A vehicle control method, system, device, and medium for preventing a side collision

Abstract

This application provides a vehicle control method, system, device, and medium for preventing side collisions, relating to the field of vehicle control technology. This application predicts the future driving trajectory of the vehicle and surrounding vehicles, identifies vehicles with a risk of side collision in advance, and adjusts the deflection angle of the rearview mirror in advance according to the future positional relationship between the risk vehicle and the vehicle, so that the driver can observe the potential risk vehicle earlier, thereby reducing the risk of missing the vehicle due to the blind spot of the rearview mirror, giving the driver more time to judge and react, and reducing the possibility of side collisions.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, system, device and medium for preventing side collisions. Background Technology

[0002] With the rapid development of intelligent connected vehicle technology, driving safety in scenarios such as lateral merging, lane changing, and lane intersections has received increasing attention. In actual driving, due to the limitations of vehicle structure and the field of vision of rearview mirrors, drivers often find it difficult to directly observe other vehicles in their blind spots to the side and rear. When adjacent vehicles approach rapidly, accelerate to merge, or the driver's driving status changes, the driver may not be able to detect potential lateral collision risks in time.

[0003] Based on the above problems, this application proposes a vehicle control method for preventing side collisions. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide a vehicle control method, system, device and medium for preventing side collisions, so as to overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect, this application provides a vehicle control method for preventing side collisions, the method comprising: Based on the vehicle's driving data at the current moment, predict the vehicle's first driving trajectory in the future time period from the current moment to a future moment; and based on the driving data of other vehicles around the vehicle at the current moment, predict the second driving trajectory of the other vehicles in the future time period. Based on the first driving trajectory and the second driving trajectory, determine the lateral collision risk value of other vehicles at the future time. Other vehicles whose side collision risk value is greater than the first risk threshold at a future time are identified as the first risk vehicles at that future time. Based on the future positions of the first risk vehicle and the current vehicle, determine the target deflection angle that the rearview mirror of the current vehicle needs to be adjusted in the future time period. Control the rearview mirrors of this vehicle to deflect the target deflection angle over a future time period.

[0006] Optionally, based on the future positions of the first risk vehicle and the current vehicle, the target deflection angle that the rearview mirror of the current vehicle needs to be adjusted during the future time period is determined, including: Based on the future position of the first risk vehicle and the future position of this vehicle, determine the target display area of ​​the rearview mirror of this vehicle in the future. Based on the target display area, determine the target angle of the vehicle's rearview mirror at a future moment; Based on the target angle of the vehicle's rearview mirror at a future time and the current angle of the vehicle's rearview mirror at the current time, determine the target deflection angle that the vehicle's rearview mirror needs to be adjusted for in the future time period.

[0007] Optionally, the method further includes: The yaw rate is determined based on the lateral collision risk value of the first risk vehicle at the future time; the larger the lateral collision risk value, the larger the yaw rate. Controlling the vehicle's rearview mirrors to deflect the target deflection angle over a future time period includes: Control the rearview mirror of this vehicle to deflect the target deflection angle according to the deflection angular velocity within a future time period.

[0008] Optionally, based on the first driving trajectory and the second driving trajectory, the lateral collision risk value of other vehicles at the future time is determined, including: Based on the future positions of the other vehicles and the future position of this vehicle, determine the distance between the other vehicles and this vehicle at the future time; Based on the distance between other vehicles and this vehicle at the future time, determine the distance factor of other vehicles at the future time; the shorter the distance, the larger the distance factor. Based on the first driving trajectory and the second driving trajectory, determine the game factor and / or collision time factor of other vehicles at the future time. The lateral collision risk value of other vehicles at the future time is determined based on at least one of the distance factor, collision time factor, and game factor of other vehicles at the future time.

[0009] Optionally, based on the first driving trajectory and the second driving trajectory, determining the collision time factor for other vehicles at the future time includes: Detect whether there is an intersection between the first driving trajectory and the second driving trajectory; If there is an intersection between the first driving trajectory and the second driving trajectory, the future time corresponding to the intersection will be determined as the collision time when another vehicle collides with this vehicle within the future time period. Based on the duration between the current moment and the collision moments of other vehicles, the collision time factor of other vehicles at the future moment is determined; the shorter the duration, the larger the collision time factor. The lateral collision risk value of other vehicles at the future time is determined at least based on the collision time factor of other vehicles at the future time.

[0010] Optionally, based on the first driving trajectory and the second driving trajectory, the game factors for other vehicles at the future time are determined, including: Based on the first driving trajectory and the second driving trajectory, determine the number of times other vehicles will compete with this vehicle for the same lane during the future time period; The game factor of other vehicles at the future time is determined based on the number of times they compete with this vehicle for the same lane during the future time period. The more times they compete, the larger the game factor becomes.

[0011] Optionally, after identifying other vehicles whose side collision risk value at a future time is greater than a first risk threshold as the first risk vehicle at that future time, the method further includes: The N warning units controlling this vehicle output a first side collision warning according to a first warning intensity. The first side collision warning is used to: remind the driver of this vehicle that the first risk vehicle has a first side collision risk level at a future time; The method further includes: Other vehicles whose side collision risk value at a future time is less than the first risk threshold and greater than the second risk threshold are identified as the second risk vehicles at the future time. The M warning units controlling this vehicle output a second side collision warning according to the second warning intensity. The second side collision warning is used to: remind the driver of this vehicle that the second risk vehicle has a second side collision risk level at a future time; M is less than N; the second warning intensity is less than the first warning intensity; the second side collision risk level is lower than the first side collision risk level.

