Vehicle backward anti-collision control method, device and system and storage medium

Abstract

The embodiment of the invention provides a vehicle backward anti-collision control method, device and system and a storage medium, and relates to the technical field of automobiles. The method comprises the steps that driving information and surrounding environment information of a vehicle are collected; if it is determined that a rear vehicle exists based on the surrounding environment information, the relative speed of the vehicle and the rear vehicle is obtained; if the relative speed is greater than a preset threshold value, determining predicted collision time in real time based on the driving information and the relative speed; and carrying out early warning reminding operation on the rear coming vehicle based on the predicted collision time. According to the embodiment of the invention, the surrounding environment information of the vehicle is collected, the relative speed of the rear vehicle and the vehicle is calculated, when the relative speed is greater than the threshold value, the rear vehicle is reminded to decelerate and avoid in advance, the collision risk is recognized in advance, collision is avoided, and the vehicle safety is improved.

Description

Technical Field

[0001] This application relates to the field of automotive driving safety, and in particular to a method, device, system, and storage medium for vehicle rearward collision avoidance control. Background Technology

[0002] With the continuous increase in the number of motor vehicles, the proportion of rear-end collisions remains high. Currently, vehicle brake lights are only linked to the brake pedal. When the vehicle in front is coasting at low speed or decelerating due to regenerative braking, the brake lights do not illuminate, making it difficult for following vehicles to judge the vehicle's intention to slow down, which easily leads to rear-end collisions.

[0003] While existing rear collision warning (RCW) systems can activate hazard lights in dangerous situations, they are limited by GB 4785-2019 standards, allowing for a minimum activation time of only 1.4 seconds. In high-speed approach scenarios, this lead time is insufficient, resulting in inadequate reaction and braking distance for the following vehicle, ultimately failing to prevent a collision. Existing solutions exhibit significant shortcomings in both low-speed scenarios without brake lights and high-speed rear-end collisions. Summary of the Invention

[0004] This application provides a vehicle rear-end collision avoidance control method, device, system, and storage medium to solve the problem in the prior art where a following vehicle approaches at high speed. The vehicle's collision avoidance method can prevent adjacent vehicles from colliding with the vehicle of this application, and can avoid or mitigate the collision damage caused by rear-end collisions, thereby improving the driving safety of the vehicle.

[0005] According to one aspect of this application, a vehicle rearward collision avoidance control method is provided, the method comprising: Collect vehicle driving information and surrounding environment information; If it is determined that there is a vehicle approaching from behind based on the above surrounding environment information, obtain the relative speed between the above vehicle and the vehicle approaching from behind. If the relative speed is greater than the preset threshold, the estimated collision time is determined in real time based on the driving information and the relative speed. Based on the estimated collision time, a warning alert will be issued to vehicles approaching from behind.

[0006] In one possible implementation, the vehicle includes at least one of brake lights, a rear-view screen, and a projection device; the operation of providing a warning to the following vehicle based on the estimated collision time includes: If the estimated collision time is less than the first warning duration threshold, a warning reminder operation will be performed; wherein, the warning reminder operation includes controlling the brake lights to illuminate, controlling at least one of the rear screen or the projection device to display a warning.

[0007] In one possible implementation, after issuing a warning to the following vehicles based on the estimated collision time, the method further includes: Calculate and update the estimated collision time; If the estimated collision time is less than the second warning duration threshold, then the pre-avoidance mode will be entered; wherein the second warning duration threshold is less than the first warning duration threshold.

[0008] In another possible implementation, the aforementioned second warning duration threshold is the duration during which the real-time relative speed between the vehicle and the vehicle behind drops to zero after the vehicle behind brakes at full speed.

[0009] In yet another possible implementation, the aforementioned entry into the avoidance mode includes: Based on the above information about the vehicle in front and adjacent lanes, determine whether there is space to avoid a collision in front of the vehicle and adjacent lanes. If there is space to avoid collision in front of the aforementioned vehicle and in the adjacent lane, then the existence of a collision risk is determined based on the surrounding vehicle driving information. If it is determined that there is no risk of collision, perform an avoidance maneuver.

