Vehicle Anti-collision method and apparatus, and electronic device

Abstract

A vehicle anti-collision method and apparatus, and an electronic device. The method comprises: determining a distance change amount on the basis of the difference between a transverse distance of a first vehicle at a target moment and a transverse distance of the first vehicle at the current moment; determining a longitudinal traveling time on the basis of a second traveling speed of the first vehicle at the current moment, a longitudinal distance, and a first traveling speed; and when the distance change amount is equal to a first threshold and the longitudinal traveling time is less than a time threshold, generating an avoidance trajectory on the basis of a reserved safety distance, a center distance between the center of the first vehicle and the center of a lane where a target vehicle is located, a vehicle body length of the target vehicle, and a transverse acceleration of the first vehicle at the current moment.

Description

Vehicle collision prevention method, device and electronic equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on June 14, 2023, with application number 202310706689.9 and application name “A vehicle anti-collision method, device and electronic device”, and claims priority to the Chinese patent application filed with the China Patent Office on June 14, 2023, with application number 202310707746.5 and application name “A deceleration calculation method, device and electronic device”, the entire contents of which are incorporated by reference into the application. Technical Field

[0003] The present disclosure relates to the field of intelligent assisted driving technology, and in particular to a vehicle collision avoidance method, device, and electronic equipment. Background Art

[0004] Currently, vehicles often change lanes without using their turn signals, or even change lanes even when conditions are not met. In these situations, a driver's inattention or improper operation can easily lead to a collision. Autonomous driving also faces these challenges. Therefore, how to automatically avoid collisions with lane-changing vehicles without driver intervention and improve driving safety has become a pressing issue.

[0005] Summary of the Invention

[0006] In order to solve the above technical problems, the present disclosure provides a vehicle collision avoidance method, device and electronic device.

[0007] To achieve the above objectives, the present disclosure adopts the following technical solutions:

[0008] In a first aspect, the present disclosure provides a vehicle collision avoidance method, which is applied to a first vehicle, comprising: obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; determining a distance change based on the difference between the lateral distance of the first vehicle at the target moment and the lateral distance at the current moment; determining a longitudinal driving time based on the second driving speed, the longitudinal distance and the first driving speed of the first vehicle at the current moment; when the distance change is equal to a first threshold and the longitudinal driving time is less than a time threshold, generating an avoidance trajectory based on a reserved safety distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, the body length of the target vehicle and the lateral acceleration of the first vehicle at the current moment; and controlling the first vehicle to travel according to the avoidance trajectory.

[0009] In some feasible examples, the longitudinal travel time is determined based on the second driving speed, longitudinal distance and first driving speed of the first vehicle at the current moment, including: determining the relative speed between the first vehicle and the target vehicle based on the absolute value of the difference between the second driving speed and the first driving speed of the first vehicle at the current moment; and determining the longitudinal travel time as a ratio based on the ratio of the longitudinal distance and the relative speed.

[0010] In some feasible examples, when the distance change is equal to a first threshold and the longitudinal driving time is less than a time threshold, an avoidance trajectory is generated based on a reserved safety distance, a center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment, including: when the distance change is equal to the first threshold and the longitudinal driving time is less than the time threshold, an avoidance distance is obtained based on the reserved safety distance and the body length of the target vehicle; an avoidance trajectory is generated based on the avoidance distance, a center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment.

[0011] In some feasible examples, generating an avoidance trajectory based on the avoidance distance, the center distance between the center of the first vehicle and the center of the lane currently occupied by the target vehicle, and the lateral acceleration of the first vehicle at a current moment includes: establishing a rectangular coordinate system with the center of the first vehicle; substituting the avoidance distance, the center distance between the center of the first vehicle and the center of the lane currently occupied by the target vehicle, and the lateral acceleration of the first vehicle at a current moment into a trajectory formula to generate the avoidance trajectory; wherein the trajectory formula includes:

[0012] Where y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω is the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0013] In some feasible examples, controlling the first vehicle to travel along the avoidance trajectory includes: controlling the first vehicle to travel along the avoidance trajectory when no other vehicles except the target vehicle exist in the target area.

[0014] In some feasible examples, the vehicle collision avoidance method provided by the present disclosure further includes: controlling the first vehicle to decelerate when the distance change is equal to a second threshold; wherein the first threshold is less than the second threshold.

[0015] In some feasible examples, the vehicle collision avoidance method provided by the present disclosure also includes: generating warning information when the distance change is equal to a second threshold; wherein the warning information is used to instruct the user to pay attention to the distance from the target vehicle, and the first threshold is less than the second threshold.

[0016] In a second aspect, the present disclosure provides a deceleration calculation method, which is applied to a first vehicle including a distance measuring device, and includes: obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at the current moment, and a lateral distance in a preset direction between the target vehicle and the distance measuring device at the current moment; wherein the rear end of the target vehicle is in front of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; determining a distance change based on the lateral distance at the target moment and the lateral distance at the current moment; when the distance change is less than or equal to a change rate threshold, generating an expected deceleration at the current moment based on a reserved safety distance, a brake response time, a body length of the target vehicle, a first distance between the front end and the rear end of the target vehicle at the previous moment, a second driving speed at the previous moment, a third driving speed at the current moment, the first driving speed, a fourth driving speed of the target vehicle at the previous moment, and an expected deceleration of the target vehicle at the previous moment; and controlling the brake to decelerate according to the expected deceleration at the current moment.

[0017] In some feasible examples, the deceleration calculation method provided by the present disclosure further includes: generating a warning message when the distance change is less than or equal to the target distance; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

[0018] In some feasible examples, when the lateral distance is less than or equal to the target distance, the expected deceleration at the current moment is generated based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment, including: determining the actual driving distance of the target vehicle based on the first driving speed, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment; determining the distance required for braking response based on the second driving speed at the previous moment and the brake response time; determining the avoidance distance based on the reserved safety distance and the body length of the target vehicle; generating the expected deceleration at the current moment based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the distance required for braking response, and the avoidance distance.

[0019] In some feasible examples, based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the distance required for braking response, and the avoidance distance, generating the expected deceleration at the current moment includes: substituting the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the distance required for braking response, and the avoidance distance into a deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes:

[0020] Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q Indicates the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y It represents the distance required for braking response, D0 represents the avoidance distance, D0=L+S0, L represents the body length of the target vehicle, and S0 represents the reserved safety distance of the first vehicle.

[0021] In some practical examples, S0=0.06|v z0 |.

[0022] In some possible implementations, the distance measuring device includes a lidar.

[0023] In a third aspect, the present disclosure provides a vehicle collision avoidance device, which is applied to a first vehicle, comprising: an acquisition unit, for acquiring a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; a processing unit, for processing a vehicle based on the difference between the lateral distance of the first vehicle at the target moment and the lateral distance at the current moment acquired by the acquisition unit value, determine the distance change; the processing unit is further used to determine the longitudinal driving time based on the second driving speed of the first vehicle at the current moment, the longitudinal distance obtained by the acquisition unit, and the first driving speed obtained by the acquisition unit; the processing unit is further used to generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane currently located by the target vehicle, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment when the distance change obtained by the acquisition unit is equal to the first threshold and the longitudinal driving time is less than the time threshold; the processing unit is further used to control the first vehicle to travel according to the avoidance trajectory.

[0024] In some feasible examples, the processing unit is further configured to control the first vehicle to decelerate when the distance change is equal to a second threshold; wherein the first threshold is smaller than the second threshold.

[0025] In some feasible examples, the processing unit is further configured to generate a warning message when the distance change is equal to a second threshold; wherein the warning message is configured to instruct the user to pay attention to the distance from the target vehicle.

[0026] In some feasible examples, the processing unit is specifically used to determine the relative speed between the first vehicle and the target vehicle based on the absolute value of the difference between the second driving speed of the first vehicle at the current moment and the first driving speed obtained by the acquisition unit; the processing unit is specifically used to determine the longitudinal driving time as a ratio based on the ratio of the longitudinal distance obtained by the acquisition unit and the relative speed.

[0027] In some feasible examples, the processing unit is specifically used to obtain a risk avoidance distance based on a reserved safety distance and the body length of the target vehicle when the distance change is equal to a first threshold and the longitudinal driving time is less than a time threshold; the processing unit is specifically used to generate an avoidance trajectory based on the risk avoidance distance, the center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment.