[0012] A second aspect of this application provides a vehicle control system for preventing side collisions, the system comprising: The prediction module is used to predict a first driving trajectory of the vehicle in a future time period from the current time to a future time based on the vehicle's driving data at the current time, and to predict a second driving trajectory of other vehicles in the future time period based on the driving data of other vehicles around the vehicle at the current time. The first determining module is used to determine the lateral collision risk value of other vehicles at the future time based on the first driving trajectory and the second driving trajectory. The second determining module is used to determine other vehicles whose side collision risk value is greater than the first risk threshold at a future time as the first risk vehicle at a future time. The third determining module is used to determine the target deflection angle that the rearview mirror of the vehicle needs to be adjusted in the future time period based on the future position of the first risk vehicle and the future position of the vehicle itself. The control module is used to control the rearview mirrors of this vehicle to deflect the target deflection angle within a future time period.

[0013] Optionally, based on the future positions of the first risk vehicle and the current vehicle, the target deflection angle that the rearview mirror of the current vehicle needs to be adjusted in the future time period is determined. The third determining module includes: The first determining submodule is used to determine the target display area of ​​the rearview mirror of the vehicle at a future time based on the future position of the first risk vehicle and the future position of the vehicle. The second determining submodule is used to determine the target angle of the vehicle's rearview mirror at a future time based on the target display area. The third determining submodule is used to determine the target deflection angle that the rearview mirror of this vehicle needs to be adjusted in the future time period based on the target angle of the rearview mirror at a future time and the current angle of the rearview mirror at the current time.

[0014] Optionally, the system further includes: The fourth determining submodule is used to determine the yaw rate based on the lateral collision risk value of the first risk vehicle at the future time. The larger the lateral collision risk value, the larger the yaw rate. The control module controls the rearview mirrors of this vehicle to deflect the target deflection angle over a future time period. The control module includes: The first control submodule is used to control the rearview mirror of the vehicle to deflect the target deflection angle according to the deflection angular velocity in the future time period.

[0015] Optionally, based on the first driving trajectory and the second driving trajectory, the lateral collision risk value of other vehicles at the future time is determined, wherein the first determining module includes: The fifth determining submodule is used to determine the distance between the other vehicles and the vehicle at the future time based on the positions of the other vehicles at the future time and the position of the vehicle at the future time; The sixth determining submodule is used to determine the distance factor of other vehicles at the future time based on the distance between other vehicles and the vehicle at the future time. The shorter the distance, the larger the distance factor. The seventh determination submodule is used to determine the game factor and / or collision time factor of other vehicles at the future time based on the first driving trajectory and the second driving trajectory. The eighth determination submodule is used to determine the lateral collision risk value of other vehicles at the future time based on at least one of the distance factor, collision time factor and game factor of other vehicles at the future time.

[0016] Optionally, based on the first driving trajectory and the second driving trajectory, the collision time factor of other vehicles at the future time is determined, and the seventh determining submodule includes: The detection subunit is used to detect whether there is an intersection between the first driving trajectory and the second driving trajectory; The first determining subunit is used to determine the future time corresponding to the intersection point as the collision time when other vehicles collide with this vehicle within the future time period, in the case where there is an intersection point between the first driving trajectory and the second driving trajectory. The second determining subunit is used to determine the collision time factor of other vehicles at the future time based on the duration between the current time and the collision time corresponding to other vehicles; the shorter the duration, the larger the collision time factor. The third determining subunit is used to determine the lateral collision risk value of other vehicles at the future time, at least based on the collision time factor of other vehicles at the future time.

[0017] Optionally, based on the first driving trajectory and the second driving trajectory, the game factors of other vehicles at the future time are determined, and the seventh determining submodule includes: The fourth determining subunit is used to determine, based on the first driving trajectory and the second driving trajectory, the number of times other vehicles will compete with this vehicle for the same lane during the future time period; The fifth determining subunit is used to determine the game factor of other vehicles at the future time based on the number of times other vehicles compete with this vehicle for the same lane in the future time period. The more times the competition occurs, the larger the game factor becomes.

[0018] Optionally, the system further includes: The second control submodule controls the N warning units of the vehicle to output a first side collision warning according to a first warning intensity. The first side collision warning is used to: remind the driver of the vehicle that the first risk vehicle has a first side collision risk level at a future time. The system also includes: The ninth determination submodule is used to determine other vehicles whose side collision risk value at a future time is less than the first risk threshold and greater than the second risk threshold as the second risk vehicle at a future time. The third control submodule is used to control the M warning units of this vehicle to output a second side collision warning according to the second warning intensity. The second side collision warning is used to: remind the driver of this vehicle that the second risk vehicle has a second side collision risk level at a future time. M is less than N; the second warning intensity is less than the first warning intensity; the second side collision risk level is lower than the first side collision risk level.

[0019] A third aspect of this application provides an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the vehicle control method for preventing side collisions as described in the first aspect of this application.

[0020] A fourth aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method for preventing side collisions as described in the first aspect of this application.

