is less than or equal to the preset avoidance deceleration time threshold, the vehicle is controlled to avoid, decelerate, open the window or unlock the door based on the relationship between the first predicted collision time and the unlocking time threshold and the window opening time threshold.

[0011] In a possible implementation, calculating the unlocking time threshold and the window opening time threshold according to the current road adhesion coefficient includes:

[0012] The ratio of the preset sunny road surface adhesion coefficient to the current road surface adhesion coefficient is used as a pending adjustment parameter;

[0013] Determining a target adjustment parameter according to the pending adjustment parameter, the preset upper limit of the adjustment parameter, and the preset lower limit of the adjustment parameter;

[0014] The product of the target adjustment parameter and the preset unlocking time is used as the unlocking time threshold;

[0015] The sum of the unlocking time threshold and the preset advance time is used as the window opening time threshold;

[0016] The product of the preset upper limit of the adjustment parameter and the preset unlocking time plus the preset advance time is less than the preset speed reduction avoidance time threshold.

[0017] In a possible implementation, the preset adjustment parameter lower limit is 1, and determining the target adjustment parameter according to the undetermined adjustment parameter, the preset adjustment parameter upper limit, and the preset adjustment parameter lower limit includes:

[0018] If the undetermined adjustment parameter is greater than or equal to the preset adjustment parameter upper limit, the preset adjustment parameter upper limit is used as the target adjustment parameter;

[0019] If the undetermined adjustment parameter is less than or equal to the preset adjustment parameter lower limit, the preset adjustment parameter lower limit is used as the target adjustment parameter;

[0020] If the pending adjustment parameter is less than the upper limit of the preset adjustment parameter and greater than the lower limit of the preset adjustment parameter, the pending adjustment parameter is used as the target adjustment parameter.

[0021] In one possible implementation, controlling the vehicle to avoid, reduce speed, open windows, or unlock doors based on the relationship between the first predicted collision duration and the unlocking duration threshold and the window opening duration threshold includes:

[0022] If the first predicted collision duration is greater than the window opening duration threshold, controlling the vehicle to avoid or slow down according to the acquired information about the vehicle in the adjacent lane;

[0023] If the first predicted collision duration is greater than the unlocking duration threshold and less than or equal to the window opening duration threshold, controlling the vehicle to open the window according to the current road adhesion coefficient;

[0024] If the first predicted collision duration is less than or equal to the unlocking duration threshold and is greater than 0, the vehicle is controlled to unlock its doors.

[0025] In a possible implementation, the adjacent lane vehicle information includes at least one lane vehicle information, and controlling the vehicle to avoid or decelerate based on the acquired adjacent lane vehicle information includes:

[0026] For each lane vehicle information, generating an avoidance flag corresponding to the lane vehicle information according to the lane vehicle information, the avoidance flag is used to indicate whether the vehicle can avoid;

[0027] If at least one avoidance mark among the avoidance marks corresponding to the vehicle information in all lanes indicates that the ego vehicle can avoid, then the ego vehicle is controlled to avoid;

[0028] If the avoidance signs corresponding to the vehicle information in all lanes indicate that the vehicle cannot avoid, the vehicle is controlled to slow down.

[0029] In one possible implementation, for each lane vehicle information, the lane vehicle information includes a vehicle presence flag indicating whether a vehicle exists in the lane. If the vehicle presence flag indicates that a vehicle exists in the lane, the lane vehicle information further includes at least one vehicle information, and each vehicle information includes a second relative speed and a second distance.

[0030] The step of generating an avoidance indicator corresponding to the lane vehicle information according to the lane vehicle information includes:

[0031] If the vehicle presence sign indicates that there is no vehicle in the lane, generating an avoidance sign indicating that the vehicle can avoid the lane;

[0032] If the vehicle presence sign indicates that there is a vehicle in the lane, calculating a second predicted collision time corresponding to each vehicle information based on the second relative speed and the second distance of each vehicle information;

[0033] If the second predicted collision duration corresponding to all vehicle information is greater than the preset avoidance deceleration duration threshold, an avoidance mark indicating that the vehicle can avoid the collision is generated;

[0034] If at least one of the second predicted collision durations corresponding to all vehicle information is less than or equal to the preset avoidance deceleration duration threshold, an avoidance mark indicating that the vehicle is unavoidable is generated.

[0035] In a possible implementation, controlling the vehicle to open a window according to the current road adhesion coefficient includes:

[0036] If the current road adhesion coefficient is greater than or equal to the preset sunny road adhesion coefficient, controlling the vehicle window to open according to the preset first opening degree;

[0037] If the current road adhesion coefficient is less than the preset sunny road adhesion coefficient, the vehicle window is controlled to open according to a preset second opening; the preset second opening is less than the preset first opening.

[0038] In one possible implementation, the method further includes:

[0039] After controlling the vehicle to open its window, the third relative speed and third distance between the vehicle and the preceding vehicle in the current lane are obtained in real time;

[0040] calculating a third predicted collision time according to the third relative speed and the third distance;

[0041] If the third predicted collision duration is greater than the window opening duration threshold, the vehicle window is controlled to close.

[0042] In one possible implementation, the method further includes:

[0043] After controlling the vehicle to unlock its door, obtaining in real time a fourth relative speed and a fourth distance between the vehicle and the preceding vehicle in the current lane;

[0044] calculating a fourth predicted collision time according to the fourth relative speed and the fourth distance;

[0045] If the fourth predicted collision duration is greater than the unlocking duration threshold, the vehicle is controlled to lock its doors.

[0046] In a second aspect, an embodiment of the present application provides a vehicle prediction collision processing device, comprising:

[0047] An acquisition module is used to obtain the current road adhesion coefficient, as well as a first relative speed and a first distance between the vehicle and the preceding vehicle in the current lane;

[0048] Processing module for:

[0049] calculating a first predicted collision time according to the first relative speed and the first distance;

[0050] Calculating an unlocking time threshold and a window opening time threshold based on the current road adhesion coefficient, wherein the unlocking time threshold is less than the window opening time threshold, and the window opening time threshold is less than a preset speed reduction avoidance time threshold;

[0051] A control module is used to control the vehicle to avoid, slow down, open the window or unlock the door according to the relationship between the first predicted collision time and the unlocking time threshold, the window opening time threshold and the preset avoidance and deceleration time threshold.

