[go: up one dir, main page]

CN107128303A - Vehicle collision avoidance method, device, storage medium, equipment, system and vehicle - Google Patents

Vehicle collision avoidance method, device, storage medium, equipment, system and vehicle Download PDF

Info

Publication number
CN107128303A
CN107128303A CN201710415066.0A CN201710415066A CN107128303A CN 107128303 A CN107128303 A CN 107128303A CN 201710415066 A CN201710415066 A CN 201710415066A CN 107128303 A CN107128303 A CN 107128303A
Authority
CN
China
Prior art keywords
vehicle
msub
mrow
information
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710415066.0A
Other languages
Chinese (zh)
Inventor
冯秋维
陈新
陈效华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAIC Motor Co Ltd
Beijing Automotive Research Institute Co Ltd
Original Assignee
BAIC Motor Co Ltd
Beijing Automotive Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BAIC Motor Co Ltd, Beijing Automotive Research Institute Co Ltd filed Critical BAIC Motor Co Ltd
Priority to CN201710415066.0A priority Critical patent/CN107128303A/en
Publication of CN107128303A publication Critical patent/CN107128303A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

This disclosure relates to a kind of vehicle collision avoidance method, device, storage medium, equipment, system and vehicle.This method includes：Obtain the positional information and information of vehicles of the first vehicle, and positional information and information of vehicles with the nearby vehicle of first vehicle proximity；According to the positional information and information of vehicles of first vehicle, and the positional information and information of vehicles of the nearby vehicle, determine the front vehicles of first vehicle, and potential threat vehicle is filtered out from the front vehicles, wherein, during the potential threat vehicle is the front vehicles, the probability that collides with first vehicle be more than the vehicle of predetermined threshold value；When the fore-and-aft distance between first vehicle and the potential threat vehicle is less than or equal to the braking distance of first vehicle, first vehicle is controlled to perform brake operation.Thus, it is possible to the risk that effectively reduction vehicle collides, so as to reach the purpose for reducing casualties and property loss.