[0010] In another possible implementation, the above-mentioned avoidance operation includes: The target avoidance path is determined based on the safety level of the avoidance path in the avoidance space mentioned above. The target avoidance path is used to avoid the vehicle approaching from behind.

[0011] In another possible implementation, the target avoidance path is either a forward path relative to the vehicle's current path or an adjacent lane path relative to the vehicle's current path; the aforementioned avoidance of the approaching vehicle based on the target avoidance path includes: If the target avoidance path is the path ahead, then control the vehicle to accelerate forward; If the target avoidance path is the adjacent lane path, then control the vehicle to change lanes to the adjacent lane path.

[0012] According to another aspect of the embodiments of this application, a vehicle rearward collision avoidance control device is provided, comprising: The data acquisition module is used to collect vehicle driving information and surrounding environmental information; The acquisition module is used to acquire the relative speed between the vehicle and the vehicle behind if it is determined based on the surrounding environment information that there is a vehicle approaching from behind. The prediction module is used to determine the predicted collision time in real time based on driving information and relative speed if the relative speed is greater than a preset threshold. The warning module is used to provide early warnings to vehicles approaching from behind based on the estimated collision time.

[0013] According to another aspect of this application, a vehicle control system is provided, including a rear collision avoidance controller and an actuator; The rearward collision avoidance controller of the first aspect of this application performs a collision warning operation so that the actuator executes a corresponding collision avoidance strategy based on the collision warning operation.

[0014] According to another aspect of this application, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method shown in the first aspect of this application.

[0015] According to another aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps of the method shown in the first aspect of this application.

[0016] The beneficial effects of the technical solution provided in this application are: The rear-end collision avoidance control method provided in this application obtains the relative speed by acquiring the speed of vehicles approaching from behind. If the relative speed exceeds a preset threshold, the estimated collision time is determined based on the relative speed, and a warning is issued based on the estimated collision time. This application determines the estimated collision time by measuring the relative speed between the vehicle and the approaching vehicle, and then issues a warning to the approaching vehicle based on the determined estimated collision time. This effectively alerts the approaching vehicle and prevents rear-end collisions caused by the vehicle failing to recognize the approaching vehicle's deceleration intention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart of a vehicle rearward collision avoidance control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the process of entering the pre-avoidance mode in a vehicle rearward collision avoidance control method provided in an embodiment of this application; Figure 3 A schematic flowchart illustrating an example of a vehicle rearward collision avoidance control method provided in an embodiment of this application; Figure 4 Traffic diagram of a vehicle in a vehicle rearward collision avoidance control method provided in an embodiment of this application; Figure 5 This is a schematic diagram of a vehicle rearward collision avoidance control device provided in an embodiment of this application. Detailed Implementation

[0019] Embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0020] The accompanying drawings illustrate various structural schematics according to embodiments of the present disclosure. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0021] In the context of this disclosure, when a layer / element is referred to as being "above" another layer / element, the layer / element may be directly above the other layer / element, or there may be an intermediate layer / element between them. Additionally, if a layer / element is "above" another layer / element in one orientation, then when the orientation is reversed, the layer / element may be "below" the other layer / element.

[0022] The inventors discovered that while existing RCW (hazard lights flashing) systems can illuminate hazard warning lights in dangerous situations, they are limited by GB 4785-2019, allowing them to trigger as early as 1.4 seconds in advance. In high-speed approach scenarios, this lead time is insufficient, resulting in inadequate reaction and braking distance for following vehicles, ultimately failing to prevent a collision. Existing solutions exhibit significant shortcomings in both low-speed scenarios without brake lights and high-speed rear-end collision scenarios.

[0023] To address the aforementioned technical issues, some embodiments of this application obtain a relative speed by acquiring the speed of vehicles approaching from behind. If the relative speed exceeds a preset threshold, the estimated collision time is determined based on the relative speed, and a warning is issued based on the estimated collision time. This application determines the estimated collision time by measuring the relative speed between the vehicle and the approaching vehicle, and then issues a warning to the approaching vehicle based on the determined estimated collision time. This effectively alerts the approaching vehicle, preventing rear-end collisions caused by the vehicle failing to anticipate the approaching vehicle's deceleration intention.