[0052] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0053] Processor, memory, communication interface;

[0054] The memory is used to store executable instructions of the processor;

[0055] Wherein, the processor is configured to execute the vehicle prediction collision processing method described in any one of the first aspects by executing the executable instructions.

[0056] In a fourth aspect, an embodiment of the present application provides a vehicle, including a vehicle controller;

[0057] The vehicle controller is used to execute the vehicle prediction collision processing method described in any one of the first aspects above.

[0058] In a fifth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle prediction collision processing method described in any one of the first aspects is implemented.

[0059] In a sixth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, which, when executed by a processor, is used to implement the vehicle prediction collision processing method described in any one of the first aspects.

[0060] The vehicle prediction collision processing method, device, equipment, vehicle, medium and product provided in the embodiments of the present application calculate the first predicted collision duration based on the first relative speed and the first distance after obtaining the current road adhesion coefficient, as well as the first relative speed and the first distance between the vehicle and the vehicle in front of the current lane; and calculate the unlocking duration threshold and the window opening duration threshold based on the current road adhesion coefficient. If it is determined that the first predicted collision duration is less than or equal to the preset avoidance deceleration duration threshold, indicating that a collision is about to occur, the vehicle is controlled to avoid, slow down, open the window or unlock the door based on the relationship between the first predicted collision duration and the unlocking duration threshold and the window opening duration threshold. This solution improves the safety of the driver and passengers by controlling the vehicle to avoid, slow down, open the window or unlock the door when it is determined that the vehicle is about to collide. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] 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.

[0062] Figure 1 A schematic diagram of an application scenario of the vehicle collision prediction method provided in this application;

[0063] Figure 2 A schematic flow chart of a first embodiment of the vehicle collision prediction processing method provided in this application;

[0064] Figure 3 A schematic flow chart of a second embodiment of the vehicle collision prediction processing method provided in this application;

[0065] Figure 4 A flowchart of the third embodiment of the vehicle collision prediction processing method provided by this application;

[0066] Figure 5A flowchart of a fourth embodiment of the vehicle collision prediction processing method provided in this application;

[0067] Figure 6 A flowchart of a fifth embodiment of the vehicle collision prediction processing method provided in this application;

[0068] Figure 7 A schematic structural diagram of an embodiment of a vehicle prediction collision processing device provided in this application;

[0069] Figure 8 This is a schematic diagram of the structure of an electronic device provided in this application.

[0070] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0071] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0072] The terms "first," "second," "third," "fourth," and the like (if any) in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0073] With the continuous development of technology, vehicles have realized collision warning functions. When the vehicle predicts that a collision is about to occur, it will issue an alarm or display a warning message so that the driver can be informed of the impending collision and respond accordingly.

[0074] However, in some cases, the driver may not be aware of an impending collision. For example, when the alarm sounds, a nearby vehicle honks or music is too loud in the car, causing the driver to miss the alarm. When the warning message is displayed, the driver may be looking behind the vehicle and fail to see it. This can lead to reduced safety for the driver and passengers.

[0075] In response to the problems existing in the prior art, the inventors discovered during their research on the vehicle prediction collision handling method that, in order to improve the safety of the driver and passengers, the vehicle can be controlled to avoid, slow down, open windows or unlock doors when it is predicted that a collision is about to occur. The first predicted collision duration is calculated by the first relative speed and the first distance between the vehicle and the vehicle in front of the current lane; the unlocking duration threshold and the window opening duration threshold are calculated by the current road adhesion coefficient. When the first predicted collision duration is less than or equal to the preset avoidance deceleration duration threshold, it indicates that a collision is about to occur, and then the vehicle is controlled to avoid, slow down, open windows or unlock doors based on the relationship between the first predicted collision duration and the unlocking duration threshold and the window opening duration threshold. Based on the above-mentioned inventive concept, the vehicle prediction collision handling scheme in this application is designed.

[0076] The execution entity of the vehicle prediction collision handling method in this application can be a vehicle control unit (VCU), or a vehicle-mounted terminal, server, etc. This application does not limit it. The following description will be made using VCU as an example.

[0077] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and corresponding operation entrances must be provided for users to choose to authorize or refuse.

[0078] For example, Figure 1 This is a schematic diagram of the application scenario of the vehicle collision prediction method provided in this application, such as Figure 1 As shown, the application scenario may include: the vehicle 101, the vehicle in front of the current lane 102 and the vehicle in front of the adjacent lane 103.

[0079] exist Figure 1 In the application scenario shown, the vehicle 101, the vehicle 102 in the current lane, and the vehicle 103 in the adjacent lane are all moving. The VCU in the vehicle 101 obtains the current road adhesion coefficient, as well as the first relative speed and first distance between the vehicle 101 and the vehicle 102 in the current lane through sensors in the vehicle 101.

[0080] Then, the VCU calculates a first predicted collision time based on the first relative speed and the first distance; and calculates an unlocking time threshold and a window opening time threshold based on the current road adhesion coefficient.

[0081] If the VCU determines that the first predicted collision time is less than or equal to the preset avoidance deceleration time threshold, indicating that a collision is about to occur, the vehicle 101 is controlled to avoid, decelerate, open the window or unlock the door based on the relationship between the first predicted collision time and the unlocking time threshold and the window opening time threshold, thereby improving the safety of the driver and passengers.

[0082] It should be noted that the preset avoidance speed reduction time threshold may be 0.4 seconds, 0.5 seconds, 0.6 seconds, etc. The embodiment of the present application does not limit the preset avoidance speed reduction time threshold, and it can be determined according to actual conditions.

[0083] It should be noted that Figure 1 This is only a schematic diagram of an application scenario provided by the embodiment of the present application. Figure 1 The actual form of the various devices included in the Figure 1 The interaction mode between devices is limited, and in the specific application of the solution, it can be set according to actual needs.