[0021] The beneficial effects of this application are: This application provides a vehicle control method for preventing side collisions. The method includes: predicting a first driving trajectory of the vehicle in a future time period from the current moment to a future moment based on the vehicle's driving data at the current moment; and predicting a second driving trajectory of other vehicles around the vehicle in the future time period based on the driving data of other vehicles around the vehicle at the current moment; determining the side collision risk value of other vehicles in the future moment based on the first driving trajectory and the second driving trajectory; identifying other vehicles whose side collision risk value in the future moment is greater than a first risk threshold as first risk vehicles in the future moment; determining a target deflection angle that the vehicle's rearview mirror needs to adjust in the future time period based on the position of the first risk vehicle in the future moment and the position of the vehicle in the future moment; and controlling the vehicle's rearview mirror to deflect the target deflection angle in the future time period.

[0022] This application predicts the future driving trajectory of the vehicle and surrounding vehicles, identifies vehicles with a risk of side collision in advance, and adjusts the deflection angle of the rearview mirror in advance according to the future positional relationship between the risk vehicle and the vehicle, so that the driver can observe the potential risk vehicle earlier, thereby reducing the risk of missing the vehicle due to the blind spot of the rearview mirror, giving the driver more time to judge and react, and reducing the possibility of side collision. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic flowchart of a vehicle control method for preventing side collisions provided in an embodiment of this application; Figure 2This is a schematic diagram of a target deflection angle provided in an embodiment of this application; Figure 3 This application provides a risk map of the vehicle and surrounding vehicles at future times. Figure 4 This is a schematic diagram illustrating the delineation of a risk area according to an embodiment of this application; Figure 5 This is a schematic diagram of a vehicle control system for preventing side collisions provided in an embodiment of this application; Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0026] In a first aspect, this application provides a vehicle control method for preventing side collisions, such as... Figure 1 As shown, the method includes: S101, based on the vehicle's driving data at the current moment, predict the first driving trajectory of the vehicle in the future time period from the current moment to a future moment, and based on the driving data of other vehicles around the vehicle at the current moment, predict the second driving trajectory of other vehicles in the future time period.

[0027] In this step, the current driving data of the vehicle can be acquired, and based on the vehicle's current motion state, the possible locations the vehicle may pass through from the current moment to a future moment can be predicted to obtain a first driving trajectory. The current driving data of other vehicles around the vehicle can be acquired, and the possible locations of each other vehicle in the future time period can be predicted to obtain a second driving trajectory corresponding to each other vehicle. In this application, the future moment can be preset based on the time range for side collision risk assessment, forming a future time period between the current moment and the future moment.

[0028] S102, based on the first driving trajectory and the second driving trajectory, determine the lateral collision risk value of other vehicles at the future time.

[0029] In this step, for each other vehicle around the vehicle, the corresponding second driving trajectory can be compared with the first driving trajectory to analyze the relative motion relationship between the vehicle and the other vehicle in the future time period, and to determine the risk level of a side collision between the other vehicle and the vehicle at a future time. For example, the corresponding side collision risk value can be determined based on the approach trend, relative position changes, and spatial relationship between the two driving trajectories in the future time period.

[0030] When there are multiple other vehicles around the vehicle, the side collision risk value of each other vehicle can be obtained based on the second and first driving trajectories of each vehicle.

[0031] S103 identifies other vehicles whose side collision risk value is greater than the first risk threshold at a future time as the first risk vehicle at that future time.

[0032] In this step, the side collision risk values ​​corresponding to each other vehicle are compared with a pre-set first risk threshold. When the side collision risk value corresponding to a certain other vehicle is greater than the first risk threshold, it indicates that if the current driving trend continues, there is a high risk of a side collision between that vehicle and the current vehicle at a future time. Therefore, that vehicle is identified as the first risk vehicle.

[0033] S104, based on the future position of the first risk vehicle and the future position of this vehicle, determine the target deflection angle that the rearview mirror of this vehicle needs to be adjusted in the future time period.

[0034] In this step, after identifying the first risk vehicle, the future position of the vehicle can be determined based on the first driving trajectory, and the future position of the first risk vehicle can be determined based on the second driving trajectory corresponding to the first risk vehicle.

[0035] Furthermore, based on the positional relationship between the vehicle and the first risk vehicle at a future time, the direction of the first risk vehicle relative to the vehicle is determined, and the target deflection angle of the rearview mirror is determined accordingly. In this application, the target deflection angle corresponds to the position of the first risk vehicle relative to the vehicle at a future time, so that the observation direction of the rearview mirror can be directed towards the area where the first risk vehicle may appear.

[0036] S105, control the rearview mirror of this vehicle to deflect the target deflection angle within a future time period.

[0037] In this step, after determining the target deflection angle, the rearview mirror can be controlled to deflect between the current moment and the future moment, so that the rearview mirror is gradually adjusted from the current angle to the position corresponding to the target deflection angle.

[0038] Since the adjustment of the rearview mirror occurs in the future, there is no need to wait for the first risk vehicle to actually arrive at the corresponding position in the future before making the adjustment. Instead, the corresponding rearview mirror deflection can be completed before the risk of a side collision increases further, allowing the driver to observe the area where the first risk vehicle may appear in advance.

[0039] This application predicts the future driving trajectory of the vehicle and surrounding vehicles, identifies vehicles with a risk of side collision in advance, and adjusts the deflection angle of the rearview mirror in advance according to the future positional relationship between the risk vehicle and the vehicle, so that the driver can observe the potential risk vehicle earlier, thereby reducing the risk of missing the vehicle due to the blind spot of the rearview mirror, giving the driver more time to judge and react, and reducing the possibility of side collision.