[0024] The technical solutions of this application and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0025] This application provides a vehicle rear collision avoidance control method, such as... Figure 1 As shown, this method, which can be applied to a vehicle control terminal or server, includes: S101 collects vehicle driving information and surrounding environment information.

[0026] The aforementioned vehicle's driving information and surrounding environment information include target and environmental information from four directions: front, rear, left, and right.

[0027] Optionally, the aforementioned vehicles may be equipped with radar and cameras, including but not limited to millimeter-wave radar and lidar, and cameras including but not limited to front-view cameras, side-view cameras, surround-view cameras, and rear-view cameras.

[0028] Specifically, the vehicle's control terminal or server can use a combination of radar and cameras to perceive targets and the environment in four directions: front, rear, left, and right, and obtain lane information as well as information such as the vehicle's position, type, speed, and acceleration in real time.

[0029] S102, if it is determined that there is a vehicle approaching from behind based on the surrounding environment information, the relative speed between the vehicle and the vehicle approaching from behind is obtained.

[0030] The relative speeds of the aforementioned vehicles and the vehicles approaching from behind are updated in real time.

[0031] Specifically, the vehicle control terminal or server updates the vehicle's driving information and the driving information of vehicles behind it in real time, and calculates the relative speed between the vehicle and vehicles behind it in real time based on the driving information.

[0032] S103, if the relative speed is greater than a preset threshold, the estimated collision time is determined in real time based on the driving information and the relative speed.

[0033] Specifically, when the relative speed exceeds a preset threshold, the vehicle control terminal or server can calculate the estimated collision time between the two vehicles in real time based on the environmental information and relative speed obtained from the combination of radar and cameras. For example, the vehicle control terminal or server obtains the distance between the two vehicles through the combination of radar and cameras, and calculates the estimated collision time based on the ratio of the distance between the two vehicles to their relative speeds. When the relative speed is less than the preset threshold, an RCW (Real-Time Warning) is issued according to regulatory requirements: a warning is issued when the target longitudinal relative speed Vr > 30 km / h and the estimated collision time TTC ≤ 1.4 s; and a warning is issued when the target longitudinal relative speed Vr ≤ 30 km / h and the estimated collision time TTC ≤ 1.4 / 30 × Vr (s).

[0034] S104, based on the estimated collision time, issue a warning to the vehicle approaching from behind.

[0035] Specifically, when the estimated collision time is less than a preset first warning duration threshold, a warning is issued. The first warning duration threshold is based on relative speed changes; it increases synchronously with increasing relative speed. It can be calibrated in practice based on the relative speed of the two vehicles. Following vehicles do not need to brake fully; partial braking is sufficient to bring them to a stop or safely follow the deceleration of the following vehicle. The calculation formula is the first warning duration threshold. ,in To compensate for the actual vehicle's performance, corresponding compensation is made based on the relative vehicle speed and the timing of the actual vehicle's reminder, thus adjusting the timing of the reminder to the following vehicle.

[0036] This application embodiment obtains the relative speed by acquiring the speed of vehicles approaching from behind. If the relative speed is greater than a preset threshold, the estimated collision time is determined based on the relative speed, and a warning is issued based on the estimated collision time. This application determines the estimated collision time by measuring the relative speed between the vehicle and the approaching vehicle, and then issues a warning to the approaching vehicle based on the determined estimated collision time. This effectively alerts the approaching vehicle and prevents rear-end collisions caused by the vehicle failing to recognize the approaching vehicle's deceleration intention.

[0037] This application provides a possible implementation method in which the above-mentioned warning and reminder operation to the following vehicles based on the estimated collision time includes: If the estimated collision time is less than the first warning duration threshold, a warning reminder will be issued. The warning and reminder operation includes controlling the brake lights to illuminate, and controlling at least one of the rear screen or the projection device to display the warning.

