Rear-end collision and side collision active avoidance reminding method and device, electronic equipment and storage medium

Abstract

The invention provides a rear-end collision and side collision active avoidance reminding method and device, electronic equipment and a storage medium, and relates to the technical field of automobile active safety. In the method, omni-directional environment information can be sensed, and therefore in the omni-directional collision state, a driver of an automobile is reminded, and the safety of the automobile is improved. According to the method and the system, the driver of the vehicle in the front, the driver of the vehicle in the back, the driver of the vehicle in the front and the driver of the vehicle in the side direction can be actively reminded, light and sound are provided for reminding, side collisions and rear collisions can be monitored in real time and actively avoided, the probability of side collisions and rear collisions is reduced, and the driving safety is greatly improved.

Description

Technical Field

[0001] This invention relates to the technical field of automotive active safety, and in particular to a method, device, electronic device, and storage medium for active avoidance warning of rear-end collisions and side collisions. Background Technology

[0002] Traditional cars with driver assistance systems typically only warn the driver and can only prevent collisions ahead. Their systems use sensing devices such as lidar, millimeter-wave radar, and high-definition cameras to perceive the surrounding environment. The typical deployment is as follows: lidar is placed on the roof / front bumper, primarily detecting the environment in front of and to the sides of the vehicle; millimeter-wave radar typically consists of one main radar at the front of the vehicle and two or four corner radars at the four corners, focusing on monitoring the environment in front and to the sides; while ultrasonic radar is deployed in the front and rear bumpers, with different deployment schemes such as 6 in the front and 6 in the rear, or 4 in the front and 6 in the rear, primarily used to monitor the immediate surrounding environment.

[0003] Its collision avoidance process for rear-end collisions and other risks is as follows: When in normal driving condition, the sensing equipment mainly monitors the environment in front and to the sides and rear. If it judges that the vehicle may rear-end the vehicle in front, it will actively remind the driver and slow down. In an emergency, it will actively steer to avoid the vehicle in front. When the vehicle is preparing to change lanes, it will monitor the status of vehicles to the sides and rear. If it predicts a possible collision risk and the conditions for changing lanes are not met, it will remind the driver of the vehicle through warning lights and sounds. When the vehicle brakes suddenly, it will only activate the hazard lights and remind the vehicles behind through warning lights. When the vehicle is parking, if it detects surrounding obstacles, it will remind the driver of the vehicle through sounds, lights, etc.

[0004] Traditional solutions cannot provide warnings, alerts, or proactive avoidance measures in case of a rear-end collision. Their main sensing components primarily monitor the situation of vehicles ahead, and when an emergency lane change is needed, they make judgments based on the surrounding environment. Furthermore, the warnings are essentially directed at the driver of the vehicle in question. For other vehicles, they only display the braking status of the vehicle in question, lacking specificity and effectiveness in alerting them. In addition, when the vehicle is stopped at a red light, there are no warnings or avoidance measures for potential rear / side collisions, making it impossible to prevent accidents.

[0005] In summary, traditional methods for proactive collision avoidance and side-impact warnings suffer from technical problems related to poor safety. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a method, device, electronic device and storage medium for active collision and side collision avoidance warning, so as to alleviate the technical problem of poor safety of traditional active collision and side collision avoidance warning methods.

[0007] In a first aspect, embodiments of the present invention provide a method for active avoidance warning of rear-end collisions and side collisions, including: Acquire omnidirectional environmental information from environmental sensing devices installed on the vehicle; Control commands are generated based on the omnidirectional environmental information; The control commands control the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and control the avoidance actuator to perform the corresponding avoidance actions.

[0008] Furthermore, the environmental perception device includes: millimeter-wave radar, the number of which is eight. One millimeter-wave radar is installed at the center of the front of the vehicle, one millimeter-wave radar is installed at the front left corner of the vehicle, one millimeter-wave radar is installed at the front right corner of the vehicle, one millimeter-wave radar is installed at the center of the rear of the vehicle, one millimeter-wave radar is installed at the rear left corner of the vehicle, one millimeter-wave radar is installed at the rear right corner of the vehicle, one millimeter-wave radar is installed at the center of the left side of the vehicle, and one millimeter-wave radar is installed at the center of the right side of the vehicle. The active reminder device includes: an external sound reminder device, an external visual reminder device, and an in-vehicle reminder device. The external sound reminder device includes: a speaker and a rear-facing reminder horn installed at the rear bumper. The external visual reminder device includes: vehicle headlights, brake lights, and a display screen installed at the rear windshield. The in-vehicle reminder device includes: a buzzer, an instrument display screen, and seats inside the vehicle.