[0028] In some feasible examples, the processing unit is specifically configured to establish a rectangular coordinate system with the center of the first vehicle; the processing unit is specifically configured to substitute the avoidance distance, the center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment into a trajectory formula to generate an avoidance trajectory; wherein the trajectory formula includes:

[0029] Where y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω is the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0030] In some feasible examples, the processing unit is specifically configured to control the first vehicle to travel according to the avoidance trajectory when no other vehicles except the target vehicle exist in the target area.

[0031] In a fourth aspect, the present disclosure provides a deceleration calculation device, which is applied to a first vehicle including a distance measuring device, including: an acquisition unit, for acquiring a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance between the target vehicle and the distance measuring device and the target vehicle in a preset direction measured at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; a processing unit, for determining a distance change based on the lateral distance at the target moment and the lateral distance at the current moment acquired by the acquisition unit; the processing unit is also used to generate an expected deceleration at the current moment based on a reserved safety distance, a brake response time, a body length of the target vehicle, a first distance between the front end and the rear end of the target vehicle at the previous moment, a second driving speed at the previous moment, a third driving speed at the current moment, the first driving speed acquired by the acquisition unit, a fourth driving speed of the target vehicle at the previous moment, and an expected deceleration of the target vehicle at the previous moment when the distance change is less than or equal to a change rate threshold; the processing unit is also used to control the brake to decelerate according to the expected deceleration at the current moment;

[0032] In some feasible examples, the processing unit is further used to generate a warning message when the distance change is less than or equal to the target distance; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

[0033] In some feasible examples, the processing unit is specifically used to determine the actual driving distance of the target vehicle based on the first driving speed acquired by the acquisition unit, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment; the processing unit is specifically used to determine the required distance for braking response based on the second driving speed and brake response time at the previous moment; the processing unit is specifically used to determine the avoidance distance based on the reserved safety distance and the body length of the target vehicle; the processing unit is specifically used to generate the expected deceleration at the current moment based on the first distance from the front of the vehicle to the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for braking response, and the avoidance distance.

[0034] In some feasible examples, the processing unit is specifically configured to substitute the first distance between the front of the vehicle and the rear of the target vehicle at a previous moment, the second driving speed, the actual driving distance, the required distance for braking response, and the avoidance distance into a deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes:

[0035] Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q Indicates the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y represents the distance required for braking response, D0 represents the avoidance distance, D0=L+S0, L represents the body length of the target vehicle, S0 represents the reserved safety distance of the first vehicle. In some feasible examples, S0=0.06|v z0 |.

[0036] In some possible implementations, the distance measuring device includes a lidar.

[0037] In a fifth aspect, the present disclosure provides an electronic device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to enable the electronic device to implement the vehicle collision avoidance method provided in the first aspect or the deceleration calculation method provided in the second aspect when executing the computer program.

[0038] In a sixth aspect, the present disclosure provides a computer-readable storage medium, comprising: a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a computing device, the computing device implements the vehicle collision avoidance method provided in the first aspect above or the deceleration calculation method provided in the second aspect above.

[0039] In a seventh aspect, the present disclosure provides a vehicle comprising any one of the vehicle collision avoidance devices provided in the third aspect or any one of the deceleration calculation devices provided in the fourth aspect.

[0040] In this disclosure, the names of the aforementioned devices do not limit the devices or functional modules themselves. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those disclosed in this disclosure, they are within the scope of the claims of this disclosure and their equivalents.

[0041] These and other aspects of the present disclosure will become more apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] FIG1 is a flow chart of a vehicle collision avoidance method according to an embodiment of the present disclosure;

[0045] FIG2 is a schematic diagram of a scene of a first vehicle and a target vehicle in a vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0046] FIG3 is a second flow chart of the vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0047] FIG4 is a third flow chart of the vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0048] FIG5 is a fourth flow chart of the vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0049] FIG6 is a fifth flow chart of the vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0050] FIG7 is a sixth flow chart of the vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0051] FIG8 is a seventh flow chart of the vehicle collision avoidance method provided by an embodiment of the present disclosure;

[0052] FIG9 is a flowchart of a method for calculating deceleration according to an embodiment of the present disclosure;

[0053] FIG10 is a schematic diagram of a scenario of a first vehicle and a target vehicle in a deceleration calculation method provided by an embodiment of the present disclosure;

[0054] FIG11 is a second flow chart of a deceleration calculation method provided by an embodiment of the present disclosure;

[0055] FIG12 is a third flow chart of the deceleration calculation method provided in an embodiment of the present disclosure;

[0056] FIG13 is a fourth flow chart of a deceleration calculation method according to an embodiment of the present disclosure;

[0057] FIG14 is a schematic structural diagram of a vehicle anti-collision device provided in an embodiment of the present disclosure;

[0058] FIG15 is a schematic structural diagram of a deceleration calculation device provided by an embodiment of the present disclosure;

[0059] FIG16 is a schematic structural diagram of a vehicle-mounted terminal provided in an embodiment of the present disclosure;

[0060] FIG17 is a schematic diagram of the structure of a computer program product provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0061] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some of the embodiments of the present disclosure, not all of the embodiments.

[0062] 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 entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0063] The vehicle anti-collision device in the embodiments of the present application is executed by the vehicle anti-collision device. The vehicle anti-collision device can be installed in a server or other device, and this embodiment is not limited to this. For example, if the vehicle anti-collision device is installed in a car, the execution entity of the vehicle anti-collision device provided in the embodiments of the present disclosure is the car's processor.

[0064] For example, the vehicle collision avoidance method provided by the embodiment of the present disclosure is introduced by taking the execution subject of the vehicle collision avoidance method provided by the embodiment of the present disclosure as an example, where the execution subject is a car.

[0065] As shown in FIG1 , the vehicle collision avoidance method provided by the embodiment of the present disclosure includes the following steps S11-S15:

[0066] S11. Obtain a first current speed of a target vehicle in an adjacent lane in the same direction as the lane occupied by the first vehicle, as well as a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment. The rear end of the target vehicle is ahead of the front end of the first vehicle in the direction of travel. The first direction is the left or right direction of the vehicle, and the second direction is the front direction of the vehicle.

[0067] In some examples, the first direction is perpendicular to the direction of travel, and the second direction is parallel to the direction of travel.

[0068] In some examples, to prevent vehicles in adjacent lanes traveling in the same direction from changing lanes illegally, or drivers of vehicles in adjacent lanes traveling in the same direction from changing lanes without checking their rearview mirrors, or drivers of vehicles in adjacent lanes traveling in the same direction from changing lanes without using their turn signals, which prevent the first vehicle from making timely avoidance maneuvers, the vehicle collision avoidance method provided in the disclosed embodiments obtains a first speed of a target vehicle in an adjacent lane traveling in the same direction as the first vehicle's lane, as well as the lateral distance in the first direction and the longitudinal distance in the second direction, respectively, between the first vehicle and the target vehicle at the current moment.

[0069] Exemplarily, a schematic diagram of the scene of the first vehicle a and the target vehicle b is shown in FIG2 , where the right side of the lane where the first vehicle is located is an adjacent lane in the same direction. The driving directions of the first vehicle a and the target vehicle b are shown as dotted lines in FIG2 , d1 represents the longitudinal distance in the second direction, d2 represents the lateral distance in the first direction, and d3 represents the center distance (a0 represents the center point of the first vehicle a, and b0 represents the center point of the target vehicle b). The longitudinal distance is equal to the distance between the rear end of the target vehicle and the front end of the first vehicle, and the lateral distance is equal to the distance between the right side of the first vehicle in the forward direction (the forward direction of the driving direction) and the left side of the target vehicle; in addition, if the left side of the lane where the first vehicle is located is an adjacent lane in the same direction, and there is a target vehicle in the adjacent lane in the same direction, then the lateral distance is equal to the distance between the left side of the first vehicle and the right side of the target vehicle in the forward direction.

[0070] S12. Determine a distance change based on a difference between the lateral distance at the target moment and the lateral distance at the current moment.

[0071] The target time is the time when the lateral distance between the first vehicle and the target vehicle in the first direction is first acquired.

