Vehicle anti-collision method and device, vehicle and medium

Abstract

The invention provides a vehicle anti-collision method and device, a vehicle and a medium, and the method comprises the steps: carrying out the distance and angle detection of a to-be-detected target through a UWB multi-array antenna of the vehicle, and obtaining the target detection information, which comprises the relative distance and arrival angle between the to-be-detected target and the UWB multi-array antenna; based on the target detection information, determining an actual distance between the to-be-detected target and the vehicle; and carrying out anti-collision processing on the vehicle based on the actual distance. In this way, the technical problems that in the prior art, deployment of an ultrasonic radar or a millimeter-wave radar affects the overall attractiveness of the vehicle, and cost is increased can be solved.

Description

Vehicle collision avoidance methods, devices, vehicles and media Technical Field

[0001] This application relates to the field of automotive technology, specifically to a vehicle collision avoidance method, device, vehicle, and medium. Background Technology

[0002] With the development of the automotive industry, vehicle driving safety has received increasing attention and importance. Among these, vehicle collision avoidance functions are an important technical means to improve safe driving.

[0003] Existing vehicle collision avoidance solutions utilize ultrasonic or millimeter-wave radar to detect obstacles and trigger collision warnings. However, these ultrasonic or millimeter-wave radars require pre-drilled installation locations within the vehicle, such as a circular hole, and separate wiring harnesses are needed for them to function. This affects the overall aesthetics of the vehicle and increases costs associated with wiring harnesses.

[0004] Therefore, there is an urgent need to propose a better vehicle collision avoidance solution. Summary of the Invention

[0005] In view of this, the embodiments of this application aim to provide a vehicle collision avoidance method, device, equipment and medium, which can solve the technical problems in the prior art such as the impact of ultrasonic radar or millimeter-wave radar deployment on the overall aesthetics of the vehicle and the increase in cost.

[0006] In a first aspect, this application provides a vehicle collision avoidance method, comprising: using the vehicle's ultra-wideband UWB multi-array antenna to detect the distance and angle of a target under test, thereby obtaining target detection information, wherein the target detection information includes the relative distance and angle of arrival between the target under test and the UWB multi-array antenna; determining the actual distance between the target under test and the vehicle based on the target detection information; and performing collision avoidance processing on the vehicle based on the actual distance.

[0007] In some embodiments, the actual distance includes the distance between the target to be measured and the rear of the vehicle, and the collision avoidance treatment of the vehicle based on the actual distance includes: rear-end collision avoidance treatment and / or reversing collision avoidance treatment of the vehicle based on the actual distance.

[0008] In some embodiments, the rear-end collision avoidance and / or reversing collision avoidance handling based on the actual distance includes any one of the following: when the actual distance is within a preset first range, controlling the vehicle speed to be lower than a preset first speed, triggering an audible warning device to issue a warning at a preset first frequency, and using a preset first color to highlight the vehicle's driving guide lines; when the actual distance is within a preset second range, controlling the vehicle speed to be lower than a preset second speed, triggering an audible warning device to issue a warning at a preset second frequency, and using a preset second color to highlight the vehicle's driving guide lines; when the actual distance is within a preset third range, controlling the vehicle speed to be lower than... A preset third vehicle speed is triggered, and an audible warning device is activated to issue a warning at a preset third frequency. A preset third color is used to indicate the vehicle's driving guide lines. When the actual distance is within a preset fourth range, the vehicle is braked. The preset first range has a lower limit greater than or equal to the upper limit of the preset second range, the lower limit of the preset second range is greater than or equal to the upper limit of the preset third range, the lower limit of the preset third range is greater than or equal to the upper limit of the preset fourth range, the preset first speed, the preset second speed, and the preset third speed decrease sequentially, and the preset first frequency, the preset second frequency, and the preset third frequency increase sequentially.

[0009] In some embodiments, determining the actual distance between the target and the vehicle based on the target detection information includes: calculating the actual distance using a cosine formula based on the relative distance and the angle of arrival.