[0084] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0085] Figure 2 This is a flow chart of the first embodiment of the vehicle prediction collision processing method provided by this application. This embodiment of the application describes the situation where the vehicle is controlled to avoid, slow down, open windows or unlock doors when the VCU predicts that a collision is about to occur. The method in this embodiment can be implemented by software, hardware or a combination of software and hardware. Figure 2 As shown, the vehicle prediction collision processing method specifically includes the following steps:

[0086] S201: Obtain the current road adhesion coefficient, and a first relative speed and a first distance between the vehicle and the preceding vehicle in the current lane.

[0087] In this step, in order to predict in real time whether the vehicle is about to collide, the VCU needs to obtain the current road adhesion coefficient, as well as the first relative speed and first distance between the vehicle and the vehicle in front of the current lane in real time.

[0088] It should be noted that the VCU can collect relevant data through sensors such as lidar, millimeter-wave radar, and cameras to calculate the first relative speed and the first distance.

[0089] It should be noted that the VCU can obtain vehicle acceleration through the inertial measurement unit, or calculate acceleration through the wheel speed obtained by the wheel speed sensor, and then calculate the current road adhesion coefficient.

[0090] It should be noted that if the VCU determines that there is no vehicle in front of the vehicle in the current lane, the vehicle prediction collision processing process ends.

[0091] S202: Calculate a first predicted collision time according to the first relative speed and the first distance.

[0092] In this step, after the VCU obtains the first relative speed and the first distance, in order to determine whether a collision is about to occur, it is necessary to calculate a first predicted collision time based on the first relative speed and the first distance. The first predicted collision time is obtained when the first distance is at the first relative speed.

[0093] S203: Calculate an unlocking time threshold and a window opening time threshold based on the current road adhesion coefficient.

[0094] In this step, after the VCU obtains the current road adhesion coefficient, in order to subsequently determine how to control the vehicle, it is necessary to calculate the unlocking time threshold and the window opening time threshold based on the current road adhesion coefficient.

[0095] Among them, the unlocking time threshold is less than the window opening time threshold, and the window opening time threshold is less than the preset speed reduction avoidance time threshold.

[0096] Specifically, the ratio of the preset sunny road adhesion coefficient to the current road adhesion coefficient is used as the to-be-determined adjustment parameter.

[0097] It should be noted that the preset sunny road adhesion coefficient can be 0.5, 0.6, 0.7, etc. The embodiment of the present application does not limit the preset sunny road adhesion coefficient, and it can be determined according to actual conditions.

[0098] The target adjustment parameter is determined based on the pending adjustment parameter, the preset upper limit value of the adjustment parameter, and the preset lower limit value of the adjustment parameter.

[0099] It should be noted that the preset lower limit of the adjustment parameter is 1, and the preset upper limit of the adjustment parameter is greater than the preset lower limit of the adjustment parameter. The preset upper limit of the adjustment parameter can be 3, 4, 5, etc. The embodiment of the present application does not limit the preset lower limit of the adjustment parameter, and it can be determined according to actual conditions.

[0100] If the undetermined adjustment parameter is greater than or equal to the preset adjustment parameter upper limit value, the preset adjustment parameter upper limit value is used as the target adjustment parameter.

[0101] If the undetermined adjustment parameter is less than or equal to the preset adjustment parameter lower limit, the preset adjustment parameter lower limit is used as the target adjustment parameter.

[0102] If the pending adjustment parameter is less than the preset adjustment parameter upper limit and greater than the preset adjustment parameter lower limit, the pending adjustment parameter is used as the target adjustment parameter.

[0103] After the VCU obtains the target adjustment parameter, it multiplies the target adjustment parameter by the preset unlocking time as the unlocking time threshold.

[0104] The sum of the unlocking time threshold and the preset advance time is used as the window opening time threshold. Therefore, the unlocking time threshold is less than the window opening time threshold.

[0105] It should be noted that the product of the preset upper limit of the adjustment parameter and the preset unlocking time, plus the preset advance time, is less than the preset avoidance speed reduction time threshold. The preset unlocking time can be 0.05 seconds, 0.1 seconds, 0.15 seconds, etc., and the preset advance time can be 0.05 seconds, 0.1 seconds, 0.15 seconds, etc. This embodiment of the application does not limit the preset unlocking time and preset advance time, and they can be determined based on actual circumstances.

[0106] Since the product of the preset adjustment parameter upper limit value and the preset unlocking time plus the preset advance time is less than the preset avoidance speed reduction time threshold, the window opening time threshold is less than the preset avoidance speed reduction time threshold.

[0107] The unlocking time threshold is the basis for determining when to unlock, and the window opening time threshold is the basis for determining when to open the window. The smaller the current road adhesion coefficient, the worse the road conditions are, and the window and unlocking need to be opened in advance. Therefore, the larger the pending adjustment parameter, the larger the unlocking time threshold and the window opening time threshold.

[0108] Since the preset unlocking time is the time required to unlock the door, the unlocking time threshold should be greater than or equal to the preset unlocking time, and therefore the preset adjustment parameter lower limit is set to 1.

[0109] In order to avoid the situation where the current road adhesion coefficient is too small, resulting in the pending adjustment parameter being too large, causing the product of the pending adjustment parameter and the preset unlocking time plus the preset advance time to be greater than or equal to the preset avoidance deceleration time threshold, and the VCU being unable to perform vehicle predicted collision processing, the preset adjustment parameter upper limit value is set so that the maximum target adjustment parameter is the preset adjustment parameter upper limit value.

[0110] It should be noted that the execution order of step S202 and step S203 can be: first execute step S202, then execute step S203; or: first execute step S203, then execute step S202; or: execute step S202 and step S203 simultaneously. This embodiment of the application does not limit the execution order of step S202 and step S203, and can be determined according to actual circumstances.

[0111] S204: If the first predicted collision time is less than or equal to the preset avoidance deceleration time threshold, the vehicle is controlled to avoid, decelerate, open the window or unlock the door according to the relationship between the first predicted collision time and the unlocking time threshold and the window opening time threshold.