Description

Vehicle anti-collision method, device, storage medium, equipment, system and vehicle
Technical Field
The disclosure relates to the field of intelligent transportation, in particular to a vehicle anti-collision method, a device, a storage medium, equipment, a system and a vehicle.
Background
In traffic accidents, some accidents are caused by the collision with surrounding vehicles due to factors such as misjudgment of the distance between the vehicles by a driver, inaccurate judgment, inattentive attention, blocked sight line and the like.
At this stage, the technical solution for preventing vehicle collision mainly detects surrounding vehicles and other obstacles through sensor devices (e.g., radar, camera, infrared night vision device, etc.) to determine whether the host vehicle is at risk of collision. However, the sensing range of the sensor is limited, and the sensor is easily influenced by road surface shielding, weather and the like, so that the sensing accuracy and the sensing range cannot be guaranteed, and the anti-collision of the vehicle cannot be guaranteed. In addition, a danger reminding identifier or a voice prompting device can be arranged on the road side, and particularly, an alarming device is installed on the road side of a section with multiple accidents, such as: signboard, pronunciation broadcaster etc. to report an emergency and remind the vehicle that will get into the section of the accident frequently, thereby reduce the risk of vehicle collision. This approach is a passive solution, which still does not reduce the risk of collision if the driver is inattentive or blinded resulting in no visibility of the roadside hazard reminder markings or no audible prompts.
Disclosure of Invention
The disclosure aims to provide a vehicle anti-collision method, a vehicle anti-collision device, a storage medium, a device, a system and a vehicle, aiming at the problem that the vehicle collision cannot be effectively prevented in the prior art.
In order to achieve the above object, the present disclosure provides a vehicle collision avoidance method, the method including:
acquiring position information and vehicle information of a first vehicle, and position information and vehicle information of a nearby vehicle adjacent to the first vehicle;
determining front vehicles of the first vehicle according to the position information and the vehicle information of the first vehicle and the position information and the vehicle information of the surrounding vehicles, and screening out potential threat vehicles from the front vehicles, wherein the potential threat vehicles are vehicles which are in the front vehicles and have collision probability with the first vehicle larger than a preset threshold value;
controlling the first vehicle to perform a braking operation when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than or equal to a braking distance of the first vehicle.
Optionally, before the step of controlling the first vehicle to perform a braking operation, the method further comprises:
determining a minimum safe distance between the first vehicle and the potentially threatening vehicle according to the vehicle information of the potentially threatening vehicle and the vehicle information of the first vehicle;
calculating a braking distance of the first vehicle when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than the minimum safe distance, wherein the braking distance is less than the minimum safe distance.
Optionally, the vehicle information includes a vehicle speed;
the determining a minimum safe distance between the first vehicle and the potentially threatening vehicle according to the vehicle information of the potentially threatening vehicle and the vehicle information of the first vehicle comprises:
determining a minimum safe distance between the first vehicle and the potentially threatening vehicle by:
wherein D issRepresenting a minimum safe distance between the first vehicle and the potentially threatening vehicle; vhRepresenting a vehicle speed of the first vehicle; vrA vehicle speed indicative of the potentially threatening vehicle; t represents the reaction time of the driver; t is t1Indicating a brake coordination time; t is t2Representing the first vehicle deceleration increase time; a issA deceleration representing a first vehicle braking safety; d0Representing a safe distance of the first vehicle from the potentially threatening vehicle when stationary.
Optionally, the calculating the braking distance of the first vehicle includes:
calculating a braking distance of the first vehicle by the following formula:
wherein D isbrRepresenting the braking distance; vhRepresenting a vehicle speed of the first vehicle; t represents the reaction time of the driver; t is t1Indicating a brake coordination time; a issRepresents a deceleration of the first vehicle braking safety.
Optionally, the method further comprises:
and when the longitudinal distance between the first vehicle and the potential threat vehicle is smaller than the minimum safe distance and larger than the braking distance, sending first warning information, wherein the first warning information is used for reminding a driver of keeping a safe distance from the potential threat vehicle.
Optionally, the method further comprises:
and when the first vehicle is controlled to execute the braking operation, sending second warning information, wherein the second warning information is used for informing a driver that the first vehicle is automatically braking.
The present disclosure also provides a vehicle collision prevention device, the device comprising:
the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring the position information and the vehicle information of a first vehicle and the position information and the vehicle information of a surrounding vehicle adjacent to the first vehicle;
the screening module is used for determining front vehicles of the first vehicle according to the position information and the vehicle information of the first vehicle and the position information and the vehicle information of the surrounding vehicles, which are acquired by the acquisition module, and screening potential threat vehicles from the front vehicles, wherein the potential threat vehicles are vehicles in the front vehicles, and the probability of collision with the first vehicle is greater than a preset threshold value;
a control module to control the first vehicle to perform a braking operation when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than or equal to a braking distance of the first vehicle.
Optionally, the apparatus further comprises:
a determining module, configured to determine a minimum safe distance between the first vehicle and the potentially threatening vehicle according to the vehicle information of the potentially threatening vehicle and the vehicle information of the first vehicle before the control module controls the first vehicle to perform a braking operation;
a calculating module, configured to calculate a braking distance of the first vehicle when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than the minimum safe distance determined by the determining module, wherein the braking distance is less than the minimum safe distance.
Optionally, the vehicle information includes a vehicle speed;
the determination module is to determine a minimum safe distance between the first vehicle and the potentially threatening vehicle by:
wherein D issRepresenting a minimum safe distance between the first vehicle and the potentially threatening vehicle; vhRepresenting a vehicle speed of the first vehicle; vrA vehicle speed indicative of the potentially threatening vehicle; t represents the reaction time of the driver; t is t1Indicating a brake coordination time; t is t2Representing the first vehicle deceleration increase time; a issA deceleration representing a first vehicle braking safety; d0Representing a safe distance of the first vehicle from the potentially threatening vehicle when stationary.