[0038] Optionally, the aforementioned vehicle includes at least one of brake lights, a rear screen, and a projection device.

[0039] Specifically, when the estimated collision time is less than the first warning duration threshold, the vehicle control terminal or server controls the brake lights to illuminate and controls at least one of the following screens or projection devices to display a warning, reminding following vehicles to slow down and avoid the collision.

[0040] This application embodiment determines the operation of warning and reminding vehicles approaching from behind by calculating the expected collision time in real time and a preset time threshold, and reminds them by controlling the brake lights, the rear screen or projection device, etc. This can effectively remind vehicles approaching from behind and prevent rear-end collisions from being caused by the vehicles behind not being able to judge their intention to slow down.

[0041] This application embodiment provides a possible implementation method, which includes, after the above-mentioned warning reminder operation to the following vehicles based on the estimated collision time, the following: S201, Calculate and update the estimated collision time.

[0042] Specifically, the vehicle control terminal or server can control the brake lights to illuminate, control at least one of the rear screens or projection devices to display a warning, and then continue to update the estimated collision time in real time.

[0043] S202, if the updated estimated collision time is less than the second warning duration threshold, then enter the pre-avoidance mode; wherein, the second warning duration threshold is less than the first warning duration threshold.

[0044] Specifically, when the updated estimated collision time is less than the second warning duration threshold, the vehicle control terminal or server can control the vehicle to enter a pre-avoidance mode. This pre-avoidance mode refers to the real-time sensing of the vehicle's surrounding environment by the vehicle control terminal or server.

[0045] This application embodiment updates the estimated collision time in real time after issuing a warning to vehicles approaching from behind, and judges the surrounding environment based on whether a preset threshold is reached. This provides timely and effective information for subsequent avoidance operations, reducing the risk of collision.

[0046] This application provides a possible implementation method, wherein the second warning duration threshold is the duration during which the real-time relative speed between the vehicle and the vehicle behind it drops to zero after the vehicle behind it brakes at full speed.

[0047] Specifically, the second warning duration threshold is the time during which the following vehicle brakes at full speed and a collision is unavoidable. For example, when the relative speed between the two vehicles is... Full braking deceleration If it can be actually calibrated, then the second warning duration threshold is... ,in To provide compensation values ​​tailored to real-world vehicle performance, calibration can be performed based on relative vehicle speed and actual braking performance. Simultaneously, the braking distance must be satisfied. Greater than the distance between the two vehicles Sx, i.e., the braking distance. ,in To provide compensation values ​​for actual vehicle performance, calibration can be performed based on relative vehicle speed and actual vehicle braking performance.

[0048] This application embodiment sets the second warning duration threshold by using the relative speed between the two vehicles and the deceleration of the following vehicle under full braking, while also considering the braking distance. The condition that the distance between the two vehicles is greater than the distance Sx provides a judgment condition for subsequent avoidance operations.

[0049] This application provides one possible implementation method, such as... Figure 2 As shown, entering the pre-avoidance mode includes: S301, based on the information about the front of the vehicle and the adjacent lane, determine whether there is space to avoid a collision in front of the vehicle and the adjacent lane.

[0050] Specifically, the vehicle control terminal or server can use a combination of radar and cameras to sense information in front of the vehicle and in adjacent lanes, and determine whether there is space to avoid a collision in front of the vehicle and in adjacent lanes.

[0051] S302, if there is space to avoid collision in front of the vehicle and in the adjacent lane, then determine whether there is a risk of collision based on the surrounding vehicle driving information.

[0052] Specifically, when there is space to avoid collisions in front of the vehicle and in adjacent lanes, the vehicle control terminal or server can intelligently analyze the collision risk. For example, when there is space to avoid collisions in front of the vehicle, the intelligent driving controller analyzes whether the vehicle's acceleration forward will pose a collision risk with the vehicle in front. If there is a collision risk, the vehicle will not accelerate forward. At the same time, if there is space to change lanes in adjacent lanes, the intelligent controller analyzes whether the vehicle's lane change will cause a collision risk in the adjacent lane, including the vehicles in front and behind in the adjacent lane. If there is a collision risk, the vehicle will not change lanes.