[0040] In one implementation, a pre-trained trajectory prediction model can be used to predict a first trajectory of the vehicle within a future time period from the current moment to a future moment, and to predict a second trajectory of other vehicles within the same future time period. The trajectory prediction model can be pre-trained using historical driving samples. Each historical driving sample can include the vehicle's driving data over a historical period and its actual driving trajectory within the corresponding future time period. For the vehicle itself, the driving data can include vehicle speed, yaw rate, turn signal status, steering wheel angle, accelerator pedal opening, and brake pedal opening; for other surrounding vehicles, the driving data can include vehicle speed, historical trajectory, turn signal status, and relative position to lane lines.

[0041] During training, driving data from historical time periods are input into the driving trajectory prediction model to be trained to obtain the predicted driving trajectory. The predicted driving trajectory is then compared with the actual driving trajectory in the corresponding future time period. The model parameters are adjusted based on the differences between the two until the model meets the preset training conditions, thus obtaining the pre-trained driving trajectory prediction model.

[0042] In one embodiment, based on the future positions of the first risk vehicle and the current vehicle, the target deflection angle that the rearview mirror of the current vehicle needs to be adjusted over the future time period is determined, including: Based on the future position of the first risk vehicle and the future position of this vehicle, determine the target display area of ​​the rearview mirror of this vehicle in the future. Based on the target display area, determine the target angle of the vehicle's rearview mirror at a future moment; Based on the target angle of the vehicle's rearview mirror at a future time and the current angle of the vehicle's rearview mirror at the current time, determine the target deflection angle that the vehicle's rearview mirror needs to be adjusted for in the future time period.

[0043] In this embodiment, after identifying the first risk vehicle, the relative positional relationship between the two vehicles in the future is determined based on the future position of the first risk vehicle and the future position of the vehicle itself. Then, the target display area that the rearview mirror needs to cover in the future is determined based on this relative positional relationship. In this embodiment, the target display area can be understood as the area where the first risk vehicle might appear relative to the vehicle in the future, allowing the rearview mirror to be adjusted to observe this area.

[0044] Furthermore, the target angle of the rearview mirror at a future time is determined based on the target display area. The target angle represents the angle state of the rearview mirror when it is adjusted to display the target display area. Since the position of the first risk vehicle is determined based on its future driving trajectory, the target angle corresponds to the risk vehicle's position at a future time, rather than solely based on its current position.

[0045] Furthermore, such as Figure 2 As shown, after obtaining the target angle, the current angle of the rearview mirror is acquired, and based on the angle difference between the target angle and the current angle, the target deflection angle that the rearview mirror needs to adjust to in the future time period is determined. The target deflection angle represents the angle change required for the rearview mirror to adjust from the current angle to the target angle.

[0046] Furthermore, the rearview mirror can be adjusted accordingly within a future time period based on the target deflection angle.

[0047] In one embodiment, the yaw rate is determined based on the lateral collision risk value of the first at-risk vehicle at the future time, wherein the greater the lateral collision risk value, the greater the yaw rate. Controlling the vehicle's rearview mirrors to deflect the target deflection angle over a future time period includes: Control the rearview mirror of this vehicle to deflect the target deflection angle according to the deflection angular velocity within a future time period.

[0048] In this embodiment, the deflection rate of the rearview mirror can be determined based on the lateral collision risk value corresponding to the first risk vehicle at a future time. The lateral collision risk value reflects the degree of risk of a lateral collision between the first risk vehicle and the vehicle at a future time. In practical applications, a correspondence between the lateral collision risk value and the deflection rate can be established in advance, and the deflection rate to be used at the current time can be determined according to this correspondence. Specifically, a larger lateral collision risk value indicates a higher lateral collision risk corresponding to the first risk vehicle, and a larger deflection rate is used to enable the rearview mirror to deflect towards the target angle at a faster speed; a relatively smaller lateral collision risk value allows for a relatively smaller deflection rate. By increasing the deflection rate as the lateral collision risk value increases, the adjustment speed of the rearview mirror can be adapted to the currently predicted risk level.

[0049] Furthermore, once the target deflection angle and deflection angular velocity have been determined, the vehicle's rearview mirror can be controlled to deflect at that deflection angular velocity between the current moment and the future moment, so that the rearview mirror moves from the current angle to the target angle and completes the adjustment corresponding to the target deflection angle.

[0050] For vehicles with a high risk of side collision, the rearview mirrors require a shorter time to complete the corresponding deflection due to the larger deflection velocity, allowing them to adjust to the observation direction corresponding to the future position of the risky vehicle more quickly. For vehicles with a relatively low risk of side collision, a relatively slower deflection speed can be used for adjustment. This allows the rearview mirror's movement speed to be adjusted according to the level of risk without changing the target deflection angle.

[0051] In one embodiment, determining the lateral collision risk value of other vehicles at the future time based on the first driving trajectory and the second driving trajectory includes: Based on the future positions of the other vehicles and the future position of this vehicle, determine the distance between the other vehicles and this vehicle at the future time; Based on the distance between other vehicles and this vehicle at the future time, determine the distance factor of other vehicles at the future time; the shorter the distance, the larger the distance factor. Based on the first driving trajectory and the second driving trajectory, determine the game factor and / or collision time factor of other vehicles at the future time. The lateral collision risk value of other vehicles at the future time is determined based on at least one of the distance factor, collision time factor, and game factor of other vehicles at the future time.

[0052] In this embodiment, based on the future positions of other vehicles and the future position of this vehicle, the relative positions of the two vehicles at future moments can be determined, and the distance between the two vehicles can be further calculated. This distance reflects the spatial proximity of other vehicles to this vehicle at future moments, assuming continued travel along the current predicted trajectory. If multiple other vehicles are present around this vehicle, the future distances between each of the other vehicles and this vehicle can be determined separately.