[0112] In this step, after the VCU obtains the first predicted collision duration, the unlocking duration threshold, and the window opening duration threshold, it determines whether the first predicted collision duration is less than or equal to the preset avoidance deceleration duration threshold to determine whether a collision is about to occur.

[0113] If it is determined that the first predicted collision time is less than or equal to the preset avoidance deceleration time threshold, it means that a collision is about to occur. Then, based on the relationship between the first predicted collision time and the unlocking time threshold and the window opening time threshold, the vehicle is controlled to avoid, decelerate, open the window or unlock the door.

[0114] It should be noted that the VCU can also output collision warning information to remind the driver that a collision is about to occur.

[0115] Specifically, if the first predicted collision duration is greater than the window opening duration threshold, and the first predicted collision duration is less than or equal to the preset avoidance deceleration duration threshold, it means that avoidance or deceleration should be performed first. Then, based on the obtained vehicle information of the adjacent lane, it is determined whether avoidance is possible, and then the vehicle is controlled to avoid or decelerate.

[0116] If the first predicted collision duration is greater than the unlocking duration threshold and less than or equal to the window opening duration threshold, it means that deceleration is completed and the window needs to be opened for subsequent rescue. The degree of window opening is determined based on the current road adhesion coefficient, and the vehicle's window is controlled to open.

[0117] If the first predicted collision duration is less than or equal to the unlocking duration threshold and is greater than 0, it means that the window has been opened and the door needs to be unlocked for subsequent rescue, then the vehicle is controlled to unlock the door.

[0118] It should be noted that because the VCU performs vehicle prediction collision processing in real time, when a collision is about to occur and the vehicle in front is getting closer and closer, the first predicted collision time will decrease successively during each vehicle prediction collision processing process, so the vehicle will first be controlled to dodge or slow down, then open the window, and finally unlock the door.

[0119] It should be noted that if the VCU determines that the first predicted collision duration is less than or equal to 0, it outputs abnormal information so that the driver can repair the vehicle in time.

[0120] It should be noted that if the VCU determines that the first predicted collision duration is greater than the preset avoidance deceleration duration threshold, it means that no collision will occur, and the vehicle predicted collision processing process is terminated.

[0121] The vehicle predicted collision handling method provided in this embodiment obtains the current road adhesion coefficient, as well as the first relative speed and first distance between the vehicle and the preceding vehicle in the current lane. It then calculates a first predicted collision duration based on the first relative speed and first distance. It also calculates an unlocking duration threshold and a window opening duration threshold based on the current road adhesion coefficient. If the first predicted collision duration is determined to be less than or equal to a preset avoidance deceleration duration threshold, indicating an impending collision, the vehicle is controlled to avoid, decelerate, open windows, or unlock doors based on the relationship between the first predicted collision duration and the unlocking duration threshold and window opening duration threshold. Compared to existing solutions that only provide early warnings, this solution improves driver and passenger safety by controlling the vehicle to avoid, decelerate, open windows, or unlock doors when a collision is determined to be imminent.

[0122] Figure 3 This is a flow chart of the second embodiment of the vehicle prediction collision processing method provided by this application. Based on the above embodiment, this embodiment of the application describes how the VCU controls the vehicle to avoid or slow down according to the acquired vehicle information in the adjacent lane. Figure 3 As shown, the vehicle prediction collision processing method specifically includes the following steps:

[0123] S301: For each lane vehicle information, generate an avoidance mark corresponding to the lane vehicle information according to the lane vehicle information.

[0124] When the VCU determines that the first predicted collision duration is greater than the window opening time threshold, it indicates that the vehicle needs to be controlled to avoid or slow down. In order to determine whether to control the vehicle to avoid or slow down, it is necessary to determine based on the information of the vehicle in the adjacent lane.

[0125] In this step, the adjacent lane vehicle information includes at least one lane of vehicle information. If the current lane has only one adjacent lane, the adjacent lane vehicle information includes one lane of vehicle information. If the current lane has two adjacent lanes, the adjacent lane vehicle information includes two lane of vehicle information.

[0126] For each lane vehicle information, an avoidance flag corresponding to the lane vehicle information is generated according to the lane vehicle information, and the avoidance flag is used to indicate whether the vehicle can avoid.

[0127] Specifically, for each lane vehicle information, the lane vehicle information includes a vehicle presence identification indicating whether there is a vehicle in the lane. If the vehicle presence identification indicates that there is a vehicle in the lane, the lane vehicle information also includes at least one vehicle information, and each vehicle information includes a second relative speed and a second distance.

[0128] The vehicle information is information about a vehicle. The second relative vehicle speed in the vehicle information is the relative vehicle speed between the own vehicle and the vehicle, and the second distance is the distance between the own vehicle and the vehicle.

[0129] If the vehicle presence sign indicates that there is no vehicle in the lane and the ego vehicle can change lanes to avoid the vehicle, an avoidance sign is generated to indicate that the ego vehicle can avoid the vehicle.

[0130] If the vehicle presence sign indicates that there is a vehicle in the lane, a second predicted collision time corresponding to each vehicle information is calculated according to the second relative speed and the second distance of each vehicle information.

[0131] If the second predicted collision duration corresponding to all vehicle information is greater than the preset avoidance deceleration duration threshold, it means that the vehicle can change lanes to avoid the collision without affecting the vehicles in the adjacent lane, and an avoidance mark indicating that the vehicle can avoid the collision is generated.

[0132] If at least one of the second predicted collision durations corresponding to all vehicle information is less than or equal to the preset avoidance deceleration duration threshold, it means that if the vehicle's lane change avoidance will affect the vehicle in the adjacent lane and avoidance is not possible, an avoidance mark indicating that the vehicle cannot avoid is generated.

[0133] S302: Determine whether there is at least one avoidance mark among the avoidance marks corresponding to the vehicle information of all lanes, indicating that the vehicle can avoid; if at least one avoidance mark among the avoidance marks corresponding to the vehicle information of all lanes indicates that the vehicle can avoid, execute step S303; if the avoidance marks corresponding to the vehicle information of all lanes indicate that the vehicle cannot avoid, execute step S304.