[0053] S303: When it is determined that there is no risk of collision, perform an avoidance maneuver.

[0054] Specifically, when it is determined that there is no risk of collision, the vehicle control terminal or server can perform avoidance operations according to the safety level of accelerating forward and changing lanes.

[0055] This application embodiment determines the avoidance space by perceiving the vehicle's surrounding environment and performs avoidance operations based on intelligent analysis of collision risks. This can help the vehicle reduce the risk of collision by avoiding the collision from behind or in adjacent lanes when there is a risk of collision from behind.

[0056] This application provides a possible implementation method in which the above-mentioned avoidance operation includes: S401, Determine the target avoidance path based on the safety level of the avoidance path in the avoidance space.

[0057] Specifically, the vehicle control terminal or server can determine the target avoidance path according to the preset safety level of the avoidance path. For example, if there is room to avoid in a single direction ahead or in an adjacent lane, the avoidance path is determined in the direction with the room to avoid; if there is room to avoid in both ahead and adjacent lanes, the avoidance path with the higher safety level is executed based on the safety level of accelerating forward and changing lanes.

[0058] S402, based on the above target avoidance path, avoid the vehicle approaching from behind.

[0059] Optionally, the target avoidance path is either the path ahead relative to the vehicle's current path or the path in the adjacent lane relative to the vehicle's current path.

[0060] Specifically, the vehicle control terminal or server can avoid oncoming vehicles according to the confirmed target avoidance path. For example, if the target avoidance path is the path ahead, the vehicle is controlled to accelerate forward; if the target avoidance path is the path in the adjacent lane, the vehicle is controlled to change lanes to the adjacent lane.

[0061] This application embodiment determines the target avoidance path by assessing the safety level of the avoidance space, and avoids following vehicles based on the determined target avoidance path, which can help reduce the collision risk caused by avoidance when there is a risk of collision behind.

[0062] This application provides a possible implementation method, wherein the target avoidance path is either the forward path or the adjacent lane path, and the above-mentioned avoidance of the following vehicle based on the target avoidance path includes: If the target avoidance path is the path ahead, then control the vehicle to accelerate forward; If the target avoidance path is an adjacent lane path, then control the vehicle to change lanes to the adjacent lane path.

[0063] The determination of the target avoidance path is based on the safety level.

[0064] Specifically, the vehicle control terminal or server can plan a target avoidance path based on the safety level, where the safety level is categorized according to TTC (Total Traffic Control). When the target avoidance path is the path ahead, the vehicle is controlled to accelerate forward; when the target avoidance path is the path in the adjacent lane, the vehicle is controlled to change lanes to the adjacent lane.

[0065] Furthermore, if the safety levels are the same, priority should be given to accelerating forward and staying within the lane.

[0066] This application's embodiments propose different vehicle operation methods for different target avoidance paths, which can help vehicles reduce the risk of collision caused by avoidance when there is a risk of collision behind.

[0067] To better understand the above-mentioned vehicle rear-end collision avoidance control methods, the following will combine... Figure 3 and Figure 4 This paper details an example of a vehicle rear-end collision avoidance control method according to this application. The vehicle may include a sensing module, an alert module, and a control module.

[0068] The method includes the following steps: S501: When the vehicle is in motion, the perception module senses the surrounding environment in real time, acquires environmental information, detects and judges vehicles behind and calculates relative speed.

[0069] The environmental information includes lane information and information such as vehicle location, type, speed, and acceleration.

[0070] Specifically, the aforementioned perception module includes radar and cameras, among others. Radar includes, but is not limited to, millimeter-wave radar and lidar, while cameras include, but are not limited to, front-view cameras, side-view cameras, surround-view cameras, and rear-view cameras. The radar and cameras work together to perceive targets and the environment in four directions: front, rear, left, and right. They acquire lane information and vehicle position, type, speed, and acceleration in real time. When a vehicle is detected approaching from behind, the system calculates the relative speed between the vehicle and the approaching vehicle in real time. If the relative speed is less than the preset relative speed, the system does not issue a warning until the estimated collision time is less than or equal to a certain moment specified in regulation GB 4785-2019, at which point the hazard warning lights are activated. The regulation requires that the RCW warning be issued when the target longitudinal relative speed Vr > 30 km / h and the estimated collision time TTC ≤ 1.4 s, and when the target longitudinal relative speed Vr ≤ 30 km / h and the estimated collision time TTC ≤ 1.4 / 30 × Vr (s).