[0072] In some examples, the first vehicle obtains the first driving speed of the target vehicle in the adjacent lane in the same direction at the current moment through the detection device, as well as the lateral distance in the first direction and the longitudinal distance in the second direction between the first vehicle and the target vehicle at the current moment.

[0073] In addition, historical data can be used to obtain the first driving speed of the target vehicle in the adjacent lane in the same direction as the lane where the first vehicle is located at the target time (such as the time before the current time when the first vehicle first obtains the lateral distance between the first vehicle and the target vehicle in the first direction), as well as the lateral distance in the first direction and the longitudinal distance in the second direction between the first vehicle and the target vehicle at the target time.

[0074] Since the lateral distance at the target moment and the lateral distance at the current moment are both determined, the difference between the lateral distance at the target moment and the lateral distance at the current moment can be obtained, and then the difference is used as the distance change.

[0075] In some examples, the target vehicles in the same-direction adjacent lanes as the first vehicle's lane may change during driving, resulting in different target times corresponding to different target vehicles. For example, if the first vehicle identifies vehicle 1 as the target vehicle at time 1, it will calculate the lateral distance to vehicle 1 at that time, and use that time as the target time for vehicle 1. Alternatively, if the first vehicle identifies vehicle 2 as the target vehicle at time 2, it will calculate the lateral distance to vehicle 2 at that time, and use that time as the target time for vehicle 2.

[0076] S13. Determine a longitudinal travel time based on the second travel speed, the longitudinal distance, and the first travel speed of the first vehicle at the current moment.

[0077] In some examples, the second driving speed is the current driving speed of the first vehicle. The first vehicle determines the relative speed between the first vehicle and the target vehicle based on the second driving speed and the first driving speed. For example, the absolute value of the difference between the first and second driving speeds is calculated and used as the relative speed between the first vehicle and the target vehicle. The longitudinal travel time is then calculated by calculating the ratio of the longitudinal distance to the relative speed.

[0078] In some examples, the first vehicle's memory pre-stores a correspondence between the second driving speed, longitudinal distance, and first driving speed, and the theoretical driving time. When determining the longitudinal driving time, the first vehicle can query the correspondence for the theoretical driving time corresponding to the second driving speed, longitudinal distance, and first driving speed. The theoretical driving time is then used as the longitudinal driving time.

[0079] It should be noted that there is no order relationship between step S12 and step S13 during the execution process, and they can be executed simultaneously. The execution order of step S12 and step S13 is not limited here.

[0080] S14. When the distance change is equal to the first threshold and the longitudinal driving time is less than the time threshold, an avoidance trajectory is generated based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane currently located by the target vehicle, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment.

[0081] In some embodiments, the reserved safety distance includes a minimum braking distance of the first vehicle. Exemplarily, the reserved safety distance is equal to the product of the third driving speed of the first vehicle at the target time and a coefficient a. Preferably, a is equal to 0.06.

[0082] In some examples, in order to prevent the target vehicle from colliding with the first vehicle, the vehicle collision avoidance method provided by the embodiments of the present disclosure is that the first vehicle will continuously monitor the distance change. When the distance change gradually increases to a second threshold value (which is a preset value, such as 0.4m), it indicates that the distance between the first vehicle and the target vehicle is relatively close, so the first vehicle needs to decelerate (such as the first vehicle decelerates according to a pre-configured deceleration), and / or the first vehicle generates a warning message to remind the user to pay attention to the distance from the target vehicle. Exemplarily, the warning message can provide a warning reminder in a preset manner, which includes one or more of sound, display, and seat vibration.

[0083] Afterwards, the first vehicle continues to monitor the distance change. If the distance change continues to increase to a first threshold value (which is a preset value, such as -0.3m), it means that the distance between the target vehicle and the first vehicle is very close. In order to prevent the first vehicle from rear-ending the target vehicle, the first vehicle continues to judge the longitudinal driving time. If the longitudinal driving time is less than the time threshold (such as 1.1s), it means that the following distance between the first vehicle and the target vehicle is relatively close. Therefore, it is necessary to generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane currently located by the target vehicle, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment.

[0084] Alternatively, when the longitudinal travel time is greater than or equal to a time threshold (eg, 1.1 s), it indicates that the following distance between the first vehicle and the target vehicle is relatively far, and the first vehicle does not need to avoid the target vehicle.

[0085] In some examples, when generating an avoidance trajectory based on a reserved safety distance, the center-to-center distance between the first vehicle's center and the center of the target vehicle's current lane, the target vehicle's body length, and the first vehicle's current lateral acceleration, the first vehicle first establishes a rectangular coordinate system with the first vehicle's center as the center. The avoidance distance, the center-to-center distance between the first vehicle's center and the center of the target vehicle's current lane, and the first vehicle's current lateral acceleration are then substituted into the trajectory formula to generate the avoidance trajectory.

[0086] Among them, the trajectory formula includes:

[0087] Where y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω is the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0088] In this way, all coordinate points in the rectangular coordinate system that satisfy the trajectory formula can be obtained. After that, the coordinate points are discretized to obtain the discretized coordinate points. Then, based on the discretized coordinate points, the avoidance trajectory is generated.

[0089] Because the avoidance trajectory includes discrete coordinate points, the first vehicle can travel in segments. For example, the avoidance trajectory includes three discrete coordinate points: coordinate point 1, coordinate point 2, and coordinate point 3. When the first vehicle follows the avoidance trajectory, it moves from the coordinate origin to coordinate point 1. Then, with coordinate point 1 as the coordinate origin, it moves from the coordinate origin to coordinate point 2. Then, with coordinate point 2 as the coordinate origin, it moves from the coordinate origin to coordinate point 3. In this way, the first vehicle completes the process of following the avoidance trajectory.

[0090] In some examples, the slope k can be a preset value; it can also be obtained using a preset relationship. For example, when calculating the slope k, the slope relationship table can be queried based on the absolute value of the difference between the speed of the target vehicle at the current moment and the speed of the first vehicle at the current moment to obtain the corresponding slope.

[0091] For example, the slope relationship table is shown in Table 1.

[0092] Table 1

[0093] For example, if the target vehicle's current speed is 50 km / h and the first vehicle's current speed is 60 km / h, then |50 km / h - 60 km / h| = 10 km / h. Afterwards, by querying Table 1, we can see that 10 km / h falls within the speed interval [0, 10 km / h], so the slope k is equal to 0.2.

[0094] In some examples, the lateral offset distance is equal to the product of the vehicle width of the first vehicle and a coefficient b, where b is a constant greater than 0. For example, b can be or

[0095] S15. Control the first vehicle to travel according to the avoidance trajectory.

[0096] In some examples, while the first vehicle is traveling along the trajectory, it may also need to determine whether there are other vehicles nearby to avoid collisions with vehicles other than the target vehicle. For example, the first vehicle may determine whether there are other vehicles other than the target vehicle within the target area. If no other vehicles are within the target area, the first vehicle may be controlled to travel along the avoidance trajectory.

[0097] If there are other vehicles in the target area, the first vehicle is controlled to decelerate. The system continues to obtain the first speed of the target vehicle in the adjacent lane in the same direction, as well as the lateral and longitudinal distances between the first and second directions at the current moment. Until there are no more vehicles in the target area, the first vehicle is controlled to follow the avoidance trajectory generated at the time when no more vehicles exist.

[0098] In some examples, the first vehicle can determine whether there are other vehicles besides the target vehicle in the target area by using an environmental image of an adjacent lane in the same direction captured by an image capture device (such as a camera) provided on the body of the first vehicle. For example, the first vehicle separates the background and foreground of the environmental image to obtain a foreground image and a background image. Thereafter, image recognition is performed on the foreground image to obtain the vehicle contained in the foreground image. Thereafter, by removing the target vehicle from the vehicles contained in the foreground image, if the foreground image still contains a vehicle, it is determined that there are other vehicles besides the target vehicle in the target area. By removing the target vehicle from the vehicles contained in the foreground image, if the foreground image does not contain a vehicle, it is determined that there are no other vehicles besides the target vehicle in the target area.