[0053] Furthermore, based on the distances between this vehicle and other vehicles at future times, a corresponding distance factor is determined, wherein the distance factor ranges from... The distance factor is used to characterize how close other vehicles are to the vehicle in the future. The shorter the distance between the two vehicles, the larger the distance factor, indicating that the other vehicles are closer to the vehicle in space; the longer the distance between the two vehicles, the smaller the distance factor, indicating that the other vehicles are farther away from the vehicle in space.

[0054] Furthermore, based on the first and second driving trajectories, the game factors and / or collision time factors for other vehicles at future moments can be determined. The collision time factor ranges from... This factor characterizes the urgency of a collision with another vehicle when continuing along the predicted trajectory; the shorter the predicted collision time, the larger the corresponding collision time factor. The game factor ranges from... The game factor is used to characterize the degree of driving conflict between the vehicle and other vehicles in the same road space during future driving. When the predicted trajectories of the two vehicles show a strong spatial competition relationship in the future time period, the corresponding game factor is larger.

[0055] Furthermore, after obtaining the distance factor, collision time factor, and game theory factor, the lateral collision risk value of other vehicles at future times can be determined based on at least one of them. For example, one or more factors can be calculated according to the actual risk assessment method used, so that the lateral collision risk value can reflect the degree of risk of other vehicles relative to the vehicle at future times. When the distance between the two vehicles is close, the predicted collision time is short, or the degree of competition for the same road space is high, the corresponding lateral collision risk value increases accordingly; conversely, the lateral collision risk value decreases accordingly.

[0056] In one implementation, the distance factor, collision time factor, and game factor can be weighted and summed according to preset weights to obtain the lateral collision risk value. It should be noted that the weights of the distance factor, collision time factor, and game factor are different in different scenarios.

[0057] This application provides a method such as Figure 3 The risk map shown here for this vehicle and surrounding vehicles at future times is as follows: Figure 3 The diagram shows the lateral collision risk distribution based on future driving trajectories. Vehicle A represents the vehicle itself, and the diagram also shows the position changes of the vehicle and other surrounding vehicles at the current and future times. Based on the vehicle's first driving trajectory and the second driving trajectories of the other vehicles, the positions of the other vehicles relative to the vehicle in the future can be determined. Combining at least one of the distance factor, collision time factor, and game theory factor, the lateral collision risk value corresponding to each other vehicle is calculated. The lateral collision risk value of vehicle B is 0.91, that of vehicle C is 0.27, and that of vehicle D is 0.58. Therefore, vehicle B has the highest lateral collision risk value, making it the vehicle with the highest risk.

[0058] This embodiment can form the risk distribution of vehicles around the vehicle at future times. The higher the side collision risk value, the higher the risk of the corresponding vehicle colliding with the vehicle at a side collision at future times. Therefore, it is possible to further screen the risk vehicles that need to be focused on based on the side collision risk value.

[0059] In one implementation, a pre-established predictive risk model can be used to predict the lateral collision risk value of each other vehicle. In one embodiment, determining the collision time factor of other vehicles at the future time based on the first driving trajectory and the second driving trajectory includes: Detect whether there is an intersection between the first driving trajectory and the second driving trajectory; If there is an intersection between the first driving trajectory and the second driving trajectory, the future time corresponding to the intersection will be determined as the collision time when another vehicle collides with this vehicle within the future time period. Based on the duration between the current moment and the collision moments of other vehicles, the collision time factor of other vehicles at the future moment is determined; the shorter the duration, the larger the collision time factor. The lateral collision risk value of other vehicles at the future time is determined at least based on the collision time factor of other vehicles at the future time.

[0060] In this embodiment, based on the first driving trajectory corresponding to the vehicle and the second driving trajectories corresponding to other vehicles, it is determined whether the two predicted trajectories will intersect in the future time period. The trajectory intersection reflects whether the vehicle and other vehicles are likely to enter the same road space when they continue to travel according to their respective predicted motion trends. When there is no intersection between the two driving trajectories, it can be considered that under the current prediction results, there is no obvious trajectory intersection between the two vehicles in the future time period.

[0061] If there is an intersection between the first driving trajectory and the second driving trajectory, the future time corresponding to the intersection can be further determined, and the future time can be used as the collision time when other vehicles may collide with this vehicle.

[0062] Furthermore, the time interval between the current moment and the moment of collision can be calculated, and the corresponding collision time factor can be determined based on this time interval. The shorter the time interval, the closer the potential collision is to the current moment, and the more urgent the collision risk is in the time dimension, so the corresponding collision time factor is larger; the longer the time interval, the more time the driver and vehicle still have relatively long response time, so the corresponding collision time factor is smaller.

[0063] Once the collision time factor is obtained, the lateral collision risk values ​​of other vehicles at future times can be determined based on this factor. For example, when the predicted collision time is closer, the collision time factor is larger, and the corresponding lateral collision risk value also increases; when the predicted collision time is farther away, the collision time factor is smaller, and the corresponding lateral collision risk value can decrease.

[0064] In one embodiment, determining the game factors for other vehicles at the future time based on the first driving trajectory and the second driving trajectory includes: Based on the first driving trajectory and the second driving trajectory, determine the number of times other vehicles will compete with this vehicle for the same lane during the future time period; The game factor of other vehicles at the future time is determined based on the number of times they compete with this vehicle for the same lane during the future time period. The more times they compete, the larger the game factor becomes.