[0071] like Figure 4 As shown, the vehicle in the middle of the left lane is referred to as vehicle 401, and the vehicle behind vehicle 402 is referred to as target vehicle 402.

[0072] S502, if the relative speed reaches the preset threshold, determine whether to perform a warning reminder operation based on the expected collision time.

[0073] Specifically, if the relative speed reaches a preset threshold, the system enters a ready state. The perception module acquires information such as the target vehicle's position, speed, and acceleration in real time, and the control module calculates the time to collision (TTC) in real time. If the first warning time has not been reached... No warning will be given until the first warning time is reached. The control module controls the reminder module to perform warning reminder operations. The aforementioned reminder modules include vehicle brake lights, rear window screens, or rear projection devices. The warning reminder operations include at least one method: illuminating the brake lights, the rear screen, or the projection device.

[0074] Furthermore, the first warning time Based on changes in relative speed, the speed increases synchronously as the relative speed increases, and this can be calibrated in practice. When the estimated collision time reaches the first warning time T1, the brake lights illuminate, and the rear screen or projection changes to warn following vehicles to slow down and avoid the collision. The relative speed is defined as Vr, and the deceleration at which the following vehicle can stop safely by using partial braking without full braking is defined as... The formula for calculating the first warning time T1 is as follows: ,in To compensate for real-world vehicle performance, compensation is applied based on relative vehicle speed and the timing of the real-world warning, adjusting the timing of the warning to the following vehicle. Optionally, the deceleration a1 of the following vehicle, which requires only partial braking to stop or safely follow the vehicle, can be -5. It can actually be calibrated.

[0075] The S503 senses surrounding environmental information and information about vehicles behind it, and estimates the estimated collision time in real time. If the estimated collision time reaches the preset active avoidance time, it enters the pre-avoidance mode.

[0076] Specifically, by combining the real-time position, speed, and acceleration information of both the self-vehicle and the target vehicle, the time required for the target vehicle to brake fully to avoid a collision is estimated. If it is estimated that the target vehicle can avoid a collision by braking fully, the self-vehicle will not accelerate forward or change lanes. If it is estimated that the target vehicle cannot avoid a collision by braking fully, then the active avoidance time is determined. When this happens, it enters the avoidance mode.

[0077] Furthermore, proactively avoid time. That is, the time during which the following vehicle brakes at full speed and a collision is unavoidable, and the deceleration during full braking. It can be -10 It can actually be calibrated; = / + At the same time, the braking distance must be met. Greater than the distance between the two vehicles, that is , .in, To provide compensation values ​​for real-world vehicle performance, calibration can be performed based on relative vehicle speed and real-world braking performance. To provide compensation values ​​for actual vehicle performance, calibration can be performed based on relative vehicle speed and actual vehicle braking performance.

[0078] S504, the perception module perceives the conditions in front of the vehicle and in adjacent lanes, and performs avoidance operations based on the collision risk level.

[0079] Specifically, the perception module senses the conditions in front of the vehicle and in adjacent lanes. If there is no space in front of the vehicle, the vehicle will not accelerate forward. If there is space in front of the vehicle, the intelligent driving controller analyzes whether accelerating forward will pose a collision risk with the vehicle in front. If there is a collision risk, the vehicle will not accelerate forward. If there is no risk, the vehicle will accelerate forward to actively avoid the vehicle behind. At the same time, it checks whether there is space to change lanes in adjacent lanes. If there is no space, the vehicle will not change lanes. If there is space, the intelligent driving controller analyzes whether changing lanes will cause a collision risk in adjacent lanes, including vehicles in front and behind in adjacent lanes. If there is a collision risk, the vehicle will not change lanes. If there is no risk, the vehicle will change lanes to actively avoid the vehicle behind.