[0009] Furthermore, under normal driving conditions, the control command controls the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and controls the avoidance actuator to perform corresponding avoidance actions, including: If it is determined that the vehicle is at risk of being rear-ended, the display screen and the rear warning horn are activated to provide visual and auditory warnings to vehicles behind. If the vehicle behind slows down and maintains a safe distance, the alarm will be deactivated. If the vehicle behind does not react, and it is determined that a rear-end collision is unavoidable, and it is determined that there is no vehicle in front of the vehicle, or the distance between the vehicle and the vehicle in front is greater than a preset value, then the vehicle will actively accelerate to maintain a relatively safe distance from the vehicle behind while alerting the vehicle behind, and turn on the speaker and the vehicle headlights to alert the vehicle in front. If the distance between the vehicle and the vehicle in front is not greater than a preset value, and the adjacent lanes on the left and right have the conditions for changing lanes, the turn signal will be automatically turned on and the vehicle will move to the adjacent lane. If there are no conditions to avoid a collision in the lanes ahead and to the left and right, the vehicle's speed will be increased to reduce the distance to the vehicle in front and the speed difference with the vehicle behind.

[0010] Furthermore, under normal driving conditions, the active reminder device is controlled by the control command to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and the avoidance actuator is controlled to perform corresponding avoidance actions, which also includes: If it is determined that the vehicle is at risk of being struck by a vehicle from the side, the speaker will emit a sound to warn the vehicle from the side. If the vehicle on the side continues to move or if a side collision is still anticipated, and the distance between the vehicle and the vehicle in front is greater than a preset value, then the vehicle accelerates forward. After the vehicle and the vehicle on the side have moved apart, the vehicle brakes suddenly to maintain a safe distance from the vehicle in front. If the distance between the vehicle and the vehicle in front is not greater than a preset value, but the distance between the vehicle and the vehicle behind is greater than a preset value, the vehicle will automatically decelerate and issue a warning to the vehicle behind through the display screen and the rear warning horn. If the distance between the vehicle and the vehicle in front is not greater than a preset value, and the distance between the vehicle and the vehicle behind is also not greater than a preset value, the vehicle will change lanes to the lane in the direction of travel of the lateral vehicle and issue a warning sound.

[0011] Furthermore, in the case of a temporary vehicle stop, the control command controls the active alert device to provide visual and auditory alerts to the owners of external vehicles and the owner of the vehicle, and controls the avoidance mechanism to perform corresponding avoidance actions, including: If it is determined that the vehicle is at risk of being rear-ended, the display screen and the rear warning horn are activated to provide visual and auditory warnings to vehicles behind. If the vehicle behind does not react and the adjacent lanes on the left and right are suitable for lane changing, start the vehicle and quickly change lanes to the adjacent lane. If the adjacent lane does not allow for lane changing, the steering mechanism will be activated to turn the wheels to the right lane, and the P gear will be disengaged to N gear. The parking brake will be released, and all four doors of the vehicle will unlock.

[0012] Furthermore, in the case of a temporary vehicle stop, the active alert device is controlled via the control command to provide visual and auditory alerts to the owners of external vehicles and the owner of the vehicle, and the avoidance mechanism is controlled to perform corresponding avoidance actions, which also includes: If it is determined that the vehicle is at risk of being struck by a vehicle from the side, the speaker will emit a sound to warn the vehicle from the side. If the vehicle on the side continues to move or if it is still determined that a side collision will occur, and the adjacent lanes on the left and right are ready for lane changing, then start the vehicle to move to the adjacent lane and avoid the vehicle on the side. If the adjacent lanes on the left and right do not meet the conditions for lane changing, then start the vehicle to change the vehicle's direction and the lateral vehicles from being perpendicular to each other to being non-perpendicular.

[0013] Furthermore, when the vehicle is parked or reversing, the control command controls the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and controls the avoidance actuator to perform corresponding avoidance actions, including: When the vehicle reverses and leaves the parking space, if it is determined that the vehicle is at risk of being hit by a vehicle on the side, the driver of the vehicle will be alerted by the speaker emitting a sound to warn the vehicle on the side. If the driver of the vehicle on the side or the driver of the vehicle does not take evasive action, the vehicle will automatically stop reversing and move forward to re-enter the parking position.

[0014] Secondly, embodiments of the present invention also provide a rear-end collision and side-impact active avoidance warning device, comprising: The acquisition unit is used to acquire omnidirectional environmental information monitored by environmental perception devices installed on the vehicle. The generation unit is used to generate control commands based on the omnidirectional environmental information; The control unit is used to control the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle through the control commands, and to control the avoidance actuator to perform the corresponding avoidance action.

[0015] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in any of the first aspects above.

[0016] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing machine-executable instructions, which, when invoked and executed by a processor, cause the processor to perform the method described in any of the first aspects above.