[0010] In some embodiments, the UWB multi-array antenna includes M sets of transceiver antennas, where M is a positive integer. The target detection information includes the relative distance. The step of using the vehicle's ultra-wideband UWB multi-array antenna to detect the distance to the target includes: using the M sets of transceiver antennas to detect the distance to the target, obtaining N sets of target distances between the target and the UWB multi-array antenna; and averaging the N sets of target distances to obtain the relative distance.

[0011] In some embodiments, the step of using the M sets of transceiver antennas to detect the distance to the target under test and obtain the target distance between the N sets of targets under test and the UWB multi-array antenna includes: transmitting a first electromagnetic wave signal using the transmitting antenna in any set of transceiver antennas, and receiving a second electromagnetic wave signal reflected back from the target under test using the receiving antenna in any set of transceiver antennas; and calculating the target distance corresponding to any set of transceiver antennas based on the time difference between the first electromagnetic wave signal and the second electromagnetic wave signal.

[0012] In some embodiments, the target detection information includes the angle of arrival, and the angle detection of the target using the vehicle's ultra-wideband UWB multi-array antenna includes: transmitting a first electromagnetic wave signal using the transmitting antenna in any one of the transceiver antennas, and receiving at least two second electromagnetic wave signals reflected back from the target by the corresponding receiving antennas in the M transceiver antennas; calculating the angle of arrival based on the phase difference between the at least two second electromagnetic wave signals and the antenna spacing corresponding to the corresponding receiving antennas in the M transceiver antennas.

[0013] Secondly, this application provides a vehicle collision avoidance device, comprising: a detection module, used to detect the distance and angle of a target under test using the vehicle's ultra-wideband UWB multi-array antenna to obtain target detection information, the target detection information including the relative distance and angle of arrival between the target under test and the UWB multi-array antenna; a determination module, used to determine the actual distance between the target under test and the vehicle based on the target detection information; and a processing module, used to perform collision avoidance processing on the vehicle based on the actual distance.

[0014] For any content not introduced or described in the embodiments of this application, please refer to the relevant descriptions in the foregoing method embodiments; they will not be repeated here.

[0015] Thirdly, this application provides a vehicle, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the executable instructions to implement the steps of the above-described vehicle collision avoidance method.

[0016] Fourthly, this application provides a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the steps of the above-described vehicle collision avoidance method.

[0017] The technical solution provided in this application embodiment can include the following beneficial effects: This application utilizes the vehicle's ultra-wideband (UWB) multi-array antenna to detect the distance and angle of the target under test, obtaining target detection information, which includes the relative distance and angle of arrival between the target under test and the UWB multi-array antenna; based on the target detection information, the actual distance between the target under test and the vehicle is determined; and based on the actual distance, collision avoidance processing is performed on the vehicle. In this way, a UWB multi-array antenna can be used to replace traditional ultrasonic radar or millimeter-wave radar for vehicle collision avoidance processing, which can improve the accuracy of vehicle collision avoidance processing without affecting the overall aesthetics of the vehicle, save on wiring costs, and improve the user experience. It also solves the technical problems in the prior art where the deployment of ultrasonic radar or millimeter-wave radar affects the overall aesthetics of the vehicle and increases costs.

[0018] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0020] Figure 1 is a schematic diagram of a UWB multi-array antenna deployment provided in an embodiment of this application.

[0021] Figure 2 is a schematic diagram of a UWB multi-array antenna provided in an embodiment of this application.

[0022] Figure 3 is a schematic flowchart of a vehicle collision avoidance method provided in an embodiment of this application.

[0023] Figure 4 is a schematic diagram of the actual distance between the target to be measured and the rear of a vehicle provided in an embodiment of this application.

[0024] Figure 5 is a structural schematic diagram of a vehicle anti-collision device provided in an embodiment of this application.

[0025] Figure 6 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0026] Figure 7 is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

[0029] Unless the context otherwise requires, throughout this specification, "a plurality of" means "at least two," and "including" is interpreted as open-ended or encompassing, that is, "including, but not limited to." In the description of this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this specification. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example.

[0030] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0031] First, the ultra-wideband (UWB) multi-array antenna involved in this application is introduced.