[0099] In some examples, in order to avoid the first vehicle from colliding with other vehicles while driving along the avoidance trajectory. In the vehicle avoidance method provided by the embodiment of the present disclosure, the first vehicle can perform laser detection on the surroundings of the first vehicle by means of a detection device (such as a laser radar) provided on the body of the first vehicle, thereby determining whether there are other vehicles in the target area except the target vehicle. For example: the first vehicle determines the position of the vehicle around the body based on the laser reflection result. Afterwards, the first vehicle determines whether there are other vehicles in the target area except the target vehicle based on the position of the vehicle around the body. For example: when there is only the position corresponding to the target vehicle around the vehicle, it means that there are no other vehicles in the target area except the target vehicle. Alternatively, when there are positions around the vehicle except the position corresponding to the target vehicle, it means that there are other vehicles in the target area except the target vehicle.

[0100] In some examples, the target area includes an area corresponding to a circle drawn with a preset radius (eg, the body length of the first vehicle) starting from the center of the first vehicle.

[0101] Alternatively, the target area includes the area corresponding to the left side of the first vehicle (the left side of the driving direction), the area corresponding to the right side of the first vehicle (the right side of the driving direction), and the area corresponding to the rear of the first vehicle (the opposite direction of the driving direction).

[0102] In some examples, the laser radar includes a vehicle-mounted N-line laser radar, where N is an integer greater than 0. For example, N=128.

[0103] As can be seen from the foregoing, in the vehicle collision avoidance method provided by the disclosed embodiments, a first vehicle analyzes the current first speed of a target vehicle in an adjacent lane traveling in the same direction, as well as its lateral distance in the first direction and longitudinal distance in the second direction, thereby obtaining a distance change and a longitudinal travel time. Subsequently, the method determines whether the distance change is equal to a first threshold and whether the longitudinal travel time is less than a time threshold, thereby determining whether there is a risk of collision between the first vehicle and the target vehicle. For example, if the distance change is equal to the first threshold and the longitudinal travel time is less than the time threshold, it indicates that the target vehicle is close to the first vehicle and the risk of collision between the first vehicle and the target vehicle is high. In this case, the first vehicle can generate an avoidance trajectory based on a reserved safety distance, the center-to-center distance between the center of the first vehicle and the center of the target vehicle's current lane, the target vehicle's body length, and the first vehicle's current lateral acceleration. The first vehicle is then controlled to travel according to the avoidance trajectory, thereby automatically avoiding a collision with a lane-changing vehicle without driver intervention.

[0104] In some feasible examples, in combination with FIG1 , as shown in FIG3 , the vehicle collision avoidance method provided by the embodiment of the present disclosure further includes S16 .

[0105] S16: When the distance change is equal to a second threshold, control the first vehicle to decelerate, where the first threshold is smaller than the second threshold.

[0106] In some examples, a target relationship between the second driving speed and the deceleration is stored in a memory of the first vehicle. When the first vehicle needs to decelerate, the deceleration corresponding to the current second driving speed can be searched in the target relationship and decelerated based on the deceleration.

[0107] In some examples, controlling the first vehicle to decelerate may specifically include: generating a desired deceleration of the first vehicle at the current moment based on a reserved safety distance, a brake response time, the length of the target vehicle, the distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, the speed of the first vehicle at the previous moment, the second speed of the first vehicle at the current moment, the first speed of the target vehicle at the current moment, the speed of the target vehicle at the previous moment, and the desired deceleration of the target vehicle at the previous moment; and then controlling the brake to decelerate according to the desired deceleration at the current moment. For the specific process, see the corresponding descriptions in S23 to S24 of the deceleration calculation method shown in Figure 9. In this way, the desired deceleration that meets the current driving conditions can be obtained, and then an appropriate deceleration can be determined to perform vehicle collision avoidance control. In this way, a collision with a lane-changing vehicle (such as the target vehicle) can be automatically avoided without the need for driver operation, solving the problem of how to automatically avoid a collision with a lane-changing vehicle without the need for driver operation.

[0108] In some feasible examples, in combination with FIG1 , as shown in FIG4 , the vehicle collision avoidance method provided by the embodiment of the present disclosure further includes S17 .

[0109] S17: When the distance change is equal to the second threshold, generate a warning message, wherein the warning message is used to instruct the user to pay attention to the distance to the target vehicle, and the first threshold is less than the second threshold.

[0110] In some feasible examples, as shown in FIG5 in combination with FIG1 , the above S13 can be specifically implemented through the following S130 and S131 .

[0111] S130: Determine a relative speed between the first vehicle and the target vehicle based on an absolute value of a difference between the second driving speed and the first driving speed of the first vehicle at a current moment.

[0112] S131. Determine the longitudinal travel time as a ratio based on the ratio of the longitudinal distance and the relative speed.

[0113] In some feasible examples, as shown in FIG6 in combination with FIG1 , the above S14 can be specifically implemented through the following S140 and S141 .

[0114] S140: When the distance change is equal to the first threshold and the longitudinal travel time is less than the time threshold, obtain a risk avoidance distance based on the reserved safety distance and the body length of the target vehicle.

[0115] In some examples, the avoidance distance D0 is equal to the sum of the reserved safety distance S0 of the first vehicle and the body length L of the target vehicle.

[0116] For example, the body length of the target vehicle can be detected by a detection device.

[0117] S141: Generate an avoidance trajectory based on the avoidance distance, the center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment.

[0118] In some feasible examples, as shown in FIG7 in combination with FIG6 , the above S141 can be specifically implemented through the following S1410 and S1411 .

[0119] S1410. Establish a rectangular coordinate system with the center of the first vehicle.

[0120] S1411: Substitute the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment into the trajectory formula to generate an avoidance trajectory. The trajectory formula includes:

[0121] Where y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω is the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0122] In some feasible examples, as shown in FIG8 in combination with FIG1 , the above S15 can be specifically implemented through the following S150.

[0123] S150: When there are no other vehicles except the target vehicle in the target area, control the first vehicle to travel according to the avoidance trajectory.

[0124] The above mainly introduces the solution provided by the embodiment of the present disclosure from the perspective of method. In order to realize the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0125] The embodiments of the present disclosure can divide the functional modules of the vehicle anti-collision device according to the above-mentioned method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0126] Furthermore, the deceleration calculation method in the embodiments of the present application is executed by a deceleration calculation device. This deceleration calculation device may be installed in a server or other device, and this embodiment is not limited thereto. For example, if the deceleration calculation device is installed in a vehicle, the deceleration calculation method provided in the embodiments of the present disclosure may be executed by the vehicle's processor.

[0127] Exemplarily, the deceleration calculation method provided by the embodiment of the present disclosure is introduced by taking an automobile as an example in which the execution subject of the deceleration calculation method provided by the embodiment of the present disclosure is a car.

[0128] As shown in FIG9 , the deceleration calculation method provided by the embodiment of the present disclosure includes the following steps S21 to S24:

[0129] S21. Obtain a first current speed of a target vehicle in an adjacent lane in the same direction as the lane in which the first vehicle is located, and a lateral distance between the target vehicle and the target vehicle in a preset direction measured by a distance measuring device at the current moment. The rear end of the target vehicle is ahead of the front end of the first vehicle in the direction of travel, and the preset direction is the left or right direction of the vehicle.

[0130] In some examples, the predetermined direction is perpendicular to the direction of travel.

[0131] In some examples, the first vehicle obtains the first driving speed of the target vehicle in the adjacent lane in the same direction at the current moment and the lateral distance between the first vehicle and the target vehicle in the preset direction at the current moment through a detection device (such as a lidar).

[0132] In some examples, the laser radar includes a vehicle-mounted N-line laser radar, where N is an integer greater than 0. For example, N=128.

[0133] For example, a schematic diagram of a scene of a first vehicle a and a target vehicle b is shown in FIG10 , where the right side of the lane where the first vehicle is located is an adjacent lane in the same direction. The driving directions of the first vehicle a and the target vehicle b are shown by the dotted lines in FIG10 , and d1 represents the lateral distance in the preset direction. The lateral distance is equal to the distance between the right side of the first vehicle and the left side of the target vehicle in the direction directly in front of the first vehicle (direction directly in front of the driving direction); in addition, if the left side of the lane where the first vehicle is located is an adjacent lane in the same direction, and there is a target vehicle in the adjacent lane in the same direction, then the lateral distance is equal to the distance between the left side of the first vehicle and the right side of the target vehicle in the direction directly in front of the first vehicle.