[0017] In this embodiment of the invention, a method for active avoidance of rear-end collisions and side collisions is provided, comprising: acquiring omnidirectional environmental information monitored by an environmental perception device installed on the vehicle; generating control commands based on the omnidirectional environmental information; controlling an active warning device to provide visual and auditory warnings to the drivers of external vehicles and the driver of the vehicle through the control commands, and controlling an avoidance actuator to perform corresponding avoidance actions. As described above, the method for active avoidance of rear-end collisions and side collisions of the present invention can perceive omnidirectional environmental information, and thus, in the event of an omnidirectional collision, can not only warn the driver of the vehicle but also actively warn the drivers of vehicles behind, in front, and to the side. The warning methods include not only lights but also sounds, and it can monitor and actively avoid side and rear collisions in real time, reducing the probability of side and rear collisions and greatly improving driving safety, thus alleviating the technical problem of poor safety in traditional active avoidance of rear-end collisions and side collisions. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A flowchart of a rear-end collision and side-impact active avoidance warning method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the layout of the environmental sensing device on a vehicle according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the warning and avoidance of rear-end collision risk under normal vehicle driving conditions, provided by an embodiment of the present invention. Figure 4 This is a schematic diagram illustrating the warning and avoidance of side collision risk under normal vehicle driving conditions, provided by an embodiment of the present invention. Figure 5 This is a schematic diagram illustrating the warning and avoidance of side collision risk when a vehicle is parked or reversing, as provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of a rear-end collision and side-impact active avoidance warning device provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Traditional methods of proactive collision avoidance warnings for rear-end collisions and side collisions are not very safe.

[0022] Based on this, the rear-end collision and side-impact active avoidance warning method of the present invention can sense environmental information in all directions. In the event of an all-directional collision, it can not only remind the driver of the vehicle itself, but also actively remind the drivers of vehicles behind, in front, and to the side. The reminder methods include not only lights but also sounds. It can also monitor and actively avoid side and rear collisions in real time, reducing the probability of side and rear collisions and greatly improving driving safety.

[0023] To facilitate understanding of this embodiment, a method for active avoidance of rear-end collisions and side collisions disclosed in this embodiment of the invention will first be described in detail.

[0024] Example 1: According to an embodiment of the present invention, an embodiment of a rear-end collision and side collision active avoidance warning method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a flowchart of a rear-end collision and side-impact active avoidance warning method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps: Step S102: Obtain omnidirectional environmental information monitored by the environmental perception equipment installed on the vehicle; In this embodiment of the invention, the above-mentioned rear-end collision and side-impact active avoidance warning method can be applied to the information calculation and control unit, which is the controller assembly for rear-end collision and side-impact active avoidance warning. It is arranged in the vehicle and is used to process and calculate the information of the environmental perception device and output relevant control commands.

[0026] Step S104: Generate control commands based on omnidirectional environmental information; Step S106: Control the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle through control commands, and control the avoidance execution mechanism to perform the corresponding avoidance action.

[0027] The process will be described in detail below, and will not be repeated here.

[0028] In this embodiment of the invention, a method for active avoidance of rear-end collisions and side collisions is provided, comprising: acquiring omnidirectional environmental information monitored by an environmental perception device installed on the vehicle; generating control commands based on the omnidirectional environmental information; controlling an active warning device to provide visual and auditory warnings to the drivers of external vehicles and the driver of the vehicle through the control commands, and controlling an avoidance actuator to perform corresponding avoidance actions. As described above, the method for active avoidance of rear-end collisions and side collisions of the present invention can perceive omnidirectional environmental information, and thus, in the event of an omnidirectional collision, can not only warn the driver of the vehicle but also actively warn the drivers of vehicles behind, in front, and to the side. The warning methods include not only lights but also sounds, and it can monitor and actively avoid side and rear collisions in real time, reducing the probability of side and rear collisions and greatly improving driving safety, thus alleviating the technical problem of poor safety in traditional active avoidance of rear-end collisions and side collisions.

[0029] The above provides a brief overview of the rear-end collision and side-impact active avoidance warning method of the present invention. The specific details involved are described in detail below.

[0030] In an optional embodiment of the present invention, such as Figure 2 As shown, the environmental perception equipment includes: millimeter-wave radar, with a total of 8 millimeter-wave radars. One millimeter-wave radar is installed at the center of the front of the vehicle, one millimeter-wave radar is installed at the front left corner of the vehicle, one millimeter-wave radar is installed at the front right corner of the vehicle, one millimeter-wave radar is installed at the center of the rear of the vehicle, one millimeter-wave radar is installed at the rear left corner of the vehicle, one millimeter-wave radar is installed at the rear right corner of the vehicle, one millimeter-wave radar is installed at the center of the left side of the vehicle, and one millimeter-wave radar is installed at the center of the right side of the vehicle. The active alert devices include: external sound alert devices, external visual alert devices, and in-vehicle alert devices. The external sound alert devices include: speakers and rear-facing warning horns installed in the rear bumper position. The external visual alert devices include: vehicle headlights, brake lights, and a display screen installed in the rear windshield. The in-vehicle alert devices include: a buzzer, an instrument display screen, and seats inside the vehicle.