[0065] In this embodiment, based on the first driving trajectory corresponding to this vehicle and the second driving trajectories corresponding to other vehicles, the lane occupancy changes of the two vehicles in the future time period are analyzed, and the number of times other vehicles compete with this vehicle for the same lane is determined. In this embodiment, competing for the same lane can be understood as the situation where, when this vehicle and other vehicles continue to travel according to their respective predicted driving trajectories, they successively enter the same lane or simultaneously move towards the same lane in the future time period.

[0066] For example, in scenarios such as lateral merging and lane changing, if the predicted trajectories of other vehicles repeatedly show a tendency to enter the same lane as this vehicle, it indicates that the competition for the same road space between the two vehicles will be more obvious in the future driving process; if the predicted trajectories of the two vehicles remain basically separate, or there are only a few instances of competition in the same lane, it indicates that the degree of road space conflict between the two vehicles is relatively low.

[0067] Furthermore, the corresponding game factor is determined based on the number of times other vehicles will compete with this vehicle for the same lane in the future time period. The more times they compete for the same lane, the higher the probability and degree of driving space conflict between the two vehicles in the future, and therefore the larger the game factor; the fewer times they compete, the smaller the game factor. Through this embodiment, the game factor can be used to reflect the degree of competition between this vehicle and other vehicles for the same lane space in the future time period, and can be further used to determine the corresponding lateral collision risk value.

[0068] In one embodiment, after identifying other vehicles whose lateral collision risk value at a future time is greater than a first risk threshold as the first risk vehicle at that future time, the method further includes: The N warning units controlling this vehicle output a first side collision warning according to a first warning intensity. The first side collision warning is used to: remind the driver of this vehicle that the first risk vehicle has a first side collision risk level at a future time; The method further includes: Other vehicles whose side collision risk value at a future time is less than the first risk threshold and greater than the second risk threshold are identified as the second risk vehicles at the future time. The M warning units controlling this vehicle output a second side collision warning according to the second warning intensity. The second side collision warning is used to: remind the driver of this vehicle that the second risk vehicle has a second side collision risk level at a future time; M is less than N; the second warning intensity is less than the first warning intensity; the second side collision risk level is lower than the first side collision risk level.

[0069] In this embodiment, after identifying the first risk vehicle, multiple warning units of the vehicle can be controlled to output a first side collision warning based on the side collision risk level corresponding to the first risk vehicle. The first side collision warning corresponds to a higher risk level, and a larger number of warning units can be used to provide the warning, employing a higher warning intensity, so that the driver can promptly perceive the potentially higher side collision risk in the future. The warning unit may include devices in the vehicle used to provide visual, auditory, or other interactive prompts to the driver.

[0070] Specifically, when the lateral collision risk value of another vehicle at a future time exceeds a first risk threshold, that vehicle is identified as a first-risk vehicle, and N warning units are controlled to output a first lateral collision warning according to a first alert intensity. The first lateral collision warning is used to alert the driver that the first-risk vehicle corresponds to a first lateral collision risk level at a future time. In practical applications, because this risk level is high, the prominence of the warning information can be enhanced by increasing the number of units participating in the warning and increasing the alert intensity.

[0071] Furthermore, a second risk threshold lower than the first risk threshold can be set. When the side collision risk value of another vehicle at a future time is less than the first risk threshold but greater than the second risk threshold, that vehicle is identified as a second-risk vehicle. The side collision risk level corresponding to the second-risk vehicle is lower than that of the first-risk vehicle. Therefore, M warning units can be controlled to output a second side collision warning according to a second warning intensity, where M is less than N, and the second warning intensity is less than the first warning intensity. This allows the warning method to change with the risk level, using a stronger combined warning in higher-risk situations and a weaker warning method in relatively low-risk situations.

[0072] In this embodiment, a tiered warning mechanism can be formed by setting different numbers of warning units and warning intensities for different risk ranges. When the risk of side collision is high, the warning range and warning intensity are increased accordingly; when the risk of side collision is relatively low, a milder warning method is used, so that different risk levels correspond to different degrees of driving reminders.

[0073] In one embodiment, reference is made to... Figure 4 The diagram illustrating the risk area delineation shows that, within a future timeframe, the positions of each vehicle can be determined based on the first driving trajectory of vehicle A and the second driving trajectories of other surrounding vehicles, and the vehicle at the first risk can be identified according to its corresponding lateral collision risk value. For example... Figure 4 Among the vehicles, vehicle B has the highest side collision risk value, meaning it is the first-risk vehicle. Vehicle B has a high risk of side collision in the future. Therefore, by combining the future positions of the first-risk vehicle and vehicle A, a corresponding risk zone can be defined. Figure 4 The shaded area where vehicle B is located.

[0074] Furthermore, this risk area can be designated as the target display area that the rearview mirror needs to cover in the future, and the target angle of the rearview mirror can be determined based on the target display area. The rearview mirror can deflect in advance before the first risk vehicle reaches its future position, so that the risk area corresponding to the first risk vehicle enters the observation range of the rearview mirror.

[0075] In practical applications, when there are multiple other vehicles around the vehicle, the side collision risk value of each other vehicle can be calculated separately, and the corresponding risk area and target display area can be determined first for the vehicle with the highest side collision risk value.