[0032] This application does not limit the number or installation location of the aforementioned ultra-wideband UWB multi-array antennas. For example, please refer to Figure 1, which is a schematic diagram of a possible UWB multi-array antenna deployment provided by an embodiment of this application. As shown in Figure 1, the aforementioned UWB multi-array antennas can be installed on the outside of the rear bumper of a vehicle. For example, the aforementioned UWB multi-array antennas can be installed at anchor points 1 and 2 in Figure 1. They can be customized and adjusted according to system or user requirements, and this application will not impose further limitations or details on this.

[0033] Please refer to Figure 2, which is a schematic diagram of the internal structure of a UWB multi-array antenna provided in an embodiment of this application. As shown in Figure 2, the UWB multi-array antenna may include M groups of transceiver antennas. Each group of transceiver antennas may include one transmitting antenna and one receiving antenna. The figure illustrates an example with i transmitting antennas T1-Ti and M receiving antennas R1-Rm, but this is not intended to limit the functionality. The transceiver antennas may be connected to an integrated circuit (IC) for operation, which is not further limited or described in detail in this application. i is a positive integer less than or equal to M, and M is a positive integer pre-defined by the system or user according to actual conditions. Generally, the larger the value of M, the higher the accuracy of subsequent detection, which is also not further limited in this application.

[0034] Based on the above embodiments, please refer to Figure 3, which is a flowchart illustrating a vehicle collision avoidance method provided in this application. The method shown in Figure 3 may include the following steps: S301, using the vehicle's ultra-wideband (UWB) multi-array antenna to detect the distance and angle of the target under test, obtaining target detection information, wherein the target detection information includes the relative distance and angle of arrival between the target under test and the UWB multi-array antenna.

[0035] The target detection information mentioned above in this application may refer to information such as the relative distance and angle of arrival between the target and the UWB multi-array antenna, obtained by measurement using a UWB multi-array antenna. This application does not limit the type of the target to be measured, which may include, but is not limited to, pedestrians, vehicles, walls, or other obstacles, etc., which will not be described in detail here.

[0036] This application does not limit the specific implementation of the above-mentioned distance and angle detection. For example, this application can use M sets of transceiver antennas in a UWB multi-array antenna to perform distance detection on the target under test, and can obtain N sets of target distances between the target under test and the UWB multi-array antenna, where N is usually a positive integer greater than or equal to M. In specific implementation, this application takes any set of transceiver antennas in the above-mentioned UWB multi-array antenna as an example to describe the specific content of distance detection. This set of transceiver antennas includes a transmitting antenna and a receiving antenna. Specifically, this application can use the transmitting antenna in this set of transceiver antennas to transmit a first electromagnetic wave signal, and receive the second electromagnetic wave signal reflected back from the target under test through the corresponding receiving antenna. Then, based on the time difference of arrival (TDOA) between the first electromagnetic wave signal and the second electromagnetic wave signal, the target distance corresponding to the above-mentioned set of transceiver antennas is calculated. The first electromagnetic wave signal and the second electromagnetic wave signal mentioned above can refer to electromagnetic wave signals that have been processed, such as filtering and outlier removal. Specifically, this application can collect electromagnetic wave signals from any group of transceiver antennas in the UWB multi-array antenna, and then filter or process the collected electromagnetic wave signals to facilitate subsequent use of the processed electromagnetic wave signals for distance and angle detection. This application does not impose further limitations or details on this. The time difference mentioned above can refer to the difference between the transmission / sending time of the first electromagnetic wave signal and the receiving time of the second electromagnetic wave signal. It reflects the total time for the signal to travel to and from the target. The distance D between the UWB multi-array antenna and the target under test can be calculated using this time, as shown in the following formula (1): Formula (1) where c represents the propagation speed of electromagnetic wave signals in the medium, usually approximated as the speed of light in a vacuum, 3 × 10⁻⁶. 8 meters per second.