[0031] Specifically, a millimeter-wave radar installed at the center of the front of the vehicle is used to monitor the environment directly in front; millimeter-wave radars installed at the left and right front corners of the vehicle are used to monitor the environment to the sides and front; a millimeter-wave radar installed at the center of the rear of the vehicle is used to monitor the environment to the rear; millimeter-wave radars installed at the left and right rear corners of the vehicle are used to monitor the environment to the sides and rear; and millimeter-wave radars installed at the center of the left and right sides of the vehicle are used to monitor the environment to the sides.

[0032] Active alert systems include: external sound alerts, external visual alerts, and in-vehicle alerts. External sound alerts, in addition to utilizing the original vehicle's tweeters and woofers, include an additional rear-facing horn in the rear bumper to provide audible alerts to vehicles approaching from behind. External visual alerts, in addition to the existing headlights and brake lights, include a display screen added to the rear windshield to show the alert information to following vehicles. In-vehicle alerts include a buzzer, instrument cluster display, and seats.

[0033] The actuator and controller assembly can automatically control the vehicle to avoid obstacles based on the surrounding environment. This includes vehicle steering, which is the original electric power steering system; automatic deceleration and acceleration are achieved by the vehicle's braking system and accelerator pedal.

[0034] In an optional embodiment of the present invention, under normal driving conditions, the active reminder device is controlled by control commands to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and the avoidance execution mechanism is controlled to perform corresponding avoidance actions, specifically including the following steps: (1) If it is determined that there is a risk of being rear-ended, the display screen and rear warning horn are activated to provide visual and auditory warnings to vehicles behind; (2) If the vehicle behind slows down and maintains a safe distance, the alarm will be deactivated; (3) If the vehicle behind does not react, when it is determined that being rear-ended is unavoidable, and it is determined that there is no vehicle in front of the vehicle, or the distance between the vehicle and the vehicle in front is greater than the preset value, the vehicle will actively accelerate while reminding the vehicle behind, maintain a relatively safe distance from the vehicle behind, and turn on the loudspeaker and headlights to remind the vehicle in front. (4) If the distance between the vehicle and the vehicle in front is not greater than the preset value, and the adjacent lanes on the left and right have the conditions for changing lanes, the turn signal will be turned on automatically and the vehicle will move to the adjacent lane. (5) If there are no conditions to avoid the vehicle in front and in the adjacent lanes on the left and right, increase the vehicle speed to reduce the distance to the vehicle in front and reduce the speed difference with the vehicle behind.

[0035] For details, please refer to Figure 3Three millimeter-wave radars at the rear of the vehicle monitor the distance and relative speed between the vehicle and vehicles behind, as well as the status of vehicles to the side. If a rear-end collision is suspected, the rear display screen and rear warning horn will activate to provide visual and audible alerts to vehicles behind. If the vehicles behind decelerate and maintain a safe distance, the alert will be deactivated. If the vehicles behind do not react, and a rear-end collision is deemed unavoidable, and there are no vehicles in front of the vehicle (i.e., no vehicles in front of the vehicle), or the distance between the vehicle and the vehicle in front is relatively large, the vehicle will actively accelerate while alerting the vehicles behind, maintaining a relatively safe distance. Simultaneously, the horn and headlights will activate to warn the vehicles in front. If there is no sufficient distance to accelerate ahead (i.e., the distance between the vehicle and the vehicle in front is no greater than a preset value), but there are partial lane-changing conditions in the adjacent lanes, the vehicle will automatically activate its turn signal and move to the adjacent lane. If there are no avoidance conditions in front or in the adjacent lanes, and a rear-end collision is unavoidable, the vehicle's speed will be appropriately increased to reduce the distance to the vehicle in front, reduce the speed difference with the vehicles behind, reduce the energy of the collision, and lower the risk.

[0036] In an optional embodiment of the present invention, under normal driving conditions, the active reminder device is controlled by control commands to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and the avoidance execution mechanism is controlled to perform corresponding avoidance actions, further comprising the following steps: (1) If it is determined that the vehicle is at risk of being hit by a vehicle from the side, the loudspeaker will sound to warn the vehicle from the side; (2) If the vehicle on the side continues to move or it is still judged that a side collision will occur, and the distance between the vehicle and the vehicle in front is greater than the preset value, then accelerate forward, and after the vehicle and the vehicle on the side pass each other, brake suddenly to maintain a safe distance from the vehicle in front. (3) If the distance between the vehicle and the vehicle in front is not greater than the preset value, but the distance between the vehicle and the vehicle behind is greater than the preset value, the vehicle will automatically decelerate and send a reminder to the vehicle behind through the display screen and the rear reminder horn. (4) If the distance between the vehicle and the vehicle in front is not greater than the preset value, and the distance between the vehicle and the vehicle behind is not greater than the preset value, the vehicle will change lanes to the lane in the direction of the vehicle traveling to the side and issue a warning sound.