[0080] Furthermore, the above-mentioned proactive avoidance measures when there is space in the lane and adjacent lanes must be based on the safety level of acceleration and lane changing. The avoidance path with the higher safety level should be executed. If the safety levels are the same, acceleration should be prioritized, and the vehicle should remain within the lane. The safety levels for acceleration and lane changing are determined based on the estimated time of collision (TTC).

[0081] This application provides a vehicle control device, such as... Figure 5 As shown, the vehicle rear collision avoidance control device 50 may include: a data acquisition module 501, an acquisition module 502, a prediction module 503, and a warning module 504; Among them, the data acquisition module 501 is used to collect vehicle driving information and surrounding environment information; The acquisition module 502 is used to acquire the relative speed between the vehicle and the vehicle behind if it is determined that there is a vehicle approaching from behind based on the surrounding environment information. The prediction module 503 is used to determine the predicted collision time in real time based on driving information and relative speed if the relative speed is greater than a preset threshold. The warning module 504 is used to provide warnings to vehicles approaching from behind based on the estimated collision time.

[0082] This application provides a possible implementation, wherein the vehicle includes at least one of brake lights, a rear screen, and a projection device; When the aforementioned warning module 504 issues a warning to the following vehicle based on the estimated collision time, it is used for: If the estimated collision time is less than the first warning duration threshold, a warning reminder operation will be performed; wherein, the warning reminder operation includes controlling the brake lights to illuminate, controlling at least one of the rear screen or the projection device to display a warning.

[0083] This application embodiment provides a possible implementation method in which, after the warning module 504 performs a warning reminder operation to the following vehicle based on the estimated collision time, it is further used to: Calculate and update the estimated collision time; If the estimated collision time is less than the second warning duration threshold, then the pre-avoidance mode will be entered; wherein the second warning duration threshold is less than the first warning duration threshold.

[0084] This application provides a possible implementation method, wherein the aforementioned second warning duration threshold is the duration during which the real-time relative speed between the vehicle and the vehicle behind it drops to zero after the vehicle behind it brakes fully.

[0085] This application embodiment provides a possible implementation method in which the warning module 504, when entering the pre-avoidance mode, is used to: Based on the above information about the vehicle in front and adjacent lanes, determine whether there is space to avoid a collision in front of the vehicle and adjacent lanes. If there is space to avoid collision in front of the aforementioned vehicle and in the adjacent lane, then the existence of a collision risk is determined based on the surrounding vehicle driving information. If it is determined that there is no risk of collision, perform an avoidance maneuver.

[0086] This application embodiment provides a possible implementation method in which the warning module 504, when performing an avoidance operation, is used to: The target avoidance path is determined based on the safety level of the avoidance path in the avoidance space mentioned above. The target avoidance path is used to avoid the vehicle approaching from behind.

[0087] This application provides a possible implementation method in which the target avoidance path is either the forward path relative to the vehicle's current path or the adjacent lane path relative to the vehicle's current path. When the aforementioned warning module 504 avoids the oncoming vehicle based on the target avoidance path, it is used to: If the target avoidance path is the path ahead, then control the vehicle to accelerate forward; If the target avoidance path is the adjacent lane path, then control the vehicle to change lanes to the adjacent lane path.

[0088] This application provides a vehicle control system, including a rear collision avoidance controller and an actuator; The rear collision avoidance controller performs a collision warning operation based on the steps of the vehicle rear collision avoidance control method in the embodiments of this application, so that the actuator executes the corresponding collision avoidance strategy based on the collision warning operation.