[0037] Similarly, when the above-mentioned UWB multi-array antenna has M sets of transceiver antennas, any transmitting antenna in the M sets of transceiver antennas can transmit the corresponding first electromagnetic wave signal, and at least one or more receiving antennas in the M sets of transceiver antennas can receive the second electromagnetic wave signal reflected back from the target under test; that is, after a transmitting antenna transmits the first electromagnetic wave signal, one or more receiving antennas in the UWB multi-array antenna can receive the corresponding second electromagnetic wave signal, i.e., receive one or more second electromagnetic wave signals. Based on the above principle, this application can calculate and obtain N sets of target distances, usually N is a positive integer greater than or equal to M, and this application will not make any further limitations or details. Furthermore, this application can average these N sets of target distances to obtain the relative distance Dd between the target under test and the UWB multi-array antenna, as shown in the following formula (2): Formula (2) Next, this application will introduce the specific content of angle detection using any one of the transceiver antennas in the above-mentioned UWB multi-array antenna as an example.

[0038] Specifically, this application can use the transmitting antenna in any set of transmitting and receiving antennas to transmit a first electromagnetic wave signal, and use at least two receiving antennas in the UWB multi-array antenna to receive at least two second electromagnetic wave signals reflected back from the target under test by the first electromagnetic wave signal, wherein one receiving antenna can receive one second electromagnetic wave signal. Accordingly, this application can calculate the corresponding angle of arrival based on the phase difference of arrival (PDOA) between any two second electromagnetic wave signals. Assuming the distance between the two receiving antennas is d, and there is a path difference of ∆R between the signals received between them (i.e., any two second electromagnetic wave signals), the following formula (3) can be obtained according to the trigonometric function formula: Formula (3) can be derived from the formula for phase difference and distance as follows: Formula (4) Formula (4) Based on the above formulas (3) and (4), we can obtain the following formula (5): Formula (5) can be further used with the inverse trigonometric function formula to obtain the following formula (6): Formula (6) where, This indicates the phase difference. Indicates wavelength. Indicates the angle of arrival.

[0039] Understandably, since the above-mentioned UWB multi-array antenna includes M groups of transceiver antennas, the position of the target under test is fixed at the same time, and the phase difference between the electromagnetic wave signals of each group of transceiver antennas can be the same. Therefore, this application can calculate the above-mentioned angle of arrival based on the phase difference between the above-mentioned second electromagnetic wave signals and the antenna spacing (M-1)×d corresponding to the above-mentioned M receiving antennas. Specifically, when this application uses the M receiving antennas in the above-mentioned UWB multi-array antenna to receive electromagnetic wave signals simultaneously, the above-mentioned phase difference can be shown by the following formula (7): Formula (7) can be used to obtain the final arrival angle as shown in formula (8) below: Formula (8) should be noted that this application does not limit the specific type of electromagnetic wave signal involved. It may include, but is not limited to, electromagnetic wave signals such as Gaussian pulse wave signals, rectangular pulse wave signals or other custom waveforms. This application will not make any further limitations or details in this regard.

[0040] S302. Based on the target detection information, determine the actual distance between the target to be detected and the vehicle.

[0041] This application does not limit the specific implementation method for determining the above-mentioned actual distance. For example, this application can calculate the actual distance between the target and the vehicle by using the cosine theorem formula based on the relative distance and arrival angle in the target detection information. Please refer to Figure 4, which is a schematic diagram of the actual distance between the target and the rear of the vehicle provided by an embodiment of this application. As shown in Figure 4, the UWB multi-array antenna is installed / deployed at the rear of the vehicle. In this case, the actual distance between the target and the rear of the vehicle can be calculated based on the above principle. This application does not limit this further. The specific calculation of the above-mentioned actual distance is shown in the following formula (9): Formula (9) where L represents the actual distance.

[0042] S303. Perform collision avoidance measures on the vehicle based on the actual distance.

[0043] This application does not limit the specific implementation of the above-mentioned collision avoidance treatment. For example, when the above-mentioned actual distance is the actual distance between the target to be measured and the rear of the vehicle, this application can perform rear-end collision avoidance treatment and / or reversing collision avoidance treatment based on the above-mentioned actual distance. This application also does not limit the specific implementation, for example, several possible implementation methods are described below.