Optionally, the calculating module is configured to calculate the braking distance of the first vehicle by the following formula:
wherein D isbrRepresenting the braking distance; vhRepresenting a vehicle speed of the first vehicle; t represents the reaction time of the driver; t is t1Indicating a brake coordination time; a issRepresents a deceleration of the first vehicle braking safety.
Optionally, the apparatus further comprises:
the first sending module is used for sending first warning information when the longitudinal distance between the first vehicle and the potential threat vehicle is smaller than the minimum safety distance determined by the determining module and larger than the braking distance calculated by the calculating module, wherein the first warning information is used for reminding a driver of keeping a safe distance from the potential threat vehicle.
Optionally, the apparatus further comprises:
and the second sending module is used for sending second warning information when the control module controls the first vehicle to execute the braking operation, wherein the second warning information is used for informing a driver that the first vehicle is automatically braking.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle collision avoidance method described above.
The present disclosure also provides an electronic device, comprising:
the computer-readable storage medium described above; and
one or more processors to execute the program in the computer-readable storage medium.
The present disclosure also provides a vehicle collision avoidance system, the system comprising: the vehicle comprises a plurality of vehicles and a server side which is communicated with the vehicles, wherein the vehicles are used for sending position information and vehicle information of the vehicles to the server side, the first vehicle is any one of the vehicles, and the server side is the electronic equipment.
The present disclosure also provides a vehicle comprising an electronic device according to any of the preceding claims, wherein the first vehicle is a host vehicle.
According to the technical scheme, the front vehicle of the first vehicle can be determined according to the acquired position information and the acquired vehicle information of the first vehicle and the acquired position information and the acquired vehicle information of the peripheral vehicle adjacent to the first vehicle, then the potential threat vehicle is screened out from the front vehicles, and when the longitudinal distance between the first vehicle and the potential threat vehicle is smaller than or equal to the braking distance of the first vehicle, namely when the first vehicle and the potential threat vehicle have serious collision danger, the first vehicle is controlled to automatically brake. Therefore, the risk of vehicle collision can be effectively reduced, and the purposes of reducing casualties and property loss are achieved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flow chart illustrating a method of collision avoidance for a vehicle according to an exemplary embodiment.
FIG. 2 is a schematic diagram illustrating a method of determining a vehicle ahead of a first vehicle in accordance with another exemplary embodiment.
Fig. 3 is a flow chart illustrating a method of collision avoidance for a vehicle in accordance with another exemplary embodiment.
Fig. 4 is a flow chart illustrating a method of collision avoidance for a vehicle in accordance with another exemplary embodiment.
Fig. 5 is a flow chart illustrating a method of collision avoidance for a vehicle in accordance with another exemplary embodiment.
Fig. 6 is a block diagram illustrating a vehicle collision avoidance system in accordance with an exemplary embodiment.
Fig. 7 is a block diagram illustrating a vehicle collision avoidance system in accordance with another exemplary embodiment.
Fig. 8 is a block diagram illustrating a vehicle collision avoidance system in accordance with another exemplary embodiment.
Fig. 9 is a block diagram illustrating a vehicle collision avoidance system in accordance with another exemplary embodiment.
FIG. 10 is a block diagram illustrating an electronic device in accordance with an example embodiment.
FIG. 11 is a block diagram illustrating an electronic device in accordance with another example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flow chart illustrating a method of collision avoidance for a vehicle according to an exemplary embodiment. As shown in fig. 1, the method may include the following steps.
In step 101, position information and vehicle information of a first vehicle, and position information and vehicle information of a nearby vehicle adjacent to the first vehicle are acquired.
In the disclosure, the nearby vehicle may be a vehicle whose distance from the first vehicle is less than a preset first distance threshold.
In one embodiment, the method may be applied to the vehicle itself, i.e., the host-vehicle, such that the first vehicle is the host-vehicle. The first Vehicle and its neighboring vehicles may acquire their own location information and Vehicle information through a Global Navigation Satellite System (GNSS), and then the first Vehicle and the neighboring vehicles may communicate through Dedicated Short Range Communications (DSRC) or Long Term Evolution-Vehicle (LET-V) of a Vehicle mobile communication technology to complete exchange of the location information and the Vehicle information, so that the own Vehicle may acquire its own location information and Vehicle information, and location information and Vehicle information of its neighboring vehicles.
In another embodiment, the method may be applied to a server, and the server may communicate with a plurality of vehicles simultaneously to obtain the position information and the vehicle information of the plurality of vehicles, select a first vehicle from the plurality of vehicles, and determine a surrounding vehicle of the first vehicle, so as to obtain the position information and the vehicle information of the first vehicle and the surrounding vehicle thereof. Wherein the first vehicle may be any one of a plurality of vehicles.
In the present disclosure, the position information of the vehicle may include longitude, latitude, elevation, etc., and the vehicle information may include a direction angle, a vehicle speed, acceleration, a vehicle number, a vehicle model, a steering angle, a driving direction, etc.
In step 102, according to the position information and the vehicle information of the first vehicle and the position information and the vehicle information of the surrounding vehicles, front vehicles of the first vehicle are determined, and potential threat vehicles are screened out from the front vehicles.
In the present disclosure, the preceding vehicle may be a vehicle that is located ahead of the first vehicle, is in the same direction as the first vehicle, and has a lateral distance from the first vehicle that is smaller than a preset second distance threshold value, among the nearby vehicles. Specifically, it is possible to first screen vehicles that are located ahead of the first vehicle and in the same direction as the first vehicle from the nearby vehicles based on the position information and the vehicle information of the first vehicle and the position information and the vehicle information of the nearby vehicles, then calculate the lateral distance between each vehicle that is located ahead of the first vehicle and in the same direction as the first vehicle and the first vehicle, and determine that the vehicle whose lateral distance is smaller than a preset second distance threshold value is the leading vehicle.