[0134] In this step, after the VCU obtains the avoidance mark corresponding to the vehicle information of each lane, in order to determine whether avoidance is possible, it needs to determine whether there is at least one avoidance mark corresponding to the vehicle information of all lanes indicating that the vehicle can avoid.

[0135] S303: Control the vehicle to avoid.

[0136] In this step, if the VCU determines that at least one avoidance mark among the avoidance marks corresponding to the vehicle information in all lanes indicates that the vehicle can avoid, it means that there is at least one adjacent lane for the vehicle to change lanes and avoid without affecting the vehicles in the adjacent lanes, then the vehicle will be controlled to avoid.

[0137] It should be noted that if only one lane's corresponding avoidance indicator indicates that the vehicle can avoid the other lane, the vehicle is controlled to change lanes to the adjacent lane corresponding to the vehicle information in that lane. If two lanes' corresponding avoidance indicators indicate that the vehicle can avoid the other lane, the vehicle is controlled to randomly select an adjacent lane to avoid the other lane.

[0138] S304: Control the vehicle to decelerate.

[0139] In this step, if the VCU determines that the avoidance signs corresponding to the vehicle information in all lanes indicate that the vehicle cannot avoid, which means that the adjacent lanes cannot be used for lane change avoidance by the vehicle, the vehicle will be controlled to slow down.

[0140] It should be noted that the VCU can first determine whether there is an adjacent lane. If not, the vehicle will be controlled to slow down. If there is an adjacent lane, the vehicle will be controlled to avoid or slow down based on the information of the vehicle in the adjacent lane.

[0141] The vehicle prediction collision handling method provided in this embodiment determines whether it is possible to change lanes to an adjacent lane to avoid collision by judging whether there is at least one avoidance mark indicating that the vehicle itself can avoid collision among the avoidance marks corresponding to the vehicle information in all lanes. In this way, the vehicle avoids collision when it is possible to change lanes to an adjacent lane, and decelerates when it is not possible to change lanes to an adjacent lane, thereby improving the safety of the driver and passengers.

[0142] Figure 4 This is a flow chart of the third embodiment of the vehicle prediction collision processing method provided by this application. Based on the above embodiment, this embodiment of the application describes the situation where the VCU controls the vehicle window opening according to the current road adhesion coefficient. Figure 4 As shown, the vehicle prediction collision processing method specifically includes the following steps:

[0143] S401: Determine whether the current road adhesion coefficient is greater than or equal to the preset sunny road adhesion coefficient; if the current road adhesion coefficient is greater than or equal to the preset sunny road adhesion coefficient, execute step S402; if the current road adhesion coefficient is less than the preset sunny road adhesion coefficient, execute step S403.

[0144] When the VCU determines that the first predicted collision duration is greater than the unlocking duration threshold and less than or equal to the window opening duration threshold, it indicates that the window needs to be opened. Since opening the window in rainy and snowy days will affect the items in the car, and the road adhesion coefficient in rainy and snowy days is less than the preset sunny road adhesion coefficient, the vehicle's window is controlled to open according to the current road adhesion coefficient.

[0145] In this step, in order to determine the window opening degree, it is determined whether the current road adhesion coefficient is greater than or equal to the preset sunny road adhesion coefficient.

[0146] S402: Control the vehicle window to open according to a preset first opening degree.

[0147] S403: Control the vehicle window to open according to the preset second opening degree.

[0148] In the above steps, if the VCU determines that the current road adhesion coefficient is greater than or equal to the preset sunny road adhesion coefficient, it indicates good weather, and the vehicle's windows are controlled to open according to the preset first opening degree. If the VCU determines that the current road adhesion coefficient is less than the preset sunny road adhesion coefficient, it indicates that it may be raining or snowing, and to reduce the degree of wetting of items in the vehicle, the vehicle's windows are controlled to open according to the preset second opening degree.

[0149] It should be noted that the preset second opening is smaller than the preset first opening. When the window is at both the preset first and second openings, occupants will not be thrown out, and rescue is possible because the window is open. The preset first opening can be 25%, 20%, 15%, etc., and the preset second opening can be 5%, 10%, 12%, etc. This embodiment of the application does not limit the preset second opening and the preset first opening, and can be determined based on actual circumstances.

[0150] In one implementation, the VCU may obtain the type and position of the passenger in the vehicle. If the passenger is an adult, and the current road adhesion coefficient is greater than or equal to a preset sunny road adhesion coefficient, the window at the passenger's location in the vehicle may be controlled to open according to a preset first opening degree. If the current road adhesion coefficient is less than the preset sunny road adhesion coefficient, the window at the passenger's location in the vehicle may be controlled to open according to a preset second opening degree.

[0151] If the passenger type is a child or an animal, if the current road adhesion coefficient is greater than or equal to the preset sunny road adhesion coefficient, the window at the passenger's location in the vehicle is controlled to open according to a preset third opening degree. If the current road adhesion coefficient is less than the preset sunny road adhesion coefficient, the window at the passenger's location in the vehicle is controlled to open according to a preset fourth opening degree.

[0152] It should be noted that the preset fourth opening is smaller than the preset third opening, which is smaller than the preset second opening, which is smaller than the preset first opening, further ensuring that occupants are not thrown out. The preset third opening can be 12%, 10%, 8%, etc., and the preset fourth opening can be 7%, 5%, 3%, etc. This embodiment of the application does not limit the preset fourth opening and the preset third opening, and they can be determined based on actual circumstances.

[0153] The vehicle prediction collision handling method provided in this embodiment controls the opening of the vehicle windows according to the current road adhesion coefficient, which not only ensures that the occupants of the vehicle will not be thrown out, but also ensures that rescue can be carried out, and also reduces the degree to which the items in the vehicle are wetted in rainy and snowy days.

[0154] Figure 5 This is a flow chart of the fourth embodiment of the vehicle prediction collision processing method provided by this application. Based on the above embodiment, this embodiment of the application describes the situation where the VCU closes the window when it detects that the vehicle ahead is far away from the vehicle after controlling the vehicle to open the window. Figure 5 As shown, the vehicle prediction collision processing method specifically includes the following steps:

[0155] S501: After controlling the window opening of the vehicle, a third relative speed and a third distance between the vehicle and the preceding vehicle in the current lane are obtained in real time.