[0037] For details, please refer to Figure 4When the vehicle is in motion, if the side radar detects a potential side collision, it first issues a warning and sounds an audible alarm. If the side vehicle continues to move or a side collision is still anticipated, evasive action is taken based on the status of vehicles in front and behind. If there is sufficient space ahead and a large distance between the vehicle and the vehicle in front, the vehicle accelerates forward, and after passing the side vehicle, it brakes suddenly to maintain a safe distance. If there is insufficient space ahead but sufficient distance between the vehicle and the vehicle behind, the vehicle automatically decelerates while simultaneously alerting vehicles behind via the rear display screen and rear warning horn. If there is insufficient space in both directions, the vehicle changes lanes into the lane in the direction the side vehicle is traveling, and issues a warning audible alarm.

[0038] In an optional embodiment of the present invention, when the vehicle is temporarily parked (such as waiting at a traffic light), the active reminder device is controlled by a control command to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and the avoidance execution mechanism is controlled to perform corresponding avoidance actions, specifically including the following steps: (1) If it is determined that there is a risk of being rear-ended, the display screen and rear warning horn are activated to provide visual and auditory warnings to vehicles behind; (2) If the vehicle behind does not react and the adjacent lanes on the left and right are ready to change lanes, start the vehicle and change lanes to the adjacent lanes at high speed. (3) If the adjacent lane does not have the conditions for changing lanes, start the steering mechanism, turn the wheels to the right lane, and release the P gear to N gear, release the parking brake, and unlock the four doors of the vehicle.

[0039] Specifically, if it is determined that a rear-end collision may occur, the vehicle will first issue an audible and visual warning to the following vehicle. If the following vehicle does not respond, and lane changing is possible in the adjacent lanes on either side, the vehicle will automatically initiate the ignition and rapidly change lanes to the adjacent lane. If lane changing is not possible in the adjacent lanes on either side, the steering mechanism will be activated, turning the wheels to the right lane (the wheels turn to the right), and the vehicle will be shifted from P to N (neutral), the parking brake will be released, and all four doors will unlock. After a collision, the vehicle is guided to move laterally to avoid being sandwiched by vehicles in front and behind, while also facilitating the escape of occupants and reducing the risk of injury.

[0040] In an optional embodiment of the present invention, when the vehicle is temporarily parked, the active reminder device is controlled by control commands to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and the avoidance execution mechanism is controlled to perform corresponding avoidance actions, and the method further includes the following steps: (1) If it is determined that the vehicle is at risk of being hit by a vehicle from the side, the loudspeaker will sound to warn the vehicle from the side; (2) If the vehicle on the side continues to move or it is still judged that a side collision will occur, and the adjacent lanes on the left and right have the conditions for changing lanes, then start the vehicle to move to the adjacent lane and avoid the vehicle on the side. (3) If the adjacent lanes on the left and right do not have the conditions for changing lanes, start the vehicle so that the vehicle direction and the lateral vehicle change from a perpendicular state to a non-perpendicular state.

[0041] Specifically, if the system detects that the vehicle may be struck by a vehicle from the side, it will first issue a warning. If it determines that a collision is unavoidable and there are lane-changing conditions in the adjacent lanes, the vehicle will move to the adjacent lane and avoid the vehicle from the side. If it is not possible to change lanes in the adjacent lane, the vehicle will move to change its direction from perpendicular to the vehicle ... the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from the vehicle from

[0042] In an optional embodiment of the present invention, when the vehicle is parked or reversing, a control command is used to control the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and to control the avoidance actuator to perform corresponding avoidance actions, specifically including the following steps: (1) When the vehicle reverses and leaves the parking space, if it is determined that the vehicle is at risk of being hit by a vehicle on the side, the driver of the vehicle will be reminded and the loudspeaker will sound to remind the vehicle on the side. (2) If the driver of the vehicle on the side or the driver of the vehicle does not take evasive action, the vehicle will automatically stop reversing and move forward to re-enter the parking position.

[0043] For details, please refer to Figure 5 When a vehicle is reversing out of a parking space, if it detects a vehicle approaching from the side and a collision is possible, in addition to alerting the driver of the vehicle, the exterior speaker will sound an audible warning, and the hazard lights will activate to remind the vehicle approaching from the side to slow down and avoid the collision. If neither the driver of the vehicle approaching from the side nor the driver of the vehicle takes evasive action, the vehicle will automatically stop reversing and, based on information such as the speed of the vehicle approaching from the side, if a collision is still possible, it will automatically move forward and re-enter the parking space to avoid an accident.