[0089] This application provides an electronic device, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of a vehicle rear-end collision avoidance control method. Compared with related technologies, this application can achieve the following: In some embodiments, this application collects vehicle driving information and surrounding environment information; if it is determined that there is a vehicle approaching from behind based on the surrounding environment information, it obtains the relative speed between the vehicle and the vehicle approaching from behind; if the relative speed is greater than a preset threshold, it determines the estimated collision time in real time based on the driving information and the relative speed; and it provides a warning to the vehicle approaching from behind based on the estimated collision time. This application determines the estimated collision time by measuring the relative speed between the vehicle and the vehicle approaching from behind, and then provides a warning to the vehicle approaching from behind based on the determined estimated collision time. This can effectively remind the vehicle approaching from behind, preventing rear-end collisions caused by the vehicle approaching from being unable to judge the vehicle's deceleration intention.

[0090] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the vehicle rear collision avoidance control method of this application.

[0091] The above description does not provide detailed technical specifications regarding the structure of each layer. However, those skilled in the art should understand that layers and regions of desired shapes can be formed using various technical means. Furthermore, to form the same structure, those skilled in the art can also design methods that are not entirely identical to those described above. Additionally, although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be advantageously combined.

[0092] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0093] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for preventing rear-end collisions in a vehicle, characterized in that, The method includes: Collect vehicle driving information and surrounding environment information; If it is determined that there is a vehicle approaching from behind based on the surrounding environment information, the relative speed between the vehicle and the vehicle approaching from behind is obtained; If the relative speed is greater than a preset threshold, the estimated collision time is determined in real time based on the driving information and the relative speed. Based on the estimated collision time, a warning reminder is issued to vehicles approaching from behind.

2. The method according to claim 1, characterized in that, The vehicle includes at least one of brake lights, a rear screen, and a projection device; the operation of providing a warning to the vehicle approaching from behind based on the estimated collision time includes: If the estimated collision time is less than the first warning duration threshold, a warning reminder operation is performed; wherein, the warning reminder operation includes controlling the brake lights to illuminate, controlling at least one of the rear screen or the projection device to display a warning.

3. The method according to claim 1, characterized in that, After issuing a warning to the vehicle approaching from behind based on the estimated collision time, the following steps are included: Calculate and update the estimated collision time; If the updated estimated collision time is less than the second warning duration threshold, then the pre-avoidance mode is entered; wherein, the second warning duration threshold is less than the first warning duration threshold.

4. The method according to claim 3, characterized in that, The second warning duration threshold is the duration during which the real-time relative speed between the vehicle and the vehicle behind it drops to zero after the vehicle behind it brakes fully.

5. The method according to claim 4, characterized in that, The entry into the pre-avoidance mode includes: Based on the information about the front of the vehicle and the adjacent lanes, determine whether there is space to avoid a collision in front of the vehicle and the adjacent lanes; If there is space to avoid collision in front of the vehicle and in the adjacent lane, then a collision risk is determined based on the surrounding vehicle driving information. If it is determined that there is no risk of collision, perform an avoidance maneuver.

6. The method according to claim 5, characterized in that, The execution of the avoidance operation includes: The target avoidance path is determined based on the safety level of the avoidance path in the avoidance space; Avoid the oncoming vehicle from behind based on the target avoidance path.

7. The method according to claim 5, characterized in that, The target avoidance path is either a path forward relative to the vehicle's current path or a path in the adjacent lane relative to the vehicle's current path. Avoiding the oncoming vehicle based on the target avoidance path includes: If the target avoidance path is the path ahead, then control the vehicle to accelerate forward; If the target avoidance path is an adjacent lane path, then control the vehicle to change lanes to the adjacent lane path.

8. A vehicle rearward collision avoidance control device, characterized in that, include: The data acquisition module is used to collect vehicle driving information and surrounding environmental information; The acquisition module is used to acquire the relative speed between the vehicle and the vehicle behind if it is determined based on the surrounding environment information that there is a vehicle approaching from behind. The prediction module is used to determine the predicted collision time in real time based on the driving information and the relative speed if the relative speed is greater than a preset threshold. The warning module is used to provide warning reminders to vehicles approaching from behind based on the estimated collision time.

9. A vehicle control system, characterized in that, Includes a rear collision avoidance controller and actuators; The rearward collision avoidance controller performs a collision warning operation based on the method described in any one of claims 1-7, so that the actuator executes the corresponding collision avoidance strategy based on the collision warning operation.

10. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-7.

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