[0044] In one embodiment, when the actual distance is within a preset first range, this application can automatically control the vehicle speed to be lower than a preset first speed and trigger the vehicle's audible warning device to issue a warning at a preset first frequency. Optionally, a preset first color can also be used to indicate the vehicle's driving guide lines, such as displaying the guide lines on the vehicle's reversing display page in green. The aforementioned audible warning device is a device installed / deployed in the vehicle that uses a sound source to remind and warn, such as a buzzer. The aforementioned preset first speed, preset first frequency, and preset first color are all custom-set by the system or user according to actual needs. For example, the preset first speed can be 15 km / h, the preset first frequency can be 1 Hz, and the preset first color can be green, etc. The aforementioned preset first range is also a distance range / interval pre-defined by the system or user according to actual conditions. It can be an empirical range set based on user experience, or a statistical range calculated based on a series of experimental data, etc. This application does not limit this; for example, the aforementioned preset first range is 1-2 m, etc.

[0045] In another embodiment, when the actual distance is within a preset second range, this application can automatically control the vehicle speed to be lower than the preset second speed and trigger an audible warning device to provide a warning at a preset second frequency. Optionally, a preset second color can also be used to indicate the vehicle's driving guide lines, such as displaying the guide lines on the vehicle's reversing display page in yellow. The preset second speed, preset second frequency, and preset second color can all be customized by the system or the user according to actual needs. For example, the preset second speed can be 10 km / h, the preset second frequency can be 3 Hz, and the preset first color can be yellow, etc. Typically, the preset first speed is greater than the preset second speed, and the preset first frequency is less than the preset second frequency. The preset second range is also a distance range / interval pre-defined by the system or the user according to actual conditions. Typically, the lower limit of the preset first range is greater than or equal to the upper limit of the preset second range, for example, the preset second range can be 0.5-1m, etc.

[0046] In another embodiment, when the actual distance is within a preset third range, this application can automatically control the vehicle speed to be lower than the preset third speed and trigger an audible warning device to provide a warning at a preset third frequency. Optionally, a preset third color can also be used to indicate the vehicle's driving guide lines, such as displaying the guide lines on the vehicle's reversing display page in red. The preset third speed, preset third frequency, and preset third color can all be customized by the system or the user according to actual needs. For example, the preset third speed can be 5 km / h, the preset third frequency can be 10Hz, or continuous warning operation can be used. Typically, the preset second speed is greater than the preset third speed, and the preset second frequency is less than the preset third frequency. The preset third range is also a distance range / interval pre-defined by the system or the user according to actual conditions. Typically, the lower limit of the preset second range is greater than or equal to the upper limit of the preset third range. For example, the preset second range can be 0.1-0.5m.

[0047] In another embodiment, when the actual distance is within a preset fourth range, this application can automatically control the vehicle to brake and stop, reducing the vehicle speed to 0 km / h, etc. The preset fourth range is also a distance range / interval pre-defined by the system or user according to actual conditions. Usually, the lower limit of the preset third range is greater than or equal to the upper limit of the preset fourth range. For example, the preset fourth range can be less than 0.1m, etc.

[0048] In practice, it has been found that the UWB multi-array antenna used in this application achieves a distance detection accuracy of ±5cm and an angle detection accuracy of within 1.5°, which is superior to the detection accuracy of millimeter-wave radar or ultrasonic radar. Furthermore, under high signal-to-noise ratio conditions, the aforementioned UWB multi-array antenna's attenuation update of electromagnetic wave signals makes it easier to distinguish between transmitted and reflected signals, resulting in stronger robustness in target detection.

[0049] By implementing the embodiments of this application, this application utilizes a vehicle's ultra-wideband (UWB) multi-array antenna to detect the distance and angle of the target under test, obtaining target detection information. The target detection information includes the relative distance and angle of arrival between the target and the UWB multi-array antenna. Based on the target detection information, the actual distance between the target and the vehicle is determined. Collision avoidance processing is then performed on the vehicle based on the actual distance. In this way, a UWB multi-array antenna can be used to replace traditional ultrasonic radar or millimeter-wave radar for vehicle collision avoidance, improving the accuracy of collision avoidance without affecting the overall aesthetics of the vehicle, saving on wiring costs, and enhancing the user experience. It also solves the technical problems of existing ultrasonic radar or millimeter-wave radar deployment affecting the overall aesthetics of the vehicle and increasing costs.