[0044] The rear-end collision and side-impact active avoidance warning method of the present invention can monitor the surrounding environment in real time and actively warn and avoid passive collisions such as side and rear collisions, reducing the possibility of being hit. If the surrounding environment makes it impossible to avoid being hit, the vehicle lock is automatically released, reducing vehicle damage and personal injury, and facilitating timely escape of occupants from the accident vehicle, thus improving driving safety.

[0045] Example 2: This invention also provides a rear-end collision and side-impact active avoidance warning device. This device is mainly used to execute the rear-end collision and side-impact active avoidance warning method provided in Embodiment 1 of this invention. The following is a detailed description of the rear-end collision and side-impact active avoidance warning device provided in this invention.

[0046] Figure 6This is a schematic diagram of a rear-end collision and side-impact active avoidance warning device according to an embodiment of the present invention, as shown below. Figure 6 As shown, the device mainly includes: an acquisition unit 10, a generation unit 20, and a control unit 30, wherein: The acquisition unit is used to acquire omnidirectional environmental information monitored by environmental perception devices installed on the vehicle. The generation unit is used to generate control commands based on omnidirectional environmental information. The control unit is used to control the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle through control commands, and to control the avoidance actuator to perform corresponding avoidance actions.

[0047] In this embodiment of the invention, a rear-end collision and side-impact active avoidance warning device is provided, comprising: acquiring omnidirectional environmental information monitored by an environmental perception device installed on the vehicle; generating control commands based on the omnidirectional environmental information; controlling the active warning device to provide visual and auditory warnings to the drivers of external vehicles and the driver of the vehicle through the control commands, and controlling the avoidance execution mechanism to perform corresponding avoidance actions. As can be seen from the above description, the rear-end collision and side-impact active avoidance warning device of the present invention can perceive omnidirectional environmental information, and thus, in the event of an omnidirectional collision, it can not only warn the driver of the vehicle, but also actively warn the drivers of vehicles behind, in front, and to the side. The warning methods include not only lights but also sounds, and it can monitor and actively avoid side and rear collisions in real time, reducing the probability of side and rear collisions, greatly improving driving safety, and alleviating the technical problem of poor safety in traditional rear-end collision and side-impact active avoidance warning methods.

[0048] Optionally, the environmental perception equipment includes: millimeter-wave radar, with a total of eight millimeter-wave radars, one installed at the center of the front of the vehicle, one at the front left corner of the vehicle, one at the front right corner of the vehicle, one at the center of the rear of the vehicle, one at the rear left corner of the vehicle, one at the rear right corner of the vehicle, one at the center of the left side of the vehicle, and one at the center of the right side of the vehicle; the active reminder device includes: an external sound reminder device, an external visual reminder device, and an in-vehicle reminder device, wherein the external sound reminder device includes: a speaker and a rear-facing reminder horn installed at the rear bumper, the external visual reminder device includes: vehicle headlights, brake lights, and a display screen installed at the rear windshield, and the in-vehicle reminder device includes: a buzzer, an instrument display screen, and seats inside the vehicle.

[0049] Optionally, under normal driving conditions, the control unit is also used to: if it determines that there is a risk of being rear-ended, activate the display screen and rear warning horn to provide visual and auditory warnings to vehicles behind; if the vehicles behind decelerate and maintain a safe distance, deactivate the alarm; if the vehicles behind do not react, and it is determined that a rear-end collision is unavoidable, and it is determined that there are no vehicles in front of the vehicle, or the distance between the vehicle and the vehicle in front is greater than a preset value, then while warning the vehicles behind, the vehicle actively accelerates to maintain a relatively safe distance from the vehicles behind, and activates the horn and headlights to warn the vehicles in front; if the distance between the vehicle and the vehicle in front is not greater than a preset value, and the adjacent lanes on the left and right have the conditions for lane changing, then automatically activate the turn signal and move to the adjacent lane; if neither the front nor the adjacent lanes on the left and right have the conditions for avoidance, then increase the vehicle speed to reduce the distance to the vehicle in front and reduce the speed difference with the vehicles behind.

[0050] Optionally, under normal driving conditions, the control unit is also used to: if it is determined that there is a risk of the vehicle being struck by a side vehicle, then the speaker emits an audible sound to alert the side vehicle; if the side vehicle continues to move or it is still determined that a side collision will occur, and the distance between the vehicle and the vehicle in front is greater than a preset value, then the vehicle accelerates forward, and after the vehicle and the side vehicle pass each other, it brakes urgently to maintain a safe distance from the vehicle in front; if the distance between the vehicle and the vehicle in front is not greater than a preset value, but the distance to the vehicle behind is greater than a preset value, then the vehicle automatically decelerates while issuing a warning to the vehicle behind via the display screen and the rear warning horn; if the distance between the vehicle and the vehicle in front is not greater than a preset value, and the distance to the vehicle behind is also not greater than a preset value, then the vehicle changes lanes into the lane in the direction of travel of the side vehicle and issues a warning sound.