Illustratively, the second distance threshold may be, for example, 3.5 meters. As shown in fig. 2, the vehicle 3, the vehicle 4, and the vehicle 5 are peripheral vehicles of the first vehicle 1. As can be seen from the figure, the vehicle 2, the vehicle 4 and the vehicle 5 are located in front of the first vehicle 1 and in the same driving direction as the first vehicle 1, wherein the lateral distance between the vehicle 2 and the first vehicle 1 is 0m, the lateral distance between the vehicle 5 and the first vehicle 1 is 1.6m, both of which are smaller than the second distance threshold value 3.5m, and therefore the vehicle 2 and the vehicle 5 are front vehicles of the first vehicle 1; and the lateral distance between the vehicle 4 and the first vehicle 1 is 3.8m, which is greater than the second distance threshold value of 3.5m, so that the vehicle 5 is not a vehicle in front of the first vehicle 1. As described above, the vehicle 2 and the vehicle 5 are front vehicles of the first vehicle 1.
The potential threat vehicle is a vehicle which is in front and has the collision probability with the first vehicle larger than a preset threshold value. The calculation method of the collision probability of the vehicle belongs to the prior technical scheme, and is not described again here. For example, the preset threshold is 0.7, the probability of the vehicle 2 colliding with the first vehicle 1 is 0.72, and the probability of the vehicle 5 colliding with the first vehicle is 0.4, so that the vehicle 2 is a potentially threatening vehicle. As another example, the preset threshold is 0.7, the probability of collision between the vehicle 2 and the first vehicle 1 is 0.72, and the probability of collision between the vehicle 5 and the first vehicle is 0.75, so that both the vehicle 2 and the vehicle 5 are potentially threatening vehicles.
The preset threshold value, the first distance threshold value, and the second distance threshold value may be default values or values set by the driver, and are not particularly limited in the present disclosure.
In step 103, the first vehicle is controlled to perform a braking operation when the longitudinal distance between the first vehicle and the potentially threatening vehicle is less than or equal to the braking distance of the first vehicle.
In the present disclosure, the braking distance is the distance the first vehicle travels after the driver finds that there is a danger ahead to the first vehicle coming to a complete stop after braking. When the longitudinal distance between the first vehicle and the potential threat vehicle is less than or equal to the braking distance of the first vehicle, indicating that the first vehicle has a serious collision risk, the first vehicle may be controlled to perform an automatic braking operation. For example, an Electronic Stability Program (ESP) brake module may be included on the first vehicle, and when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than or equal to a braking distance of the first vehicle, an automatic brake command may be sent to the ESP brake module to automatically brake and stop the first vehicle in time.
Before the step of controlling the first vehicle to perform the braking operation, as shown in fig. 3, the above method may further include the following steps.
In step 104, a minimum safe distance between the first vehicle and the potentially threatening vehicle is determined based on the vehicle information of the potentially threatening vehicle and the vehicle information of the first vehicle.
For example, the minimum safe distance between the first vehicle and the potentially threatening vehicle may be determined by the following equation (1):
wherein D issRepresenting a minimum safe distance between the first vehicle and the potentially threatening vehicle; vhRepresenting a vehicle speed of the first vehicle; vrA vehicle speed indicative of the potentially threatening vehicle; t represents the reaction time of the driver; t is t1Represents the brake coordination time, i.e. the time from the time when the driver steps on the brake pedal to the time when the brake actually works; t is t2Representing the first vehicle deceleration increase time; a issA deceleration representing a first vehicle braking safety; d0Representing a safe distance of the first vehicle from the potentially threatening vehicle when stationary.
In addition, the reaction time T of the driver may fluctuate in the range of 0.4s to 1s, for example, 1 s; namely the time required by the driver from sensing danger to stepping down the brake is 1 s; brake coordination time t1May be, for example0.5s, namely 0.5s from the time when the driver steps on the brake pedal to the time when the brake is really applied; first vehicle deceleration increase time t2May for example be 0.2 s; deceleration a of the first vehicle braking safetysMay for example be 3.6 m/s; safe distance d between first vehicle and potential threat vehicle when stationary0May for example be 3 m.
In step 105, a braking distance of the first vehicle is calculated when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than a minimum safe distance.
In the present disclosure, a longitudinal distance (e.g., which may be derived from a vehicle location or measured by radar) and a minimum safe distance between the first vehicle and the potentially threatening vehicle may be first calculated, and a braking distance of the first vehicle may be calculated when the longitudinal distance is less than the minimum safe distance, wherein the braking distance of the first vehicle is less than the minimum safe distance.
For example, the braking distance of the first vehicle may be calculated by the following equation (2):
wherein D isbrIndicating the braking distance.
After the longitudinal distance between the first vehicle and the potential threat vehicle and the braking distance of the first vehicle are determined, whether the longitudinal distance is smaller than or equal to the braking distance is determined, and when the longitudinal distance is smaller than or equal to the braking distance, the first vehicle is controlled to perform a braking operation.
According to the technical scheme, the front vehicle of the first vehicle can be determined according to the acquired position information and the acquired vehicle information of the first vehicle and the acquired position information and the acquired vehicle information of the peripheral vehicle adjacent to the first vehicle, then the potential threat vehicle is screened out from the front vehicles, and when the longitudinal distance between the first vehicle and the potential threat vehicle is smaller than or equal to the braking distance of the first vehicle, namely when the first vehicle and the potential threat vehicle have serious collision danger, the first vehicle is controlled to automatically brake. Therefore, the risk of vehicle collision can be effectively reduced, and the purposes of reducing casualties and property loss are achieved.
Fig. 4 is a flow chart illustrating a method of collision avoidance for a vehicle in accordance with another exemplary embodiment. As shown in fig. 4, the above method may further include the following steps.
In step 106, when the longitudinal distance between the first vehicle and the potential threat vehicle is less than the minimum safety distance and greater than the braking distance, first warning information is sent.
In the present disclosure, when the longitudinal distance between the first vehicle and the potentially threatening vehicle is greater than or equal to the minimum safe distance, it is indicative that the first vehicle is in a safe state; when the longitudinal distance between the first vehicle and the potential threat vehicle is smaller than the minimum safety distance and larger than the braking distance, the first vehicle is indicated to have certain collision danger, and at the moment, first warning information can be sent to remind a driver to take braking measures actively so as to keep a safe vehicle distance with the potential threat vehicle.
Fig. 5 is a flow chart illustrating a method of collision avoidance for a vehicle in accordance with another exemplary embodiment. As shown in fig. 5, the above method may further include the following steps.
In step 107, second warning information is transmitted while controlling the first vehicle to perform a braking operation.