[0134] S22. Determine a distance change based on the lateral distance at the target moment and the lateral distance at the current moment.

[0135] In some examples, the distance change is obtained based on the difference between the lateral distance at the target moment and the lateral distance at the current moment.

[0136] Furthermore, historical data can be used to determine the lateral distance in a preset direction between the target vehicle and a target vehicle in an adjacent lane in the same direction as the first vehicle's lane at a target time (e.g., the time at which the lateral distance to the target vehicle is first determined). Since both the lateral distance at the target time and the current time are already known, the difference between the lateral distances at the target time and the current time can be determined, and this difference can be used as the distance change.

[0137] In some examples, the target vehicles in the same-direction adjacent lanes as the first vehicle's lane may change during driving, resulting in different target times corresponding to different target vehicles. For example, if the first vehicle identifies vehicle 1 as the target vehicle at time 1, it will calculate the lateral distance to vehicle 1 at that time, and use that time as the target time for vehicle 1. Alternatively, if the first vehicle identifies vehicle 2 as the target vehicle at time 2, it will calculate the lateral distance to vehicle 2 at that time, and use that time as the target time for vehicle 2.

[0138] S23. When the distance change is less than or equal to the change rate threshold, the expected deceleration at the current moment is generated based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment.

[0139] In some examples, the previous moment and the current moment are adjacent moments, such as: moment 1 is 17:06:00 on June 5, 2023, moment 2 is 17:07:00 on June 5, 2023, and moment 3 is 17:08:00 on June 5, 2023. If the current moment is moment 2, the previous moment is moment 1; if the current moment is moment 3, the previous moment is moment 2.

[0140] In some examples, the target moment is from the moment when the first vehicle first obtains the first driving speed of the target vehicle and the lateral distance between the first vehicle and the target vehicle in the preset direction measured by the distance measuring device at the current moment during the period when the first vehicle determines any vehicle as the target vehicle to the moment other than the current moment, such as: at 17:06:00 on June 5, 2023, the first vehicle first obtains the first driving speed of the target vehicle and the lateral distance between the first vehicle and the target vehicle in the preset direction measured by the distance measuring device at the current moment, and then during the period from 17:06:00 on June 5, 2023 to 17:09:00 on June 5, 2023 (including moment 1: 17:06:00 on June 5, 2023, moment 2: 17:07:00 on June 5, 2023, moment 3: 17:08:00 on June 5, 2023 and moment 4: 17:09:00 on June 5, 2023), the first vehicle determines vehicle 1 as the target vehicle. If the current moment is moment 2, the target moment can be moment 1. If the current moment is moment 3, the target moment can be any one of moment 1 and moment 2. If the current moment is moment 4, the target moment can be any one of moment 1, moment 2, and moment 3. In some embodiments, the reserved safety distance includes the minimum braking distance of the first vehicle. Exemplarily, the reserved safety distance is equal to the product of the third driving speed of the first vehicle at the previous moment and the coefficient a. Preferably, a is equal to 0.06.

[0141] In some examples, in order to prevent the target vehicle from colliding with the first vehicle, the vehicle collision avoidance method provided by the embodiment of the present disclosure is that the first vehicle will continue to monitor the distance change. When the distance change gradually increases to a change rate threshold (such as 0.4m), it means that the distance between the first vehicle and the target vehicle is relatively close, so the first vehicle needs to slow down (such as the first vehicle based on the reserved safety distance, brake response time, body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the last moment, the second driving speed at the last moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the last moment, and the expected deceleration of the target vehicle at the last moment, and decelerates according to the expected deceleration), and / or the first vehicle generates an early warning message to remind the user to pay attention to the distance from the target vehicle. Exemplarily, the early warning message can give an early warning reminder in a preset manner, and the preset manner includes one or more of sound, display, and seat vibration.

[0142] In some examples, a vehicle can determine the actual distance traveled by a target vehicle based on a first driving speed, a fourth driving speed of the target vehicle at a previous moment, and the target vehicle's desired deceleration at the previous moment. Subsequently, a required braking response distance is determined based on the second driving speed and brake response time at the previous moment. A safe distance is then determined based on the reserved safety distance and the target vehicle's length. The desired deceleration at the current moment is then generated based on the first distance from the front of the vehicle to the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required braking response distance, and the safe distance. For example, the first distance from the front of the vehicle to the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required braking response distance, and the safe distance at the previous moment are substituted into a deceleration formula to obtain the desired deceleration at the current moment. Alternatively, the first distance from the front of the vehicle to the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required braking response distance, and the safe distance at the previous moment are input into a deceleration model to obtain the desired deceleration at the current moment.

[0143] The training process of the deceleration model is as follows:

[0144] Obtain training sample data and labeled results for the training sample data. The training sample data includes historical driving data, including the first distance between the front of the vehicle and the rear of the target vehicle, the second driving speed, the actual driving distance, the required braking response distance, and the avoidance distance at each moment. The labeled results include the expected deceleration corresponding to each moment. Input the training sample data into a neural network model for learning, and obtain the neural network model's prediction results for the training sample data. Based on the prediction results and the labeled results, adjust the network parameters of the neural network model until the neural network model converges, thereby obtaining a deceleration model.

[0145] In some examples, after the vehicle has obtained a desired deceleration, when the user applies the brakes, the vehicle decelerates according to the desired deceleration. Alternatively, when the vehicle is in Adaptive Cruise Control (ACC), the vehicle applies the brakes according to the desired deceleration to avoid a collision with a target vehicle.

[0146] In some examples, to prevent a collision with a target vehicle while the first vehicle is decelerating according to a desired deceleration rate, the deceleration calculation method provided in embodiments of the present disclosure requires the first vehicle to determine a longitudinal travel time based on the first vehicle's current second speed, longitudinal distance, and first speed. The method then determines whether to generate an avoidance trajectory by determining the relationship between the change in distance and a first threshold, as well as the relationship between the longitudinal travel time and the time threshold. After generating the avoidance trajectory, the vehicle then drives according to the generated avoidance trajectory. For example, when the distance change is equal to a first threshold (e.g., -0.3 m) and the longitudinal travel time is less than a time threshold (e.g., 1.1 s), it indicates that the distance between the target vehicle and the first vehicle is very close. To prevent the first vehicle from rear-ending the target vehicle, the first vehicle continues to determine the longitudinal travel time. If the longitudinal travel time is less than the time threshold (e.g., 1.1 s), it indicates that the following distance between the first vehicle and the target vehicle is relatively close. Therefore, an avoidance trajectory needs to be generated based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the target vehicle's current lane, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment.

[0147] Alternatively, when the longitudinal travel time is greater than or equal to a time threshold (eg, 1.1 s), it indicates that the following distance between the first vehicle and the target vehicle is relatively far, and the first vehicle does not need to avoid the target vehicle.

[0148] In some examples, when the first vehicle generates an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the target vehicle's current lane, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment, it is first necessary to establish a rectangular coordinate system with the center of the first vehicle. Afterwards, the avoidance distance, the center distance between the center of the first vehicle and the center of the target vehicle's current lane, and the lateral acceleration of the first vehicle at the current moment are substituted into the trajectory formula to generate the avoidance trajectory. The trajectory formula includes:

[0149] Where y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω is the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a lrepresents the lateral acceleration, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0150] In this way, all coordinate points in the rectangular coordinate system that satisfy the trajectory formula can be obtained. After that, the coordinate points are discretized to obtain the discretized coordinate points. Then, based on the discretized coordinate points, the avoidance trajectory is generated.

[0151] Afterwards, the first vehicle drives according to the avoidance trajectory. Since the avoidance trajectory contains discrete coordinate points, the first vehicle can drive in segments. For example, the avoidance trajectory contains three discrete coordinate points, namely coordinate point 1, coordinate point 2, and coordinate point 3. When the first vehicle drives according to the avoidance trajectory, the first vehicle moves from the coordinate origin to coordinate point 1. Afterwards, the first vehicle uses coordinate point 1 as the coordinate origin and moves from the coordinate origin to coordinate point 2. Afterwards, the first vehicle uses coordinate point 2 as the coordinate origin and moves from the coordinate origin to coordinate point 3. In this way, the first vehicle completes the process of driving according to the avoidance trajectory. In this way, it is possible to automatically avoid collisions with vehicles changing lanes without the need for driver operation.