[0076] Based on the same inventive concept, a second aspect of the embodiments of this application provides a vehicle control system for preventing side collisions, such as... Figure 5 As shown, the system includes: The prediction module 201 is used to predict a first driving trajectory of the vehicle in a future time period from the current time to a future time based on the vehicle's driving data at the current time, and to predict a second driving trajectory of other vehicles in the future time period based on the driving data of other vehicles around the vehicle at the current time. The first determining module 202 is used to determine the lateral collision risk value of other vehicles at the future time based on the first driving trajectory and the second driving trajectory. The second determining module 203 is used to determine other vehicles whose side collision risk value is greater than the first risk threshold at a future time as the first risk vehicle at a future time. The third determining module 204 is used to determine the target deflection angle that the rearview mirror of the vehicle needs to be adjusted in the future time period based on the future position of the first risk vehicle and the future position of the vehicle itself. The control module 205 is used to control the rearview mirror of the vehicle to deflect the target deflection angle within a future time period.

[0077] Optionally, based on the future position of the first risk vehicle and the future position of this vehicle, the target deflection angle that the rearview mirror of this vehicle needs to be adjusted in the future time period is determined. The third determining module 204 includes: The first determining submodule is used to determine the target display area of ​​the rearview mirror of the vehicle at a future time based on the future position of the first risk vehicle and the future position of the vehicle. The second determining submodule is used to determine the target angle of the vehicle's rearview mirror at a future time based on the target display area. The third determining submodule is used to determine the target deflection angle that the rearview mirror of this vehicle needs to be adjusted in the future time period based on the target angle of the rearview mirror at a future time and the current angle of the rearview mirror at the current time.

[0078] Optionally, the system further includes: The fourth determining submodule is used to determine the yaw rate based on the lateral collision risk value of the first risk vehicle at the future time. The larger the lateral collision risk value, the larger the yaw rate. The control module 205 controls the rearview mirrors of this vehicle to deflect the target deflection angle over a future time period. The control module includes: The first control submodule is used to control the rearview mirror of the vehicle to deflect the target deflection angle according to the deflection angular velocity in the future time period.

[0079] Optionally, based on the first driving trajectory and the second driving trajectory, the lateral collision risk value of other vehicles at the future time is determined, wherein the first determining module 202 includes: The fifth determining submodule is used to determine the distance between the other vehicles and the vehicle at the future time based on the positions of the other vehicles at the future time and the position of the vehicle at the future time; The sixth determining submodule is used to determine the distance factor of other vehicles at the future time based on the distance between other vehicles and the vehicle at the future time. The shorter the distance, the larger the distance factor. The seventh determination submodule is used to determine the game factor and / or collision time factor of other vehicles at the future time based on the first driving trajectory and the second driving trajectory. The eighth determination submodule is used to determine the lateral collision risk value of other vehicles at the future time based on at least one of the distance factor, collision time factor and game factor of other vehicles at the future time.

[0080] Optionally, based on the first driving trajectory and the second driving trajectory, the collision time factor of other vehicles at the future time is determined, and the seventh determining submodule includes: The detection subunit is used to detect whether there is an intersection between the first driving trajectory and the second driving trajectory; The first determining subunit is used to determine the future time corresponding to the intersection point as the collision time when other vehicles collide with this vehicle within the future time period, in the case where there is an intersection point between the first driving trajectory and the second driving trajectory. The second determining subunit is used to determine the collision time factor of other vehicles at the future time based on the duration between the current time and the collision time corresponding to other vehicles; the shorter the duration, the larger the collision time factor. The third determining subunit is used to determine the lateral collision risk value of other vehicles at the future time, at least based on the collision time factor of other vehicles at the future time.

[0081] Optionally, based on the first driving trajectory and the second driving trajectory, the game factors of other vehicles at the future time are determined, and the seventh determining submodule includes: The fourth determining subunit is used to determine, based on the first driving trajectory and the second driving trajectory, the number of times other vehicles will compete with this vehicle for the same lane during the future time period; The fifth determining subunit is used to determine the game factor of other vehicles at the future time based on the number of times other vehicles compete with this vehicle for the same lane in the future time period. The more times the competition occurs, the larger the game factor becomes.

[0082] Optionally, the system further includes: The second control submodule controls the N warning units of the vehicle to output a first side collision warning according to a first warning intensity. The first side collision warning is used to: remind the driver of the vehicle that the first risk vehicle has a first side collision risk level at a future time. The system also includes: The ninth determination submodule is used to determine other vehicles whose side collision risk value at a future time is less than the first risk threshold and greater than the second risk threshold as the second risk vehicle at a future time. The third control submodule is used to control the M warning units of this vehicle to output a second side collision warning according to the second warning intensity. The second side collision warning is used to: remind the driver of this vehicle that the second risk vehicle has a second side collision risk level at a future time. M is less than N; the second warning intensity is less than the first warning intensity; the second side collision risk level is lower than the first side collision risk level.

[0083] Based on the same inventive concept, a third aspect of the embodiments of this application provides a method as follows: Figure 6 The illustrated electronic device 100 includes a processor 120, a memory 110, and a program or instructions stored in the memory 110 and executable on the processor 120, wherein the program or instructions, when executed by the processor 120, implement the steps of the vehicle control method for preventing side collisions as described in the first aspect of this application.

[0084] Based on the same inventive concept, a fourth aspect of the present application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method for preventing side collisions as described in the first aspect of the present application.

[0085] Each embodiment in this specification focuses on the differences from other embodiments. For the same or similar parts between the embodiments, please refer to each other.

[0086] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0088] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0090] Although preferred embodiments of the present 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 the embodiments of the present application.