[0156] In this step, after the VCU controls the ego vehicle to open the window, in order to close the window when the vehicle moves away from the ego vehicle, it is necessary to obtain the third relative speed and third distance between the ego vehicle and the vehicle ahead in the current lane in real time.

[0157] It should be noted that this step is similar to step S201 in the first embodiment and will not be described again here.

[0158] S502: Calculate a third predicted collision time according to the third relative speed and the third distance.

[0159] It should be noted that this step is similar to step S202 in the first embodiment and will not be described again here.

[0160] S503: If the third predicted collision duration is greater than the window opening duration threshold, control the vehicle to close its windows.

[0161] In this step, after the VCU obtains the third predicted collision time, it determines whether the third predicted collision time is greater than the window opening time threshold. If the third predicted collision time is greater than the window opening time threshold, it means that the vehicle in front is far away from the vehicle and the windows need to be closed to prevent foreign objects from entering the vehicle. In this case, the vehicle controls the window to close.

[0162] In one implementation, a determination can be made as to whether the third predicted collision time is greater than a window opening cancellation time threshold. If the third predicted collision time is greater than the window opening cancellation time threshold, the vehicle's windows are controlled to close. The window opening cancellation time threshold can be 0.45 seconds, 0.5 seconds, 0.55 seconds, etc. This embodiment of the application does not specify a specific window opening cancellation time threshold; it can be determined based on actual circumstances.

[0163] The vehicle prediction collision handling method provided in this embodiment closes the window when it detects that the vehicle ahead is moving away from the vehicle after the window opening control is completed, thereby restoring the window to its original state when the collision risk is eliminated and preventing foreign objects from entering the vehicle.

[0164] Figure 6 This is a flow chart of the fifth embodiment of the vehicle prediction collision processing method provided by this application. Based on the above embodiment, this embodiment of the application describes the situation where the VCU locks the door when it detects that the front vehicle is moving away from the vehicle after controlling the vehicle to unlock the door. Figure 6 As shown, the vehicle prediction collision processing method specifically includes the following steps:

[0165] S601: After unlocking the door of the ego vehicle, a fourth relative speed and a fourth distance between the ego vehicle and the preceding vehicle in the current lane are acquired in real time.

[0166] In this step, after the VCU controls the ego vehicle to unlock the door, in order to close and lock the door when the vehicle moves away from the ego vehicle, it is necessary to obtain the fourth relative speed and fourth distance between the ego vehicle and the vehicle ahead in the current lane in real time.

[0167] It should be noted that this step is similar to step S201 in the first embodiment and will not be described again here.

[0168] S602: Calculate a fourth predicted collision time according to the fourth relative speed and the fourth distance.

[0169] It should be noted that this step is similar to step S202 in the first embodiment and will not be described again here.

[0170] S603: If the fourth predicted collision duration is greater than the unlocking duration threshold, control the vehicle to lock its doors.

[0171] In this step, after the VCU obtains the fourth predicted collision time, it determines whether the fourth predicted collision time is greater than the unlocking time threshold. If the fourth predicted collision time is greater than the unlocking time threshold, it means that the vehicle in front is far away from the vehicle, and the windows need to be locked to prevent accidental opening of the door and improve the safety of the driver and passengers. In this case, the vehicle controls the door to lock.

[0172] In one implementation, a determination can be made as to whether the fourth predicted collision duration is greater than a threshold unlock cancellation duration. If so, the vehicle's doors are locked. The unlock cancellation duration threshold can be 0.35 seconds, 0.3 seconds, 0.25 seconds, or other thresholds. This embodiment of the present application does not specify a specific unlock cancellation duration threshold; it can be determined based on actual circumstances.

[0173] The vehicle prediction collision handling method provided in this embodiment locks the vehicle doors when it detects that the vehicle ahead is moving away from the vehicle after controlling the vehicle to unlock the doors, thereby restoring the door locks when the collision risk is eliminated, thereby improving the safety of the driver and passengers.

[0174] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0175] Figure 7 This is a schematic diagram of the structure of an embodiment of the vehicle prediction collision processing device provided by this application; Figure 7 As shown, the vehicle prediction collision processing device 70 includes:

[0176] An acquisition module 71 is configured to acquire a current road surface adhesion coefficient, and a first relative speed and a first distance between the vehicle and the preceding vehicle in the current lane;

[0177] The processing module 72 is configured to:

[0178] calculating a first predicted collision time according to the first relative speed and the first distance;

[0179] Calculating an unlocking time threshold and a window opening time threshold based on the current road adhesion coefficient, wherein the unlocking time threshold is less than the window opening time threshold, and the window opening time threshold is less than a preset speed reduction avoidance time threshold;

[0180] The control module 73 is used to control the vehicle to avoid, slow down, open the window or unlock the door according to the relationship between the first predicted collision time and the unlocking time threshold and the window opening time threshold if the first predicted collision time is less than or equal to the preset avoidance and deceleration time threshold.

[0181] Furthermore, the processing module 72 is specifically configured to:

[0182] The ratio of the preset sunny road surface adhesion coefficient to the current road surface adhesion coefficient is used as a pending adjustment parameter;

[0183] Determining a target adjustment parameter according to the pending adjustment parameter, the preset upper limit of the adjustment parameter, and the preset lower limit of the adjustment parameter;

[0184] The product of the target adjustment parameter and the preset unlocking time is used as the unlocking time threshold;

[0185] The sum of the unlocking time threshold and the preset advance time is used as the window opening time threshold;

[0186] The product of the preset upper limit of the adjustment parameter and the preset unlocking time plus the preset advance time is less than the preset speed reduction avoidance time threshold.

[0187] Furthermore, the preset lower limit value of the adjustment parameter is 1, and the processing module 72 is further configured to:

[0188] If the undetermined adjustment parameter is greater than or equal to the preset adjustment parameter upper limit, the preset adjustment parameter upper limit is used as the target adjustment parameter;

[0189] If the undetermined adjustment parameter is less than or equal to the preset adjustment parameter lower limit, the preset adjustment parameter lower limit is used as the target adjustment parameter;

[0190] If the pending adjustment parameter is less than the upper limit of the preset adjustment parameter and greater than the lower limit of the preset adjustment parameter, the pending adjustment parameter is used as the target adjustment parameter.