[0152] In some examples, the second driving speed is the current driving speed of the first vehicle. The first vehicle determines the relative speed between the first vehicle and the target vehicle based on the second driving speed and the first driving speed. For example, the absolute value of the difference between the first and second driving speeds is calculated and used as the relative speed between the first vehicle and the target vehicle. The longitudinal travel time is then calculated by calculating the ratio of the longitudinal distance to the relative speed.

[0153] In some examples, the first vehicle's memory pre-stores a correspondence between the second driving speed, longitudinal distance, and first driving speed, and the theoretical driving time. When determining the longitudinal driving time, the first vehicle can query the correspondence for the theoretical driving time corresponding to the second driving speed, longitudinal distance, and first driving speed. The theoretical driving time is then used as the longitudinal driving time.

[0154] S24: Control the brake to decelerate according to the desired deceleration at the current moment.

[0155] As can be seen from the foregoing, the deceleration calculation method provided by the disclosed embodiment is that the first vehicle obtains the current first speed of a target vehicle in an adjacent lane in the same direction, and the lateral distance between the first vehicle and the target vehicle in a preset direction measured by a distance measurement device at the current moment, thereby determining a distance change based on the lateral distance at the previous moment and the current moment. Subsequently, the first vehicle determines whether the distance change is less than or equal to a rate of change threshold to determine whether there is a risk of collision between the first vehicle and the target vehicle. For example, if the distance change is less than or equal to the rate of change threshold, it indicates that the target vehicle is close to the first vehicle and the risk of collision between the first vehicle and the target vehicle is high. In this case, the first vehicle can generate an expected deceleration at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front and rear of the target vehicle at the previous moment, the second speed at the previous moment, the third speed at the current moment, the first speed, the fourth speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment.

[0156] In some feasible examples, in combination with FIG9 , as shown in FIG11 , the deceleration calculation method provided by the embodiment of the present disclosure further includes: S25 .

[0157] S25: If the distance change is less than or equal to the target distance, generate a warning message, wherein the warning message is used to instruct the user to pay attention to the distance to the target vehicle.

[0158] In some feasible examples, as shown in FIG12 in combination with FIG9 , the above S23 can be specifically implemented through the following S230 - S233 .

[0159] S230: Determine an actual driving distance of the target vehicle based on the first driving speed, a fourth driving speed of the target vehicle at a previous moment, and an expected deceleration of the target vehicle at a previous moment.

[0160] S231: Determine a distance required for a braking response based on the second driving speed and the brake response time at the last moment.

[0161] S232: Determine a safe distance based on the reserved safety distance and the length of the target vehicle.

[0162] S233: Generate an expected deceleration at the current moment based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the distance required for braking response, and the avoidance distance.

[0163] In some feasible examples, as shown in FIG13 in combination with FIG12 , the above S233 can be specifically implemented through the following S2330 .

[0164] S2330: Substitute the first distance between the front of the vehicle and the rear of the target vehicle, the second driving speed, the actual driving distance, the required braking response distance, and the avoidance distance at the previous moment into the deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes:

[0165] Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q Indicates the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y It represents the distance required for braking response, D0 represents the avoidance distance, D0=L+S0, L represents the body length of the target vehicle, and S0 represents the reserved safety distance of the first vehicle.

[0166] In some examples, when the first vehicle determines that the distance change is less than or equal to the change rate threshold, the first vehicle may determine the target vehicle's expected deceleration at the previous moment based on the target vehicle's first driving speed at the current moment and the target vehicle's fourth driving speed at the previous moment. For example, the expected deceleration satisfies the following formula:

[0167] Wherein, Δt represents the time difference between the current moment and the previous moment. In some feasible examples, S0=0.06|v z0 |.

[0168] In some possible implementations, the distance measuring device includes a lidar.

[0169] The above mainly introduces the solution provided by the embodiment of the present disclosure from the perspective of method. In order to realize the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0170] The embodiments of the present disclosure can divide the deceleration calculation device into functional modules according to the above-mentioned method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0171] FIG14 is a schematic structural diagram of a vehicle anti-collision device 10 provided by an embodiment of the present disclosure, which includes an acquisition unit 101 and a processing unit 102 .

[0172] The acquisition unit 101 is used to obtain the first driving speed of the target vehicle in the adjacent lane in the same direction as the lane where the first vehicle is located at the current moment, and the lateral distance in the first direction and the longitudinal distance in the second direction between the first vehicle and the target vehicle at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; the processing unit 102 is used to determine the distance change based on the difference between the lateral distance of the first vehicle at the target moment and the lateral distance at the current moment obtained by the acquisition unit 101; the processing unit 102 is also used The processing unit 102 is further configured to determine the longitudinal driving time based on the second driving speed of the first vehicle at the current moment, the longitudinal distance obtained by the acquisition unit 101, and the first driving speed obtained by the acquisition unit 101; the processing unit 102 is further configured to generate an avoidance trajectory based on the reserved safety distance, the center distance between the center of the first vehicle and the center of the lane currently located by the target vehicle, the body length of the target vehicle, and the lateral acceleration of the first vehicle at the current moment when the distance change obtained by the acquisition unit 101 is equal to the first threshold and the longitudinal driving time is less than the time threshold; the processing unit 102 is further configured to control the first vehicle to travel according to the avoidance trajectory.

[0173] In some feasible examples, the processing unit 102 is further configured to control the first vehicle to decelerate when the distance change is equal to a second threshold; wherein the first threshold is smaller than the second threshold.

[0174] In some feasible examples, the processing unit 102 is further used to generate an expected deceleration of the first vehicle at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, the driving speed of the first vehicle at the previous moment, the second driving speed of the first vehicle at the current moment, the first driving speed of the target vehicle at the current moment, the driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment; and then control the brake to decelerate according to the expected deceleration at the current moment.

[0175] In some feasible examples, the processing unit 102 is further configured to generate a warning message when the distance change is equal to a second threshold; wherein the warning message is configured to instruct the user to pay attention to the distance from the target vehicle.

[0176] In some feasible examples, the processing unit 102 is specifically used to determine the relative speed between the first vehicle and the target vehicle based on the absolute value of the difference between the second driving speed of the first vehicle at the current moment and the first driving speed obtained by the acquisition unit 101; the processing unit 102 is specifically used to determine the longitudinal driving time as a ratio based on the ratio of the longitudinal distance and the relative speed obtained by the acquisition unit 101.

[0177] In some feasible examples, the processing unit 102 is specifically used to obtain a risk avoidance distance based on a reserved safety distance and the body length of the target vehicle when the distance change is equal to a first threshold and the longitudinal driving time is less than a time threshold; the processing unit 102 is specifically used to generate an avoidance trajectory based on the risk avoidance distance, the center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment.

[0178] In some feasible examples, the processing unit 102 is specifically configured to establish a rectangular coordinate system with the center of the first vehicle; the processing unit 102 is specifically configured to substitute the avoidance distance, the center distance between the center of the first vehicle and the center of the lane in which the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment into a trajectory formula to generate an avoidance trajectory; wherein the trajectory formula includes:

[0179] Where y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω is the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

[0180] In some feasible examples, the processing unit 102 is specifically configured to control the first vehicle to travel according to the avoidance trajectory when there are no other vehicles except the target vehicle in the target area.

[0181] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and its role will not be repeated here.

[0182] Of course, the vehicle anti-collision device 10 provided in the embodiment of the present disclosure includes but is not limited to the above modules. For example, the vehicle anti-collision device 10 may further include a storage unit 103. The storage unit 103 may be used to store the program code of the vehicle anti-collision device 10, and may also be used to store data generated during the operation of the vehicle anti-collision device 10, such as data in a write request.

[0183] FIG15 is a schematic diagram showing the structure of a deceleration calculation device 20 provided by an embodiment of the present disclosure, which includes an acquisition unit 201 and a processing unit 202 .