[0091] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0092] The above provides a detailed description of a vehicle control method, system, device, and medium for preventing side collisions. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle control method for preventing side collisions, characterized in that, The method includes: Based on the vehicle's driving data at the current moment, predict the vehicle's first driving trajectory in the future time period from the current moment to a future moment; and based on the driving data of other vehicles around the vehicle at the current moment, predict the second driving trajectory of the other vehicles in the future time period. Based on the first driving trajectory and the second driving trajectory, determine the lateral collision risk value of other vehicles at the future time. Other vehicles whose side collision risk value is greater than the first risk threshold at a future time are identified as the first risk vehicles at that future time. Based on the future positions of the first risk vehicle and the current vehicle, determine the target deflection angle that the rearview mirror of the current vehicle needs to be adjusted in the future time period. Control the rearview mirrors of this vehicle to deflect the target deflection angle over a future time period.

2. The method according to claim 1, characterized in that, Based on the future positions of the first risk vehicle and this vehicle, determine the target deflection angle that the rearview mirror of this vehicle needs to be adjusted for in the future time period, including: Based on the future position of the first risk vehicle and the future position of this vehicle, determine the target display area of ​​the rearview mirror of this vehicle in the future. Based on the target display area, determine the target angle of the vehicle's rearview mirror at a future moment; Based on the target angle of the vehicle's rearview mirror at a future time and the current angle of the vehicle's rearview mirror at the current time, determine the target deflection angle that the vehicle's rearview mirror needs to be adjusted for in the future time period.

3. The method according to claim 2, characterized in that, The method further includes: The yaw rate is determined based on the lateral collision risk value of the first risk vehicle at the future time; the larger the lateral collision risk value, the larger the yaw rate. Controlling the vehicle's rearview mirrors to deflect the target deflection angle over a future time period includes: Control the rearview mirror of this vehicle to deflect the target deflection angle according to the deflection angular velocity within a future time period.

4. The method according to claim 1, characterized in that, Based on the first driving trajectory and the second driving trajectory, determine the lateral collision risk value of other vehicles at the future time, including: Based on the future positions of the other vehicles and the future position of this vehicle, determine the distance between the other vehicles and this vehicle at the future time; Based on the distance between other vehicles and this vehicle at the future time, determine the distance factor of other vehicles at the future time; the shorter the distance, the larger the distance factor. Based on the first driving trajectory and the second driving trajectory, determine the game factor and / or collision time factor of other vehicles at the future time. The lateral collision risk value of other vehicles at the future time is determined based on at least one of the distance factor, collision time factor, and game factor of other vehicles at the future time.

5. The method according to claim 4, characterized in that, Based on the first driving trajectory and the second driving trajectory, determine the collision time factor of other vehicles at the future time, including: Detect whether there is an intersection between the first driving trajectory and the second driving trajectory; If there is an intersection between the first driving trajectory and the second driving trajectory, the future time corresponding to the intersection will be determined as the collision time when another vehicle collides with this vehicle within the future time period. Based on the duration between the current moment and the collision moments of other vehicles, the collision time factor of other vehicles at the future moment is determined; the shorter the duration, the larger the collision time factor. The lateral collision risk value of other vehicles at the future time is determined at least based on the collision time factor of other vehicles at the future time.

6. The method according to claim 4, characterized in that, Based on the first driving trajectory and the second driving trajectory, determine the game factors for other vehicles at the future time, including: Based on the first driving trajectory and the second driving trajectory, determine the number of times other vehicles will compete with this vehicle for the same lane during the future time period; The game factor of other vehicles at the future time is determined based on the number of times they compete with this vehicle for the same lane during the future time period. The more times they compete, the larger the game factor becomes.

7. The method according to any one of claims 1-6, characterized in that, After identifying other vehicles whose side collision risk value at a future time is greater than the first risk threshold as the first risk vehicles at that future time, the following is also included: The N warning units controlling this vehicle output a first side collision warning according to a first warning intensity. The first side collision warning is used to: remind the driver of this vehicle that the first risk vehicle has a first side collision risk level at a future time; The method further includes: Other vehicles whose side collision risk value at a future time is less than the first risk threshold and greater than the second risk threshold are identified as the second risk vehicles at the future time. The M warning units controlling this vehicle output a second side collision warning according to the second warning intensity. The second side collision warning is used to: remind the driver of this vehicle that the second risk vehicle has a second side collision risk level at a future time; M is less than N; the second warning intensity is less than the first warning intensity; the second side collision risk level is lower than the first side collision risk level.

8. A vehicle control system for preventing side collisions, characterized in that, The system includes: The prediction module is used to predict a first driving trajectory of the vehicle in a future time period from the current time to a future time based on the vehicle's driving data at the current time, and to predict a second driving trajectory of other vehicles in the future time period based on the driving data of other vehicles around the vehicle at the current time. The first determining module is used to determine the lateral collision risk value of other vehicles at the future time based on the first driving trajectory and the second driving trajectory. The second determining module is used to determine other vehicles whose side collision risk value is greater than the first risk threshold at a future time as the first risk vehicle at a future time. The third determining module is used to determine the target deflection angle that the rearview mirror of the vehicle needs to be adjusted in the future time period based on the future position of the first risk vehicle and the future position of the vehicle itself. The control module is used to control the rearview mirrors of this vehicle to deflect the target deflection angle within a future time period.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the vehicle control method for preventing side collisions as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the vehicle control method for preventing side collisions as described in any one of claims 1-7.

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