In the present disclosure, the second warning message may be used to inform the driver that the first vehicle is performing automatic braking.
In addition, it should be noted that the first warning information and the second warning information may be in the form of, for example, characters, images, sounds, and the like, and are not specifically limited in this disclosure.
Fig. 6 is a block diagram illustrating a vehicle collision avoidance system in accordance with an exemplary embodiment. Referring to fig. 6, the apparatus 600 may include: an obtaining module 601, configured to obtain position information and vehicle information of a first vehicle, and position information and vehicle information of a neighboring vehicle adjacent to the first vehicle; the screening module 602 is configured to determine a vehicle ahead of the first vehicle according to the position information and the vehicle information of the first vehicle and the position information and the vehicle information of the surrounding vehicles acquired by the acquisition module 601, and screen a potentially threatening vehicle from the vehicles ahead, where the potentially threatening vehicle is a vehicle in the vehicles ahead, and a probability of collision with the first vehicle is greater than a preset threshold; a control module 603 configured to control the first vehicle to perform a braking operation when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than or equal to a braking distance of the first vehicle.
Fig. 7 is a block diagram illustrating a vehicle collision avoidance system in accordance with an exemplary embodiment. Referring to fig. 7, the apparatus 600 may further include: a determining module 604, configured to determine a minimum safe distance between the first vehicle and the potentially threatening vehicle according to the vehicle information of the potentially threatening vehicle and the vehicle information of the first vehicle before the control module 603 controls the first vehicle to perform a braking operation; a calculating module 605, configured to calculate a braking distance of the first vehicle when a longitudinal distance between the first vehicle and the potentially threatening vehicle is smaller than the minimum safe distance determined by the determining module 604, where the braking distance is smaller than the minimum safe distance.
Optionally, the vehicle information includes a vehicle speed; the determination module 604 may determine the minimum safe distance between the first vehicle and the potentially threatening vehicle by equation (1) above.
Alternatively, the calculation module 605 may calculate the braking distance of the first vehicle by equation (2) above.
Fig. 8 is a block diagram illustrating a vehicle collision avoidance system in accordance with an exemplary embodiment. Referring to fig. 8, the apparatus 600 may further include: a first sending module 606, configured to send a first warning message when a longitudinal distance between the first vehicle and the potentially threatening vehicle is smaller than the minimum safe distance determined by the determining module 604 and larger than the braking distance calculated by the calculating module, where the first warning message is used to remind a driver of keeping a safe distance from the potentially threatening vehicle.
Fig. 9 is a block diagram illustrating a vehicle collision avoidance system in accordance with an exemplary embodiment. Referring to fig. 9, the apparatus 600 may further include: a second sending module 607, configured to send second warning information when the control module 603 controls the first vehicle to perform a braking operation, where the second warning information is used to inform a driver that the first vehicle is performing automatic braking.
Fig. 10 is a block diagram illustrating an electronic device 1000 in accordance with an example embodiment. As shown in fig. 10, the electronic device 1000 may include: a processor 1001, a memory 1002, multimedia components 1003, input/output (I/O) interfaces 1004, and communication components 1005.
The processor 1001 is configured to control the overall operation of the electronic device 1000, so as to complete all or part of the steps in the vehicle anti-collision method. The memory 1002 is used to store various types of data to support operation of the electronic device 1000, such as instructions for any application or method operating on the electronic device 1000 and application-related data, such as contact data, messaging, pictures, audio, video, and so forth. The Memory 1002 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk. The multimedia components 1003 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may further be stored in memory 1002 or transmitted through communication component 1005. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 1004 provides an interface between the processor 1001 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 1005 is used for wired or wireless communication between the electronic device 1000 and other devices. Wireless communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so that the corresponding communication component 1005 may include: Wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the electronic Device 1000 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described vehicle anti-collision method.
In another exemplary embodiment, a computer readable storage medium comprising program instructions, such as the memory 1002 comprising program instructions, executable by the processor 1001 of the electronic device 1000 to perform the vehicle collision avoidance method described above is also provided.
Fig. 11 is a block diagram illustrating an electronic device 1100 in accordance with an example embodiment. For example, the electronic device 1100 may be provided as a service end. Referring to fig. 11, electronic device 1100 includes a processor 1122, which can be one or more in number, and a memory 1132 for storing computer programs executable by processor 1122. The computer programs stored in memory 1132 may include one or more modules that each correspond to a set of instructions. Further, the processor 1122 may be configured to execute the computer program to perform the above-described vehicle collision avoidance method.
Additionally, the electronic device 1100 may also include a power component 1126 and a communication component 1150, the power component 1126 may be configured to perform power management of the electronic device 1100, and the communication component 1150 may be configured to enable communication, e.g., wired or wireless communication, of the electronic device 1100. In addition, the electronic device 1100 may also include an input/output (I/O) interface 1158. Electronic device 1100 may operate based on an operating system stored in memory 1132, such as a Windows Server, Mac OS XTM, UnixTM, Linux, and the like.
In another exemplary embodiment, a computer readable storage medium, such as the memory 1132, is also provided that includes program instructions executable by the processor 1122 of the electronic device 1100 to perform the vehicle collision avoidance method described above.
The present disclosure also provides a vehicle collision avoidance system, the system comprising: a plurality of vehicles and a server communicating with the plurality of vehicles, wherein the vehicles are configured to send position information and vehicle information of the vehicle to the server, the first vehicle is any one of the plurality of vehicles, and the server is the electronic device 1100 according to the claim.
The present disclosure also provides a vehicle including the electronic device 1000 described above, wherein the first vehicle is a host vehicle.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and the simple modifications all belong to the protection scope of the present disclosure
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (16)