[0051] Optionally, when the vehicle is temporarily parked, the control unit is also used to: if it is determined that there is a risk of being rear-ended, activate the display screen and rear warning horn to provide visual and auditory warnings to vehicles behind; if the vehicles behind do not react and the adjacent lanes on the left and right are suitable for lane changing, start the vehicle and quickly change lanes to the adjacent lanes; if the adjacent lanes are not suitable for lane changing, activate the steering mechanism to turn the wheels to the right lane, disengage the P gear to N gear, release the parking brake, and unlock all four doors of the vehicle.

[0052] Optionally, when the vehicle is temporarily stopped, the control unit is also used to: if it is determined that there is a risk of the vehicle being hit by a side vehicle, the speaker will sound to remind the side vehicle; if the side vehicle continues to move or it is still determined that a side collision will occur, and the adjacent lanes on the left and right have the conditions for changing lanes, the vehicle will start to move to the adjacent lane and avoid the side vehicle; if the adjacent lanes on the left and right do not have the conditions for changing lanes, the vehicle will start to change the direction of the vehicle from perpendicular to the side vehicle to not perpendicular to each other.

[0053] Optionally, when the vehicle is parked or reversing, the control unit is also used to: when the vehicle is reversing out of the parking space, if it is determined that there is a risk of the vehicle being hit by a vehicle on the side, remind the driver of the vehicle by emitting a sound through the speaker to remind the vehicle on the side; if the driver of the vehicle on the side or the driver of the vehicle does not take evasive action, the vehicle automatically stops reversing and moves forward to re-enter the parking position.

[0054] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0055] like Figure 7 As shown in the embodiment of this application, an electronic device 600 includes a processor 601, a memory 602, and a bus. The memory 602 stores machine-readable instructions that can be executed by the processor 601. When the electronic device is running, the processor 601 communicates with the memory 602 via the bus. The processor 601 executes the machine-readable instructions to perform the steps of the above-described rear-end collision and side-collision active avoidance warning method.

[0056] Specifically, the memory 602 and processor 601 mentioned above can be general-purpose memory and processor, without any specific limitations. When the processor 601 runs the computer program stored in the memory 602, it can execute the above-mentioned rear-end collision and side-collision active avoidance warning method.

[0057] The processor 601 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 601 or by instructions in software form. The processor 601 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may 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, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 602, and processor 601 reads the information from memory 602 and, in conjunction with its hardware, completes the steps of the above method.

[0058] Corresponding to the above-described rear-end collision and side-collision active avoidance warning method, this application embodiment also provides a computer-readable storage medium storing machine-executable instructions. When the machine-executable instructions are called and run by a processor, the machine-executable instructions cause the processor to perform the steps of the above-described rear-end collision and side-collision active avoidance warning method.

[0059] The rear-end collision and side-impact active avoidance warning device provided in this application embodiment can be specific hardware on the device or software or firmware installed on the device. The implementation principle and technical effects of the device provided in this application embodiment are the same as those in the foregoing method embodiments. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the foregoing method embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can all be referred to the corresponding processes in the above method embodiments, and will not be repeated here.

[0060] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0061] For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0062] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0063] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0064] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the rear-end collision and side-impact active avoidance warning methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0065] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0066] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for active avoidance warning in case of rear-end collisions and side collisions, characterized in that, include: Acquire omnidirectional environmental information from environmental sensing devices installed on the vehicle; Control commands are generated based on the omnidirectional environmental information; The control commands control the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and control the avoidance actuator to perform the corresponding avoidance actions.

2. The method according to claim 1, characterized in that, The environmental perception device includes: millimeter-wave radar, and the number of millimeter-wave radars is 8. One millimeter-wave radar is installed at the center of the front of the vehicle, one millimeter-wave radar is installed at the front left corner of the vehicle, one millimeter-wave radar is installed at the front right corner of the vehicle, one millimeter-wave radar is installed at the center of the rear of the vehicle, one millimeter-wave radar is installed at the rear left corner of the vehicle, one millimeter-wave radar is installed at the rear right corner of the vehicle, one millimeter-wave radar is installed at the middle left side of the vehicle, and one millimeter-wave radar is installed at the middle right side of the vehicle. The active reminder device includes: an external sound reminder device, an external visual reminder device, and an in-vehicle reminder device. The external sound reminder device includes: a speaker and a rear-facing reminder horn installed at the rear bumper. The external visual reminder device includes: vehicle headlights, brake lights, and a display screen installed at the rear windshield. The in-vehicle reminder device includes: a buzzer, an instrument display screen, and seats inside the vehicle.