[0191] Furthermore, the control module 73 is specifically configured to:

[0192] If the first predicted collision duration is greater than the window opening duration threshold, controlling the vehicle to avoid or slow down according to the acquired information about the vehicle in the adjacent lane;

[0193] If the first predicted collision duration is greater than the unlocking duration threshold and less than or equal to the window opening duration threshold, controlling the vehicle to open the window according to the current road adhesion coefficient;

[0194] If the first predicted collision duration is less than or equal to the unlocking duration threshold and is greater than 0, the vehicle is controlled to unlock its doors.

[0195] Furthermore, the control module 73 is further configured to:

[0196] For each lane vehicle information, generating an avoidance flag corresponding to the lane vehicle information according to the lane vehicle information, the avoidance flag is used to indicate whether the vehicle can avoid;

[0197] If at least one avoidance mark among the avoidance marks corresponding to the vehicle information in all lanes indicates that the ego vehicle can avoid, then the ego vehicle is controlled to avoid;

[0198] If the avoidance signs corresponding to the vehicle information in all lanes indicate that the vehicle cannot avoid, the vehicle is controlled to slow down.

[0199] Furthermore, for each lane vehicle information, the lane vehicle information includes a vehicle presence indicator indicating whether a vehicle exists in the lane. If the vehicle presence indicator indicates that a vehicle exists in the lane, the lane vehicle information further includes at least one vehicle information, each vehicle information including a second relative speed and a second distance. The control module 73 is further specifically configured to:

[0200] If the vehicle presence sign indicates that there is no vehicle in the lane, generating an avoidance sign indicating that the vehicle can avoid the lane;

[0201] If the vehicle presence sign indicates that there is a vehicle in the lane, calculating a second predicted collision time corresponding to each vehicle information based on the second relative speed and the second distance of each vehicle information;

[0202] If the second predicted collision duration corresponding to all vehicle information is greater than the preset avoidance deceleration duration threshold, an avoidance mark indicating that the vehicle can avoid the collision is generated;

[0203] If at least one of the second predicted collision durations corresponding to all vehicle information is less than or equal to the preset avoidance deceleration duration threshold, an avoidance mark indicating that the vehicle is unavoidable is generated.

[0204] Furthermore, the control module 73 is further configured to:

[0205] If the current road adhesion coefficient is greater than or equal to the preset sunny road adhesion coefficient, controlling the vehicle window to open according to the preset first opening degree;

[0206] If the current road adhesion coefficient is less than the preset sunny road adhesion coefficient, the vehicle window is controlled to open according to a preset second opening; the preset second opening is less than the preset first opening.

[0207] Furthermore, the acquisition module 71 is further configured to acquire, in real time, a third relative speed and a third distance between the vehicle and the preceding vehicle in the current lane after the vehicle window is opened.

[0208] The processing module 72 is further configured to calculate a third predicted collision time based on the third relative speed and the third distance;

[0209] The control module 73 is further configured to control the vehicle to close its windows if the third predicted collision duration is greater than the window opening duration threshold.

[0210] Furthermore, the acquisition module 71 is further configured to acquire, in real time, a fourth relative speed and a fourth distance between the vehicle and the preceding vehicle in the current lane after the vehicle unlocks its door.

[0211] The processing module 72 is further configured to calculate a fourth predicted collision time based on the fourth relative speed and the fourth distance;

[0212] The control module 73 is further configured to control the vehicle to lock its doors if the fourth predicted collision duration is greater than the unlocking duration threshold.

[0213] The vehicle prediction collision processing device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principles and technical effects are similar and will not be repeated here.

[0214] Figure 8 This is a schematic diagram of the structure of an electronic device provided by this application. Figure 8 As shown, the electronic device 80 includes:

[0215] Processor 81, memory 82, and communication interface 83;

[0216] The memory 82 is used to store executable instructions of the processor 81;

[0217] The processor 81 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0218] Optionally, the memory 82 can be independent or integrated with the processor 81.

[0219] Optionally, when the memory 82 is a device independent of the processor 81, the electronic device 80 may further include:

[0220] The bus 84 , the memory 82 and the communication interface 83 are connected to the processor 81 via the bus 84 and communicate with each other. The communication interface 83 is used to communicate with other devices.

[0221] Optionally, communication interface 83 may be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0222] Bus 84 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the figure uses only one thick line, but this does not imply that there is only one bus or only one type of bus.

[0223] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0224] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principles and technical effects are similar and will not be repeated here.

[0225] An embodiment of the present application also provides a vehicle, which includes a vehicle controller.

[0226] The vehicle controller is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principles and technical effects are similar and will not be repeated here.

[0227] An embodiment of the present application further provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the technical solution provided by any of the aforementioned method embodiments.

[0228] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solution provided by any of the aforementioned method embodiments.

[0229] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0230] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle collision prediction processing method, characterized in that: include: Obtain the current road adhesion coefficient, as well as the first relative speed and first distance between the vehicle and the preceding vehicle in the current lane; calculating a first predicted collision time according to the first relative speed and the first distance; Calculating an unlocking time threshold and a window opening time threshold based on the current road adhesion coefficient, wherein the unlocking time threshold is less than the window opening time threshold, and the window opening time threshold is less than a preset speed reduction avoidance time threshold; If the first predicted collision time is less than or equal to the preset avoidance deceleration time threshold, the vehicle is controlled to avoid, decelerate, open the window or unlock the door based on the relationship between the first predicted collision time and the unlocking time threshold and the window opening time threshold.