[0050] Based on the foregoing embodiments, please refer to Figure 5, which is a structural schematic diagram of a vehicle collision avoidance device provided in an embodiment of this application. As shown in Figure 5, the device 500 may include a detection module 501, a determination module 502, and a processing module 503, wherein: the detection module 501 is used to use the vehicle's ultra-wideband UWB multi-array antenna to detect the distance and angle of the target under test, obtaining target detection information, the target detection information including the relative distance and angle of arrival between the target under test and the UWB multi-array antenna; the determination module 502 is used to determine the actual distance between the target under test and the vehicle based on the target detection information; the processing module 503 is used to perform collision avoidance processing on the vehicle based on the actual distance.

[0051] In some embodiments, the actual distance includes the distance between the target to be measured and the rear of the vehicle, and the processing module 503 is specifically used to: perform rear-end collision avoidance processing and / or reversing collision avoidance processing on the vehicle based on the actual distance.

[0052] In some embodiments, the processing module 503 is specifically configured to perform any of the following: when the actual distance is within a preset first range, control the vehicle speed to be lower than a preset first speed, trigger the sound warning device to provide a warning at a preset first frequency, and use a preset first color to indicate the vehicle's driving guide lines; when the actual distance is within a preset second range, control the vehicle speed to be lower than a preset second speed, trigger the sound warning device to provide a warning at a preset second frequency, and use a preset second color to indicate the vehicle's driving guide lines; when the actual distance is within a preset third range, control the vehicle speed to be lower than a preset third speed, trigger the sound warning device to provide a warning at a preset second frequency, and use a preset second color to indicate the vehicle's driving guide lines; when the actual distance is within a preset third range, control the vehicle speed to be lower than a preset third speed, and trigger the sound warning device to provide a warning at a preset second frequency, and use a preset second color to indicate the vehicle's driving guide lines. The sound warning device provides a warning at a preset third frequency and uses a preset third color to indicate the vehicle's driving guide lines; when the actual distance is within a preset fourth range, the device controls the vehicle to brake; wherein, the lower limit of the preset first range is greater than or equal to the upper limit of the preset second range, the lower limit of the preset second range is greater than or equal to the upper limit of the preset third range, the lower limit of the preset third range is greater than or equal to the upper limit of the preset fourth range, the preset first speed, the preset second speed, and the preset third speed decrease sequentially, and the preset first frequency, the preset second frequency, and the preset third frequency increase sequentially.

[0053] In some embodiments, the determining module 502 is specifically used to: calculate the actual distance based on the relative distance and the arrival angle using a cosine formula.

[0054] In some embodiments, the UWB multi-array antenna includes M sets of transceiver antennas, where M is a positive integer, and the target detection information includes the relative distance. The detection module 501 is specifically used to: use the M sets of transceiver antennas to perform distance detection on the target to be tested, and obtain N sets of target distances between the target to be tested and the UWB multi-array antenna, where N is a positive integer greater than or equal to M; and calculate the average of the N sets of target distances to obtain the relative distance.

[0055] In some embodiments, the detection module 501 is specifically used to: transmit a first electromagnetic wave signal using a transmitting antenna in any one set of transceiver antennas, and receive a second electromagnetic wave signal reflected back from the target by a receiving antenna in any one set of transceiver antennas; and calculate the target distance corresponding to any one set of transceiver antennas based on the time difference between the first electromagnetic wave signal and the second electromagnetic wave signal.

[0056] In some embodiments, the target detection information includes the angle of arrival, and the detection module 501 is specifically used to: transmit a first electromagnetic wave signal using the transmitting antenna in any one of the transceiver antennas, and receive at least two second electromagnetic wave signals reflected back from the target by the corresponding receiving antenna in the M transceiver antennas; calculate the angle of arrival based on the phase difference between the at least two second electromagnetic wave signals and the antenna spacing corresponding to the corresponding receiving antenna in the M transceiver antennas.

[0057] For any content not introduced or described in the embodiments of this application, please refer to the relevant descriptions in the foregoing method embodiments; they will not be repeated here.

[0058] Please refer to Figure 6, which is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device shown in Figure 6 can be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc. This electronic device can be applied to various types of vehicles, etc.

[0059] Referring to FIG6, the electronic device 600 may include one or more of the following components: processing component 602, memory 604, power supply component 606, multimedia component 608, audio component 610, input / output interface 612, sensor component 614, and communication component 616.