[0184] The acquisition unit 201 is used to obtain the first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at the current moment, and the lateral distance between the target vehicle and the target vehicle in a preset direction measured by the distance measuring device at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; the processing unit 202 is used to determine the distance change based on the lateral distance at the target moment and the lateral distance at the current moment obtained by the acquisition unit 201; the processing unit 202 is also used to generate an expected deceleration at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front end and the rear end of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed obtained by the acquisition unit 201, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment when the distance change is less than or equal to the change rate threshold; the processing unit 202 is also used to control the brake to decelerate according to the expected deceleration at the current moment;

[0185] In some feasible examples, the processing unit 202 is further configured to generate a warning message when the distance change is less than or equal to the target distance; wherein the warning message is configured to instruct the user to pay attention to the distance from the target vehicle.

[0186] In some feasible examples, the processing unit 202 is specifically used to determine the actual driving distance of the target vehicle based on the first driving speed obtained by the acquisition unit 201, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment; the processing unit 202 is specifically used to determine the required distance for braking response based on the second driving speed and brake response time at the previous moment; the processing unit 202 is specifically used to determine the avoidance distance based on the reserved safety distance and the body length of the target vehicle; the processing unit 202 is specifically used to generate the expected deceleration at the current moment based on the first distance from the front of the vehicle to the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for braking response, and the avoidance distance.

[0187] In some feasible examples, the processing unit 202 is specifically configured to substitute the first distance between the front of the vehicle and the rear of the target vehicle at a previous moment, the second driving speed, the actual driving distance, the required braking response distance, and the avoidance distance into a deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes:

[0188] Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the previous moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q Indicates the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, v z0 t y It represents the distance required for braking response, D0 represents the avoidance distance, D0=L+S0, L represents the body length of the target vehicle, and S0 represents the reserved safety distance of the first vehicle.

[0189] In some practical examples, S0=0.06|v z0 |.

[0190] In some possible implementations, the distance measuring device includes a lidar.

[0191] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and its role will not be repeated here.

[0192] Of course, the deceleration calculation device 20 provided in the embodiment of the present disclosure includes but is not limited to the above modules. For example, the deceleration calculation device 20 may further include a storage unit 203. The storage unit 203 may be used to store the program code of the deceleration calculation device 20, and may also be used to store data generated by the deceleration calculation device 20 during operation, such as data in a write request.

[0193] FIG16 is a schematic structural diagram of a vehicle-mounted terminal provided in an embodiment of the present disclosure. As shown in FIG16 , the vehicle-mounted terminal may include: at least one processor 51 , a memory 52 , a communication interface 53 and a communication bus 54 .

[0194] The following is a detailed introduction to the various components of the vehicle terminal in conjunction with Figure 16:

[0195] The processor 51 is the control center of the electronic device 10 and can be a single processor or a collective term for multiple processing elements. For example, the processor 51 is a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure, such as one or more DSPs or one or more field programmable gate arrays (FPGAs).

[0196] In a specific implementation, as an embodiment, the processor 51 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG16 . Also, as an embodiment, the electronic device may include multiple processors, such as the processor 51 and the processor 55 shown in FIG16 . Each of these processors may be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0197] The memory 52 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 52 may exist independently and be connected to the processor 51 via a communication bus 54. The memory 52 may also be integrated with the processor 51.

[0198] In a specific implementation, the memory 52 is used to store the data disclosed herein and execute the software programs disclosed herein. The processor 51 can execute various functions of the air conditioner by running or executing the software programs stored in the memory 52 and calling the data stored in the memory 52.

[0199] The communication interface 53 uses any transceiver or other device for communicating with other devices or communication networks, such as a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), a terminal, or the cloud. The communication interface 53 may include an acquisition unit to implement the acquisition function.

[0200] The communication bus 54 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0201] For ease of illustration, FIG16 shows only one thick line, but this does not mean that there is only one bus or only one type of bus. As an example, with reference to FIG14 , the acquisition unit 101 in the vehicle collision avoidance device 10 performs the same function as the communication interface 53 in FIG16 , the processing unit 102 in the vehicle collision avoidance device 10 performs the same function as the processor 51 in FIG16 , and the storage unit 103 in the vehicle collision avoidance device 10 performs the same function as the memory 52 in FIG16 .

[0202] As an example, in combination with Figure 15, the function implemented by the acquisition unit 201 in the deceleration calculation device 20 is the same as the function of the communication interface 53 in Figure 16, the function implemented by the processing unit 202 in the deceleration calculation device 20 is the same as the function of the processor 51 in Figure 16, and the function implemented by the storage unit 203 in the deceleration calculation device 20 is the same as the function of the memory 52 in Figure 16.

[0203] Another embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computing device, the computing device executes the vehicle collision avoidance method shown in the above method embodiment.

[0204] In some embodiments, the disclosed methods may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or on other non-transitory media or articles of manufacture.

[0205] FIG17 schematically shows a conceptual partial view of a computer program product provided by an embodiment of the present disclosure, wherein the computer program product includes a computer program for executing a computer process on a computing device.

[0206] In one embodiment, a computer program product is provided using a signal-bearing medium 410. The signal-bearing medium 410 may include one or more program instructions that, when executed by one or more processors, may provide the functionality or portions of the functionality described above with respect to FIG. 1 . Thus, for example, with reference to the embodiment shown in FIG. 1 , one or more features of S11-S15 may be borne by one or more instructions associated with the signal-bearing medium 410. In addition, the program instructions in FIG. 16 also describe example instructions. For another example, with reference to the embodiment shown in FIG. 9 , one or more features of S21-S24 may be borne by one or more instructions associated with the signal-bearing medium 410. In addition, the program instructions in FIG. 16 also describe example instructions.

[0207] In some examples, the signal-bearing medium 410 may include a computer-readable medium 411, such as, but not limited to, a hard drive, a compact disk (CD), a digital video disk (DVD), a digital tape, a memory, a read-only memory (ROM), or a random access memory (RAM), etc. In some embodiments, the signal-bearing medium 410 may include a computer-recordable medium 412, such as, but not limited to, a memory, a read / write (R / W) CD, a R / W DVD, etc.

[0208] In some embodiments, signal-bearing medium 410 may include communication medium 413, such as, but not limited to, digital and / or analog communication media (e.g., fiber optic cables, waveguides, wired communication links, wireless communication links, etc.). Signal-bearing medium 410 may be communicated via a wireless form of communication medium 413 (e.g., a wireless communication medium compliant with the IEEE 802.41 standard or other transmission protocols). The one or more program instructions may be, for example, computing device executable instructions or logic implementing instructions.

[0209] In some examples, such as for the vehicle collision avoidance device 10 or the deceleration calculation device 20 , it can be configured to provide various operations, functions, or actions in response to one or more program instructions in the computer-readable medium 411 , the computer-recordable medium 412 , and / or the communication medium 413 .

[0210] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0211] In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0212] The units described as separate components may or may not be physically separated, and the components displayed as units may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software functional units.

[0213] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk.

[0214] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle collision avoidance method, characterized in that: Applied to a first vehicle, comprising: Obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance in a first direction and a longitudinal distance in a second direction between the first vehicle and the target vehicle at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; Determine the distance change based on the difference between the lateral distance of the first vehicle at the target time and the lateral distance at the current time; determine the longitudinal travel time based on the second travel speed of the first vehicle at the current time, the longitudinal distance and the first travel speed; When the distance change is equal to a first threshold and the longitudinal travel time is less than a time threshold, generating an avoidance trajectory based on a reserved safety distance, a center distance between a center of the first vehicle and a center of a lane in which the target vehicle is currently located, a body length of the target vehicle, and a lateral acceleration of the first vehicle at the current moment; controlling the first vehicle to travel according to the avoidance trajectory; The target time is the time when the lateral distance between the first vehicle and the target vehicle in the first direction is first acquired.

2. The vehicle collision avoidance method according to claim 1, characterized in that: The determining of the longitudinal travel time based on the second travel speed of the first vehicle at the current moment, the longitudinal distance and the first travel speed comprises: determining a relative speed between the first vehicle and the target vehicle based on an absolute value of a difference between a second driving speed of the first vehicle at the current moment and the first driving speed; Based on a ratio of the longitudinal distance and the relative speed, a longitudinal travel time is determined as the ratio.