2. The method according to claim 1, characterized in that The calculating, based on the current road adhesion coefficient, the unlocking time threshold and the window opening time threshold, includes: The ratio of the preset sunny road surface adhesion coefficient to the current road surface adhesion coefficient is used as a pending adjustment parameter; Determining a target adjustment parameter according to the pending adjustment parameter, the preset upper limit of the adjustment parameter, and the preset lower limit of the adjustment parameter; The product of the target adjustment parameter and the preset unlocking time is used as the unlocking time threshold; The sum of the unlocking time threshold and the preset advance time is used as the window opening time threshold; The product of the preset upper limit of the adjustment parameter and the preset unlocking time plus the preset advance time is less than the preset speed reduction avoidance time threshold.

3. The method according to claim 2, characterized in that The preset lower limit value of the adjustment parameter is 1, and determining the target adjustment parameter according to the undetermined adjustment parameter, the preset upper limit value of the adjustment parameter, and the preset lower limit value of the adjustment parameter includes: If the undetermined adjustment parameter is greater than or equal to the preset adjustment parameter upper limit, the preset adjustment parameter upper limit is used as the target adjustment parameter; If the undetermined adjustment parameter is less than or equal to the preset adjustment parameter lower limit, the preset adjustment parameter lower limit is used as the target adjustment parameter; If the pending adjustment parameter is less than the upper limit of the preset adjustment parameter and greater than the lower limit of the preset adjustment parameter, the pending adjustment parameter is used as the target adjustment parameter.

4. The method according to claim 1, wherein The controlling the vehicle to avoid, reduce speed, open windows, or unlock doors according to the relationship between the first predicted collision duration and the unlocking duration threshold and the window opening duration threshold includes: If the first predicted collision duration is greater than the window opening duration threshold, controlling the vehicle to avoid or slow down according to the acquired information about the vehicle in the adjacent lane; If the first predicted collision duration is greater than the unlocking duration threshold and less than or equal to the window opening duration threshold, controlling the vehicle to open the window according to the current road adhesion coefficient; If the first predicted collision duration is less than or equal to the unlocking duration threshold and is greater than 0, the vehicle is controlled to unlock its doors.

5. The method according to claim 4, characterized in that The adjacent lane vehicle information includes at least one lane vehicle information, and controlling the vehicle to avoid or decelerate based on the acquired adjacent lane vehicle information includes: For each lane vehicle information, generating an avoidance flag corresponding to the lane vehicle information according to the lane vehicle information, the avoidance flag is used to indicate whether the vehicle can avoid; If at least one avoidance mark among the avoidance marks corresponding to the vehicle information in all lanes indicates that the ego vehicle can avoid, then the ego vehicle is controlled to avoid; If the avoidance signs corresponding to the vehicle information in all lanes indicate that the vehicle cannot avoid, the vehicle is controlled to slow down.

6. The method according to claim 5, characterized in that For each lane vehicle information, the lane vehicle information includes a vehicle presence flag indicating whether there is a vehicle in the lane. If the vehicle presence flag indicates that there is a vehicle in the lane, the lane vehicle information further includes at least one vehicle information, and each vehicle information includes a second relative speed and a second distance. The step of generating an avoidance indicator corresponding to the lane vehicle information according to the lane vehicle information includes: If the vehicle presence sign indicates that there is no vehicle in the lane, generating an avoidance sign indicating that the vehicle can avoid the lane; If the vehicle presence sign indicates that there is a vehicle in the lane, calculating a second predicted collision time corresponding to each vehicle information based on the second relative speed and the second distance of each vehicle information; If the second predicted collision duration corresponding to all vehicle information is greater than the preset avoidance deceleration duration threshold, an avoidance mark indicating that the vehicle can avoid the collision is generated; If at least one of the second predicted collision durations corresponding to all vehicle information is less than or equal to the preset avoidance deceleration duration threshold, an avoidance mark indicating that the vehicle is unavoidable is generated.

7. The method according to claim 4, characterized in that The controlling the vehicle to open the window according to the current road adhesion coefficient includes: If the current road adhesion coefficient is greater than or equal to the preset sunny road adhesion coefficient, controlling the vehicle window to open according to the preset first opening degree; If the current road adhesion coefficient is less than the preset sunny road adhesion coefficient, the vehicle window is controlled to open according to a preset second opening; the preset second opening is less than the preset first opening.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: After controlling the vehicle to open its window, the third relative speed and third distance between the vehicle and the preceding vehicle in the current lane are obtained in real time; calculating a third predicted collision time according to the third relative speed and the third distance; If the third predicted collision duration is greater than the window opening duration threshold, the vehicle window is controlled to close.

9. The method according to any one of claims 1 to 7, characterized in that The method further comprises: After controlling the vehicle to unlock its door, obtaining in real time a fourth relative speed and a fourth distance between the vehicle and the preceding vehicle in the current lane; calculating a fourth predicted collision time according to the fourth relative speed and the fourth distance; If the fourth predicted collision duration is greater than the unlocking duration threshold, the vehicle is controlled to lock its doors.

10. A vehicle collision prediction processing device, characterized in that: include: An acquisition module is used to obtain the current road adhesion coefficient, as well as a first relative speed and a first distance between the vehicle and the preceding vehicle in the current lane; Processing module for: calculating a first predicted collision time according to the first relative speed and the first distance; Calculating an unlocking time threshold and a window opening time threshold based on the current road adhesion coefficient, wherein the unlocking time threshold is less than the window opening time threshold, and the window opening time threshold is less than a preset speed reduction avoidance time threshold; A control module is used to control the vehicle to avoid, slow down, open the window or unlock the door based on the relationship between the first predicted collision time and the unlocking time threshold and the window opening time threshold if the first predicted collision time is less than or equal to the preset avoidance deceleration time threshold.

11. An electronic device, characterized in that: include: Processor, memory, communication interface; The memory is used to store executable instructions of the processor; The processor is configured to execute the vehicle prediction collision processing method according to any one of claims 1 to 9 by executing the executable instructions.

12. A vehicle, characterized in that: Including vehicle controller; The vehicle controller is used to execute the vehicle prediction collision processing method described in any one of claims 1 to 9 above.

13. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle prediction collision processing method according to any one of claims 1 to 9 is implemented.

14. A computer program product, characterized in that The method comprises a computer program, which is used to implement the vehicle prediction collision processing method according to any one of claims 1 to 9 when executed by a processor.

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