[0060] Processing component 602 typically controls the overall operation of electronic device 600, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 602 may include one or more processors 620 to execute instructions to complete all or part of the steps of the aforementioned vehicle collision avoidance method. Furthermore, processing component 602 may include one or more modules to facilitate interaction between processing component 602 and other components. For example, processing component 602 may include a multimedia module to facilitate interaction between multimedia component 608 and processing component 602.

[0061] Memory 604 is configured to store various types of data to support the operation of electronic device 600. Examples of such data include instructions for any application or method operating on electronic device 600, contact data, phonebook data, messages, pictures, videos, etc. Memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0062] Power supply component 606 provides power to various components of electronic device 600. Power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 600.

[0063] Multimedia component 608 includes a screen that provides an output interface between the electronic device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 608 includes a front-facing camera and / or a rear-facing camera. When the electronic device 600 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0064] Audio component 610 is configured to output and / or input audio signals. For example, audio component 610 includes a microphone (MIC) configured to receive external audio signals when electronic device 600 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 604 or transmitted via communication component 616. In some embodiments, audio component 610 also includes a speaker for outputting audio signals.

[0065] Input / output interface 612 provides an interface between processing component 602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0066] Sensor assembly 614 includes one or more sensors for providing state assessments of various aspects of electronic device 600. For example, sensor assembly 614 can detect the on / off state of electronic device 600, the relative positioning of components such as the display and keypad of electronic device 600, changes in position of electronic device 600 or a component of electronic device 600, the presence or absence of user contact with electronic device 600, orientation or acceleration / deceleration of electronic device 600, and temperature changes of electronic device 600. Sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 614 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0067] Communication component 616 is configured to facilitate wired or wireless communication between electronic device 600 and other devices. Electronic device 600 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 616 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0068] In an exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle collision avoidance method described above.

[0069] Understandably, the processor 620 in this embodiment can be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method embodiment can be completed by integrated logic circuits in the processor's hardware or by software instructions. The processor described above can be a general-purpose processor, 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.

[0070] Understandably, the memory 604 in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0071] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 604 including instructions, which can be executed by a processor 620 of an electronic device 600 to complete the aforementioned upper-level vehicle collision avoidance method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0072] The aforementioned device can be a standalone electronic device or a part of a standalone electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip, wherein the integrated circuit can be a single IC or a collection of multiple ICs. The chip can include, but is not limited to, the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), and SoC (System on Chip). The aforementioned integrated circuit or chip can be used to execute executable instructions (or code) to implement the aforementioned vehicle collision avoidance method. The executable instructions can be stored in the integrated circuit or chip or obtained from other devices or equipment. For example, the integrated circuit or chip includes a processor, memory, and an interface for communicating with other devices. The executable instructions can be stored in the memory, and when the executable instructions are executed by the processor, the above-mentioned vehicle collision avoidance method is implemented; or, the integrated circuit or chip can receive the executable instructions through the interface and transmit them to the processor for execution to implement the above-mentioned vehicle collision avoidance method.

[0073] Please refer to Figure 7, which is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. As exemplarily shown in Figure 7, the vehicle 700 includes a memory 701 and a processor 702, wherein the memory 701 stores executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform a vehicle collision avoidance method.

[0074] This application embodiment can divide the vehicle into functional modules according to the above method embodiment. For example, each function can be assigned to a separate module, or two or more functions can be integrated into a processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. When dividing each functional module according to its corresponding function, the vehicle may include a processing module and a communication module, etc.

[0075] It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here. The vehicle provided in this embodiment is used to execute the above-described vehicle collision avoidance method, and therefore can achieve the same effect as the above implementation method.

[0076] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle collision avoidance method when executed by the programmable device.

[0077] It should be noted that the descriptions of the above embodiments of storage media, devices, and equipment are similar to the descriptions of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the embodiments of storage media, devices, and equipment of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0078] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of this application. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed in this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0079] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle collision avoidance method, characterized in that, include: The vehicle's ultra-wideband (UWB) multi-array antenna is used to detect the distance and angle of the target under test, obtaining target detection information, which includes the relative distance and angle of arrival between the target under test and the UWB multi-array antenna. Based on the target detection information, the actual distance between the target under test and the vehicle is determined. Based on the actual distance, collision avoidance measures are taken for the vehicle.