3. The vehicle collision avoidance method according to claim 1, characterized in that: The method generates an avoidance trajectory based on a reserved safety distance, a center distance between a center of the first vehicle and a center of a lane where the target vehicle is currently located, a body length of the target vehicle, and a lateral acceleration of the first vehicle at the current moment when the distance change is equal to a first threshold and the longitudinal travel time is less than a time threshold, including: When the distance change is equal to the first threshold value and the longitudinal travel time is less than the time threshold value, a danger avoidance distance is obtained based on the reserved safety distance and the body length of the target vehicle; An avoidance trajectory is generated based on the avoidance distance, a center distance between a center of the first vehicle and a center of a lane in which the target vehicle is currently located, and a lateral acceleration of the first vehicle at the current moment.

4. The vehicle collision avoidance method according to claim 3, characterized in that: The generating an avoidance trajectory based on the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment includes: Establishing a rectangular coordinate system with the center of the first vehicle; Substitute the avoidance distance, the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and the lateral acceleration of the first vehicle at the current moment into a trajectory formula to generate an avoidance trajectory; wherein the trajectory formula includes: Wherein, y represents the ordinate of the first vehicle in the rectangular coordinate system, x represents the abscissa of the first vehicle in the rectangular coordinate system, ω represents the center distance between the center of the first vehicle and the center of the lane where the target vehicle is currently located, and a l represents the lateral acceleration of the first vehicle at the current moment, D0 represents the avoidance distance, k represents the slope of the avoidance trajectory, and μ represents the lateral offset distance.

5. The vehicle collision avoidance method according to claim 1, characterized in that: The controlling the first vehicle to travel according to the avoidance trajectory includes: When there is no other vehicle except the target vehicle in the target area, the first vehicle is controlled to travel according to the avoidance trajectory.

6. The vehicle collision avoidance method according to claim 1, characterized in that: The method further comprises: When the distance change is equal to a second threshold, the first vehicle is controlled to decelerate; wherein the first threshold is smaller than the second threshold.

7. The vehicle collision avoidance method according to claim 6, characterized in that: The controlling the first vehicle to decelerate comprises: Generate an expected deceleration of the first vehicle at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the distance between the front of the vehicle and the rear of the target vehicle at the last moment, the driving speed of the first vehicle at the last moment, the second driving speed, the first driving speed, the driving speed of the target vehicle at the last moment, and the expected deceleration of the target vehicle at the last moment; The brake is controlled to decelerate according to the desired deceleration at the current moment.

8. The vehicle collision avoidance method according to claim 1, characterized in that: The method further comprises: When the distance change is equal to a second threshold, a warning message is generated; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle, and the first threshold is less than the second threshold.

9. A deceleration calculation method, characterized in that: The invention is applied to a first vehicle including a distance measuring device, comprising: Obtaining a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance between the target vehicle and the target vehicle in a preset direction measured by the distance measuring device at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; Determining a distance change based on the lateral distance at the target moment and the lateral distance at the current moment; In the case where the distance change is less than or equal to the change rate threshold, based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the last moment, the second driving speed at the last moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the last moment, and the expected deceleration of the target vehicle at the last moment, the expected deceleration of the target vehicle at the last moment is generated; The brake is controlled to decelerate according to the desired deceleration at the current moment.

10. The deceleration calculation method according to claim 9, characterized in that: The method further comprises: When the distance change is less than or equal to the target distance, a warning message is generated; wherein the warning message is used to instruct the user to pay attention to the distance from the target vehicle.

11. The deceleration calculation method according to claim 9, characterized in that: In the case where the lateral distance is less than or equal to the target distance, based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the last moment, the second driving speed at the last moment, the third driving speed at the current moment, the first driving speed, the fourth driving speed of the target vehicle at the last moment, and the expected deceleration of the target vehicle at the last moment, the expected deceleration of the target vehicle at the last moment is generated, including: Determining an actual travel distance of the target vehicle based on the first travel speed, a fourth travel speed of the target vehicle at the last moment, and an expected deceleration of the target vehicle at the last moment; Determine a required distance for brake response based on the second driving speed and brake response time at the last moment; Determining a safe distance based on a reserved safe distance and a body length of the target vehicle; Based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the braking response required distance and the avoidance distance, the expected deceleration at the current moment is generated.

12. The deceleration calculation method according to claim 11, characterized in that: The generating the expected deceleration at the current moment based on the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for the braking response and the avoidance distance comprises: Substitute the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed, the actual driving distance, the required distance for the braking response and the avoidance distance into the deceleration formula to obtain the expected deceleration at the current moment; wherein the deceleration formula includes: Among them, a m represents the expected deceleration at the current moment, v z0 represents the second driving speed, D1 represents the first distance between the front of the first vehicle and the rear of the target vehicle at the last moment, and v q0 represents the first driving speed of the target vehicle at the current moment, v q represents the fourth driving speed of the target vehicle at the previous moment, a q0 represents the expected deceleration of the target vehicle at the previous moment, represents the actual driving distance of the target vehicle, t y represents the brake response time of the first vehicle, c z0 t y represents the distance required for braking response, D0 represents the avoidance distance, D0=L+S0, L represents the body length of the target vehicle, and S0 represents the reserved safety distance of the first vehicle.

13. The deceleration calculation method according to claim 12, characterized in that: S0=0.06|c z0 |。 14. The deceleration calculation method according to any one of claims 9 to 13, characterized in that: The distance measuring device includes a laser radar.

15. A vehicle anti-collision device, characterized in that: Applied to a first vehicle, comprising: an acquisition unit, configured to acquire a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a first speed of the first vehicle and the target vehicle in a first direction at the current moment; The lateral distance and the longitudinal distance in the second direction; wherein the rear end of the target vehicle is in front of the travel direction of the front end of the first vehicle, the first direction is the left direction or the right direction of the vehicle, and the second direction is the front direction of the vehicle; a processing unit, configured to determine a distance change amount based on a difference between a lateral distance of the first vehicle at a target time and the lateral distance at the current time acquired by the acquisition unit; The processing unit is further configured to determine a longitudinal travel time based on a second travel speed of the first vehicle at the current moment, the longitudinal distance obtained by the obtaining unit, and the first travel speed obtained by the obtaining unit; The processing unit is further configured to generate an avoidance trajectory based on a reserved safety distance, a center distance between a center of the first vehicle and a center of a lane in which the target vehicle is currently located, a body length of the target vehicle, and a lateral acceleration of the first vehicle at the current moment, when the distance change amount obtained by the obtaining unit is equal to a first threshold value and the longitudinal travel time is less than a time threshold value; The processing unit is further used to control the first vehicle to travel according to the avoidance trajectory.

16. A deceleration calculation device, characterized in that: The invention is applied to a first vehicle including a distance measuring device, comprising: an acquisition unit, configured to acquire a first driving speed of a target vehicle in an adjacent lane in the same direction as the lane where the first vehicle is located at a current moment, and a lateral distance between the target vehicle and the target vehicle in a preset direction measured by the distance measuring device at the current moment; wherein the rear end of the target vehicle is ahead of the driving direction of the front end of the first vehicle, and the preset direction is the left direction or the right direction of the vehicle; a processing unit, configured to determine a distance change amount based on the lateral distance at the target moment and the lateral distance at the current moment acquired by the acquisition unit; The processing unit is also used to generate an expected deceleration at the current moment based on the reserved safety distance, the brake response time, the body length of the target vehicle, the first distance between the front of the vehicle and the rear of the target vehicle at the previous moment, the second driving speed at the previous moment, the third driving speed at the current moment, the first driving speed acquired by the acquisition unit, the fourth driving speed of the target vehicle at the previous moment, and the expected deceleration of the target vehicle at the previous moment, when the distance change is less than or equal to the change rate threshold.

17. An electronic device, characterized in that: include: A memory and a processor, wherein the memory is used to store a computer program; and the processor is used to enable the electronic device to implement the vehicle collision avoidance method described in any one of claims 1 to 8 or the deceleration calculation method described in any one of claims 9 to 14 when executing the computer program.

18. A computer-readable storage medium, characterized in that: include: The computer-readable storage medium stores a computer program, and when the computer program is executed by a computing device, the computing device implements the vehicle collision avoidance method described in any one of claims 1 to 8 or the deceleration calculation method described in any one of claims 9 to 14.

19. A vehicle, comprising the vehicle collision avoidance device according to claim 15 or the deceleration calculation device according to claim 16.

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