1. A method for collision avoidance for a vehicle, the method comprising:
acquiring position information and vehicle information of a first vehicle, and position information and vehicle information of a nearby vehicle adjacent to the first vehicle;
determining front vehicles of the first vehicle according to the position information and the vehicle information of the first vehicle and the position information and the vehicle information of the surrounding vehicles, and screening out potential threat vehicles from the front vehicles, wherein the potential threat vehicles are vehicles which are in the front vehicles and have collision probability with the first vehicle larger than a preset threshold value;
controlling the first vehicle to perform a braking operation when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than or equal to a braking distance of the first vehicle.
2. The method of claim 1, wherein prior to the step of controlling the first vehicle to perform a braking operation, the method further comprises:
determining a minimum safe distance between the first vehicle and the potentially threatening vehicle according to the vehicle information of the potentially threatening vehicle and the vehicle information of the first vehicle;
calculating a braking distance of the first vehicle when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than the minimum safe distance, wherein the braking distance is less than the minimum safe distance.
3. The method of claim 2, wherein the vehicle information includes a vehicle speed;
the determining a minimum safe distance between the first vehicle and the potentially threatening vehicle according to the vehicle information of the potentially threatening vehicle and the vehicle information of the first vehicle comprises:
determining a minimum safe distance between the first vehicle and the potentially threatening vehicle by:
<mrow> <msub> <mi>D</mi> <mi>s</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mi>h</mi> </msub> <mo>-</mo> <msub> <mi>V</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mi>T</mi> <mo>+</mo> <msub> <mi>t</mi> <mn>1</mn> </msub> <mo>+</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <msub> <mi>t</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mi>h</mi> </msub> <mo>-</mo> <msub> <mi>V</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> <mrow> <mn>2</mn> <msub> <mi>a</mi> <mi>s</mi> </msub> </mrow> </mfrac> <mo>+</mo> <msub> <mi>d</mi> <mn>0</mn> </msub> </mrow>
wherein D issRepresenting a minimum safe distance between the first vehicle and the potentially threatening vehicle; vhRepresenting a vehicle speed of the first vehicle; vrA vehicle speed indicative of the potentially threatening vehicle; t represents the reaction time of the driver; t is t1Indicating a brake coordination time; t is t2Representing the first vehicle deceleration increase time; a issA deceleration representing a first vehicle braking safety; d0Representing a safe distance of the first vehicle from the potentially threatening vehicle when stationary.
4. The method of claim 2, wherein the calculating the braking distance of the first vehicle comprises:
calculating a braking distance of the first vehicle by the following formula:
<mrow> <msub> <mi>D</mi> <mrow> <mi>b</mi> <mi>r</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>V</mi> <mi>h</mi> </msub> <mo>*</mo> <mrow> <mo>(</mo> <mi>T</mi> <mo>+</mo> <msub> <mi>t</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <msup> <msub> <mi>V</mi> <mi>h</mi> </msub> <mn>2</mn> </msup> </mrow> <mrow> <mn>2</mn> <msub> <mi>a</mi> <mi>s</mi> </msub> </mrow> </mfrac> </mrow>
wherein,Dbrrepresenting the braking distance; vhRepresenting a vehicle speed of the first vehicle; t represents the reaction time of the driver; t is t1Indicating a brake coordination time; a issRepresents a deceleration of the first vehicle braking safety.
5. The method of claim 2, further comprising:
and when the longitudinal distance between the first vehicle and the potential threat vehicle is smaller than the minimum safe distance and larger than the braking distance, sending first warning information, wherein the first warning information is used for reminding a driver of keeping a safe distance from the potential threat vehicle.
6. The method according to any one of claims 1-5, further comprising:
and when the first vehicle is controlled to execute the braking operation, sending second warning information, wherein the second warning information is used for informing a driver that the first vehicle is automatically braking.
7. A vehicle collision prevention device, characterized in that the device comprises:
the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring the position information and the vehicle information of a first vehicle and the position information and the vehicle information of a surrounding vehicle adjacent to the first vehicle;
the screening module is used for determining front vehicles of the first vehicle according to the position information and the vehicle information of the first vehicle and the position information and the vehicle information of the surrounding vehicles, which are acquired by the acquisition module, and screening potential threat vehicles from the front vehicles, wherein the potential threat vehicles are vehicles in the front vehicles, and the probability of collision with the first vehicle is greater than a preset threshold value;
a control module to control the first vehicle to perform a braking operation when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than or equal to a braking distance of the first vehicle.
8. The apparatus of claim 7, further comprising:
a determining module, configured to determine a minimum safe distance between the first vehicle and the potentially threatening vehicle according to the vehicle information of the potentially threatening vehicle and the vehicle information of the first vehicle before the control module controls the first vehicle to perform a braking operation;
a calculating module, configured to calculate a braking distance of the first vehicle when a longitudinal distance between the first vehicle and the potentially threatening vehicle is less than the minimum safe distance determined by the determining module, wherein the braking distance is less than the minimum safe distance.
9. The apparatus of claim 8, wherein the vehicle information includes a vehicle speed;
the determination module is to determine a minimum safe distance between the first vehicle and the potentially threatening vehicle by:
<mrow> <msub> <mi>D</mi> <mi>s</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mi>h</mi> </msub> <mo>-</mo> <msub> <mi>V</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mi>T</mi> <mo>+</mo> <msub> <mi>t</mi> <mn>1</mn> </msub> <mo>+</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <msub> <mi>t</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mi>h</mi> </msub> <mo>-</mo> <msub> <mi>V</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> <mrow> <mn>2</mn> <msub> <mi>a</mi> <mi>s</mi> </msub> </mrow> </mfrac> <mo>+</mo> <msub> <mi>d</mi> <mn>0</mn> </msub> </mrow>
wherein D issRepresenting a minimum safe distance between the first vehicle and the potentially threatening vehicle; vhRepresenting a vehicle speed of the first vehicle; vrA vehicle speed indicative of the potentially threatening vehicle; t represents the reaction time of the driver; t is t1Indicating a brake coordination time; t is t2Representing the first vehicle deceleration increase time; a issA deceleration representing a first vehicle braking safety; d0Representing a safe distance of the first vehicle from the potentially threatening vehicle when stationary.
10. The apparatus of claim 8, wherein the calculation module is configured to calculate the braking distance of the first vehicle by the following equation:
<mrow> <msub> <mi>D</mi> <mrow> <mi>b</mi> <mi>r</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>V</mi> <mi>h</mi> </msub> <mo>*</mo> <mrow> <mo>(</mo> <mi>T</mi> <mo>+</mo> <msub> <mi>t</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <msup> <msub> <mi>V</mi> <mi>h</mi> </msub> <mn>2</mn> </msup> </mrow> <mrow> <mn>2</mn> <msub> <mi>a</mi> <mi>s</mi> </msub> </mrow> </mfrac> </mrow>
wherein D isbrRepresenting the braking distance; vhRepresenting a vehicle speed of the first vehicle; t represents the reaction time of the driver; t is t1Indicating a brake coordination time; a issRepresents a deceleration of the first vehicle braking safety.
11. The apparatus of claim 8, further comprising:
the first sending module is used for sending first warning information when the longitudinal distance between the first vehicle and the potential threat vehicle is smaller than the minimum safety distance determined by the determining module and larger than the braking distance calculated by the calculating module, wherein the first warning information is used for reminding a driver of keeping a safe distance from the potential threat vehicle.
12. The apparatus according to any one of claims 7-11, further comprising:
and the second sending module is used for sending second warning information when the control module controls the first vehicle to execute the braking operation, wherein the second warning information is used for informing a driver that the first vehicle is automatically braking.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
14. An electronic device, comprising:
the computer-readable storage medium of claim 13; and
one or more processors to execute the program in the computer-readable storage medium.
15. A vehicle collision avoidance system, the system comprising: the vehicle comprises a plurality of vehicles and a server side which is communicated with the vehicles, wherein the vehicles are used for sending position information and vehicle information of the vehicles to the server side, the first vehicle is any one of the vehicles, and the server side is the electronic device according to claim 14.
16. A vehicle comprising the electronic device of claim 14, wherein the first vehicle is a host vehicle.
CN201710415066.0A 2017-06-05 2017-06-05 Vehicle collision avoidance method, device, storage medium, equipment, system and vehicle Pending CN107128303A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710415066.0A CN107128303A (en) 2017-06-05 2017-06-05 Vehicle collision avoidance method, device, storage medium, equipment, system and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710415066.0A CN107128303A (en) 2017-06-05 2017-06-05 Vehicle collision avoidance method, device, storage medium, equipment, system and vehicle