2. The method according to claim 1, characterized in that, The actual distance includes the distance between the target to be measured and the rear of the vehicle. The collision avoidance treatment of the vehicle based on the actual distance includes: rear-end collision avoidance treatment and / or reversing collision avoidance treatment based on the actual distance.

3. The method according to claim 2, characterized in that, The rear-end collision avoidance and / or reversing collision avoidance treatment of the vehicle based on the actual distance includes any one of the following: when the actual distance is within a preset first range, controlling the vehicle speed to be lower than a preset first speed, triggering an audible warning device to provide a warning at a preset first frequency, and using a preset first color to indicate the vehicle's driving guide line; When the actual distance is within a preset second range, the vehicle speed is controlled to be lower than the preset second speed, triggering an audible warning device to issue a warning at a preset second frequency, and using a preset second color to indicate the vehicle's driving guide lines; when the actual distance is within a preset third range, the vehicle speed is controlled to be lower than the preset third speed, triggering an audible warning device to issue a warning at a preset third frequency, and using a preset third color to indicate the vehicle's driving guide lines; when the actual distance is within a preset fourth range, the vehicle is braked; wherein, the lower limit of the preset first range is greater than or equal to the upper limit of the preset second range, the lower limit of the preset second range is greater than or equal to the upper limit of the preset third range, the lower limit of the preset third range is greater than or equal to the upper limit of the preset fourth range, the preset first speed, the preset second speed, and the preset third speed decrease sequentially, and the preset first frequency, the preset second frequency, and the preset third frequency increase sequentially.

4. The method according to claim 1, characterized in that, Determining the actual distance between the target and the vehicle based on the target detection information includes: calculating the actual distance using a cosine formula based on the relative distance and the angle of arrival.

5. The method according to claim 1, characterized in that, The UWB multi-array antenna includes M sets of transceiver antennas, where M is a positive integer. The target detection information includes the relative distance. The process of using the vehicle's ultra-wideband UWB multi-array antenna to detect the distance to the target includes: using the M sets of transceiver antennas to detect the distance to the target, obtaining N sets of target distances between the target and the UWB multi-array antenna, where N is a positive integer greater than or equal to M; and averaging the N sets of target distances to obtain the relative distance.

6. The method according to claim 5, characterized in that, The step of using M sets of transceiver antennas to detect the distance to the target under test and obtain the target distance between N sets of targets under test and the UWB multi-array antennas includes: transmitting a first electromagnetic wave signal using the transmitting antenna in any set of transceiver antennas, and receiving a second electromagnetic wave signal reflected back from the target under test using the receiving antenna in any set of transceiver antennas; and calculating the target distance corresponding to any set of transceiver antennas based on the time difference between the first electromagnetic wave signal and the second electromagnetic wave signal.

7. The method according to claim 5, characterized in that, The target detection information includes the angle of arrival. The angle detection of the target using the vehicle's ultra-wideband UWB multi-array antenna includes: transmitting a first electromagnetic wave signal using the transmitting antenna in any of the transceiver antennas in the M groups of transceiver antennas, and receiving at least two second electromagnetic wave signals reflected back from the target by the corresponding receiving antennas in the M groups of transceiver antennas; calculating the angle of arrival based on the phase difference between the at least two second electromagnetic wave signals and the antenna spacing corresponding to the receiving antennas in the M groups of transceiver antennas.

8. A vehicle collision avoidance device, characterized in that, include: The detection module is used to detect the distance and angle of the target under test using the vehicle's ultra-wideband UWB multi-array antenna to obtain target detection information, which includes the relative distance and angle of arrival between the target under test and the UWB multi-array antenna; the determination module is used to determine the actual distance between the target under test and the vehicle based on the target detection information. The processing module is used to perform collision avoidance processing on the vehicle based on the actual distance.

9. A vehicle, characterized in that, include: processor; A memory for storing processor-executable instructions; wherein the processor is configured to execute the executable instructions to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 7.

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