3. The method according to claim 2, characterized in that, Under normal driving conditions, the control commands control the active warning device to provide visual and auditory warnings to the owners of external vehicles and the owner of the vehicle, and control the avoidance mechanism to perform corresponding avoidance actions, including: If it is determined that the vehicle is at risk of being rear-ended, the display screen and the rear warning horn are activated to provide visual and auditory warnings to vehicles behind. If the vehicle behind slows down and maintains a safe distance, the alarm will be deactivated. If the vehicle behind does not react, and it is determined that a rear-end collision is unavoidable, and it is determined that there is no vehicle in front of the vehicle, or the distance between the vehicle and the vehicle in front is greater than a preset value, then the vehicle will actively accelerate to maintain a relatively safe distance from the vehicle behind while alerting the vehicle behind, and turn on the speaker and the vehicle headlights to alert the vehicle in front. If the distance between the vehicle and the vehicle in front is not greater than a preset value, and the adjacent lanes on the left and right have the conditions for changing lanes, the turn signal will be automatically turned on and the vehicle will move to the adjacent lane. If there are no conditions to avoid a collision in the lanes ahead and to the left and right, the vehicle's speed will be increased to reduce the distance to the vehicle in front and the speed difference with the vehicle behind.

4. The method according to claim 3, characterized in that, Under normal driving conditions, the control command controls the active warning device to provide visual and auditory warnings to the owners of external vehicles and the owner of the vehicle, and controls the avoidance actuator to perform corresponding avoidance actions, and also includes: If it is determined that the vehicle is at risk of being struck by a vehicle from the side, the speaker will emit a sound to warn the vehicle from the side. If the vehicle on the side continues to move or if a side collision is still anticipated, and the distance between the vehicle and the vehicle in front is greater than a preset value, then the vehicle accelerates forward. After the vehicle and the vehicle on the side have moved apart, the vehicle brakes suddenly to maintain a safe distance from the vehicle in front. If the distance between the vehicle and the vehicle in front is not greater than a preset value, but the distance between the vehicle and the vehicle behind is greater than a preset value, the vehicle will automatically decelerate and issue a warning to the vehicle behind through the display screen and the rear warning horn. If the distance between the vehicle and the vehicle in front is not greater than a preset value, and the distance between the vehicle and the vehicle behind is also not greater than a preset value, the vehicle will change lanes to the lane in the direction of travel of the lateral vehicle and issue a warning sound.

5. The method according to claim 2, characterized in that, When the vehicle is temporarily parked, the control command controls the active alert device to provide visual and auditory alerts to the owners of external vehicles and the owner of the vehicle, and controls the avoidance actuator to perform corresponding avoidance actions, including: If it is determined that the vehicle is at risk of being rear-ended, the display screen and the rear warning horn are activated to provide visual and auditory warnings to vehicles behind. If the vehicle behind does not react and the adjacent lanes on the left and right are suitable for lane changing, start the vehicle and quickly change lanes to the adjacent lane. If the adjacent lane does not allow for lane changing, the steering mechanism will be activated to turn the wheels to the right lane, and the P gear will be disengaged to N gear. The parking brake will be released, and all four doors of the vehicle will unlock.

6. The method according to claim 5, characterized in that, When the vehicle is temporarily parked, the control command controls the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle, and controls the avoidance actuator to perform corresponding avoidance actions, and also includes: If it is determined that the vehicle is at risk of being struck by a vehicle from the side, the speaker will emit a sound to warn the vehicle from the side. If the vehicle on the side continues to move or if it is still determined that a side collision will occur, and the adjacent lanes on the left and right are ready for lane changing, then start the vehicle to move to the adjacent lane and avoid the vehicle on the side. If the adjacent lanes on the left and right do not meet the conditions for lane changing, then start the vehicle to change the vehicle's direction and the lateral vehicles from being perpendicular to each other to being non-perpendicular.

7. The method according to claim 2, characterized in that, When the vehicle is parked or reversing, the control command controls the active warning device to provide visual and auditory warnings to the owners of external vehicles and the owner of the vehicle, and controls the avoidance mechanism to perform corresponding avoidance actions, including: When the vehicle reverses and leaves the parking space, if it is determined that the vehicle is at risk of being hit by a vehicle on the side, the driver of the vehicle will be alerted by the speaker emitting a sound to warn the vehicle on the side. If the driver of the vehicle on the side or the driver of the vehicle does not take evasive action, the vehicle will automatically stop reversing and move forward to re-enter the parking position.

8. A rear-end collision and side-impact active avoidance warning device, characterized in that, include: The acquisition unit is used to acquire omnidirectional environmental information monitored by environmental perception devices installed on the vehicle. The generation unit is used to generate control commands based on the omnidirectional environmental information; The control unit is used to control the active reminder device to provide visual and auditory reminders to the owners of external vehicles and the owner of the vehicle through the control commands, and to control the avoidance actuator to perform the corresponding avoidance action.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores machine-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method according to any one of claims 1 to 7.

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