Publications (1)

Publication Number Publication Date
CN107128303A true CN107128303A (en) 2017-09-05

Family

ID=59733766

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710415066.0A Pending CN107128303A (en) 2017-06-05 2017-06-05 Vehicle collision avoidance method, device, storage medium, equipment, system and vehicle

Country Status (1)

Country Link
CN (1) CN107128303A (en)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108944864A (en) * 2018-06-20 2018-12-07 温州大学 The vehicle collision avoidance devices and methods therefor under situation is shared based on position
CN109151773A (en) * 2018-07-17 2019-01-04 Oppo广东移动通信有限公司 information prompting method and related product
CN109649492A (en) * 2019-01-31 2019-04-19 爱驰汽车有限公司 Vehicle and its power steering control method, system, equipment and storage medium
CN109835250A (en) * 2019-01-31 2019-06-04 唐山明天科技有限公司 A kind of collision of motor vehicle system of defense and device based on ultrasonic distance measurement
CN110471408A (en) * 2019-07-03 2019-11-19 天津大学 Automatic driving vehicle paths planning method based on decision process
CN111661020A (en) * 2020-05-13 2020-09-15 北京新能源汽车股份有限公司 Vehicle and braking method and system thereof
CN112026758A (en) * 2017-09-30 2020-12-04 上海蔚来汽车有限公司 Front collision avoidance method and system for vehicle
CN112373300A (en) * 2020-11-26 2021-02-19 中国人民解放军国防科技大学 Hybrid intelligent speed limit control method and device for vehicle
CN112537296A (en) * 2019-09-23 2021-03-23 北京新能源汽车股份有限公司 Emergency braking device, automobile and braking control method
CN113002532A (en) * 2021-03-29 2021-06-22 广州小鹏自动驾驶科技有限公司 Vehicle control method and device
CN114674330A (en) * 2022-03-02 2022-06-28 长沙智能驾驶研究院有限公司 Blind guidance method, system, apparatus, device, readable storage medium and program product
CN114905504A (en) * 2021-02-08 2022-08-16 丰田自动车株式会社 Robot control system, robot control method, and storage medium
CN115100905A (en) * 2022-06-23 2022-09-23 中国第一汽车股份有限公司 Vehicle collision early warning method and device, vehicle and storage medium
CN115171387A (en) * 2022-07-08 2022-10-11 国能(天津)大港发电厂有限公司 Vehicle safety monitoring system and method, electronic equipment and vehicle
CN115416629A (en) * 2022-08-25 2022-12-02 深圳市蓝度汽车电控技术有限公司 Vehicle braking method and device, terminal equipment and storage medium
WO2023072135A1 (en) * 2021-10-26 2023-05-04 中国第一汽车股份有限公司 Assessment method and apparatus for safe traveling of vehicle, and vehicle and storage medium

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101407199A (en) * 2008-10-28 2009-04-15 湖北汽车工业学院 Vehicle collision prewarning method and apparatus
JP4864450B2 (en) * 2005-12-21 2012-02-01 富士重工業株式会社 Vehicle driving support device
CN202180823U (en) * 2011-07-28 2012-04-04 胡春凯 Intelligent collision avoidance system for automobile
CN102806911A (en) * 2012-08-23 2012-12-05 浙江吉利汽车研究院有限公司杭州分公司 Traffic safety auxiliary control method and system thereof
CN103569101A (en) * 2012-07-19 2014-02-12 富士重工业株式会社 Vehicle control apparatus
CN104276173A (en) * 2013-07-08 2015-01-14 昆山振宏电子机械有限公司 Automobile radar driver assistance system
CN104773177A (en) * 2014-01-09 2015-07-15 株式会社理光 Aided driving method and aided driving device
CN105667506A (en) * 2016-03-15 2016-06-15 江苏大学 Dynamic emergency collision avoidance control method of vehicle
CN106080393A (en) * 2016-08-08 2016-11-09 浙江吉利控股集团有限公司 Automatic Pilot auxiliary display system
US20160362104A1 (en) * 2015-06-10 2016-12-15 Ford Global Technologies, Llc Collision mitigation and avoidance
TW201719047A (en) * 2015-09-10 2017-06-01 羅伯特博斯奇股份有限公司 Process and device to perform an emergent procedure of a single-track vehicle

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4864450B2 (en) * 2005-12-21 2012-02-01 富士重工業株式会社 Vehicle driving support device
CN101407199A (en) * 2008-10-28 2009-04-15 湖北汽车工业学院 Vehicle collision prewarning method and apparatus
CN202180823U (en) * 2011-07-28 2012-04-04 胡春凯 Intelligent collision avoidance system for automobile
CN103569101A (en) * 2012-07-19 2014-02-12 富士重工业株式会社 Vehicle control apparatus
CN102806911A (en) * 2012-08-23 2012-12-05 浙江吉利汽车研究院有限公司杭州分公司 Traffic safety auxiliary control method and system thereof
CN104276173A (en) * 2013-07-08 2015-01-14 昆山振宏电子机械有限公司 Automobile radar driver assistance system
CN104773177A (en) * 2014-01-09 2015-07-15 株式会社理光 Aided driving method and aided driving device
US20160362104A1 (en) * 2015-06-10 2016-12-15 Ford Global Technologies, Llc Collision mitigation and avoidance
TW201719047A (en) * 2015-09-10 2017-06-01 羅伯特博斯奇股份有限公司 Process and device to perform an emergent procedure of a single-track vehicle
CN105667506A (en) * 2016-03-15 2016-06-15 江苏大学 Dynamic emergency collision avoidance control method of vehicle
CN106080393A (en) * 2016-08-08 2016-11-09 浙江吉利控股集团有限公司 Automatic Pilot auxiliary display system

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112026758B (en) * 2017-09-30 2021-06-15 上海蔚来汽车有限公司 Front collision avoidance method and system for vehicle
CN112026758A (en) * 2017-09-30 2020-12-04 上海蔚来汽车有限公司 Front collision avoidance method and system for vehicle
CN108944864A (en) * 2018-06-20 2018-12-07 温州大学 The vehicle collision avoidance devices and methods therefor under situation is shared based on position
CN109151773A (en) * 2018-07-17 2019-01-04 Oppo广东移动通信有限公司 information prompting method and related product
CN109649492A (en) * 2019-01-31 2019-04-19 爱驰汽车有限公司 Vehicle and its power steering control method, system, equipment and storage medium
CN109835250A (en) * 2019-01-31 2019-06-04 唐山明天科技有限公司 A kind of collision of motor vehicle system of defense and device based on ultrasonic distance measurement
CN110471408A (en) * 2019-07-03 2019-11-19 天津大学 Automatic driving vehicle paths planning method based on decision process
CN110471408B (en) * 2019-07-03 2022-07-29 天津大学 Unmanned vehicle path planning method based on decision process
CN112537296A (en) * 2019-09-23 2021-03-23 北京新能源汽车股份有限公司 Emergency braking device, automobile and braking control method
CN111661020A (en) * 2020-05-13 2020-09-15 北京新能源汽车股份有限公司 Vehicle and braking method and system thereof
CN112373300B (en) * 2020-11-26 2022-05-13 中国人民解放军国防科技大学 A vehicle hybrid intelligent speed limit control method and device
CN112373300A (en) * 2020-11-26 2021-02-19 中国人民解放军国防科技大学 Hybrid intelligent speed limit control method and device for vehicle
CN114905504B (en) * 2021-02-08 2024-04-19 丰田自动车株式会社 Robot control system, robot control method, and storage medium
CN114905504A (en) * 2021-02-08 2022-08-16 丰田自动车株式会社 Robot control system, robot control method, and storage medium
CN113002532A (en) * 2021-03-29 2021-06-22 广州小鹏自动驾驶科技有限公司 Vehicle control method and device
WO2023072135A1 (en) * 2021-10-26 2023-05-04 中国第一汽车股份有限公司 Assessment method and apparatus for safe traveling of vehicle, and vehicle and storage medium
CN114674330A (en) * 2022-03-02 2022-06-28 长沙智能驾驶研究院有限公司 Blind guidance method, system, apparatus, device, readable storage medium and program product
CN115100905A (en) * 2022-06-23 2022-09-23 中国第一汽车股份有限公司 Vehicle collision early warning method and device, vehicle and storage medium
CN115171387A (en) * 2022-07-08 2022-10-11 国能(天津)大港发电厂有限公司 Vehicle safety monitoring system and method, electronic equipment and vehicle
CN115416629A (en) * 2022-08-25 2022-12-02 深圳市蓝度汽车电控技术有限公司 Vehicle braking method and device, terminal equipment and storage medium

Similar Documents

Publication Publication Date Title
CN107128303A (en) Vehicle collision avoidance method, device, storage medium, equipment, system and vehicle
US9889847B2 (en) Method and system for driver assistance for a vehicle
US9922554B2 (en) Driving environment risk determination apparatus and driving environment risk notification apparatus
KR102005253B1 (en) Lane assistance system responsive to extremely fast approaching vehicles
US10435035B2 (en) Screen reduction system for autonomous vehicles
EP3159867B1 (en) A method and apparatus for alerting a target vehicle of another vehicle
JP6439735B2 (en) Driving support device
CN109421715B (en) Lane Condition Detection in Adaptive Cruise Control Systems
US20150148985A1 (en) Vehicle driving assistance device and automatic activating method of vehicle driving assistance function by the same
WO2016049812A1 (en) Automatic parking warning system
JP6168025B2 (en) Intersection-related warning device for vehicles
CN113320532A (en) Cooperative lane change control method, device and equipment
US20150127190A1 (en) Method for preventing a collision of a motor vehicle with a vehicle driving the wrong way and a control and detection device for a vehicle to prevent a collision of the motor vehicle with a vehicle driving the wrong way
KR101362706B1 (en) Method for runnability ensuring the vhicle&#39;s straight in complex lanes system
US9323718B2 (en) Method and device for operating a driver assistance system of a vehicle
US20200122773A1 (en) System and Method for Rear Collision Avoidance
US11335136B2 (en) Method for ascertaining illegal driving behavior by a vehicle
CN109671296B (en) Automated Vehicle Safety System to Protect Pedestrians
US20250118205A1 (en) Vulnerable road user (vru) collision avoidance system
JP2016181032A (en) Automatic travel control device and automatic travel control system
US11842643B2 (en) Communication control apparatus, vehicle, computer-readable storage medium, and communication control method
CN117715809B (en) Vehicle driving method, device and system
JP2009087249A (en) On-vehicle traffic congestion warning device
EP2797027A1 (en) A vehicle driver alert arrangement, a vehicle and a method for alerting a vehicle driver
KR101947473B1 (en) Apparatus and method of support safe driving considering rear vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20170905