CN110316186A - Vehicle collision avoidance pre-judging method, device, equipment and readable storage medium storing program for executing - Google Patents
Vehicle collision avoidance pre-judging method, device, equipment and readable storage medium storing program for executing Download PDFInfo
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- CN110316186A CN110316186A CN201910586830.XA CN201910586830A CN110316186A CN 110316186 A CN110316186 A CN 110316186A CN 201910586830 A CN201910586830 A CN 201910586830A CN 110316186 A CN110316186 A CN 110316186A
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- 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
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- 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
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- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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Abstract
This application provides a kind of vehicle collision avoidance pre-judging method, device, equipment and readable storage medium storing program for executing.This method includes the present road scene information for obtaining vehicle, according to the present road scene information, determine the anticipation time, according to the anticipation time, determine anticollision strategy, the vehicle is controlled to travel according to the anticollision strategy, so that vehicle can prejudge the appearance of barrier associated with the barrier in present road scene according to present road scene information, it makes in advance and evades collision decision, guarantee the generation that vehicle has enough reaction time and respond to avoid traffic accident, further improves the intelligent level of automatic driving vehicle.
Description
Technical field
The invention relates to unmanned technical field more particularly to a kind of vehicle collision avoidance pre-judging method, device,
Equipment and readable storage medium storing program for executing.
Background technique
With the development of computer technology and artificial intelligence, pilotless automobile (referred to as: unmanned vehicle) traffic, military affairs,
Logistic storage, daily life etc. have broad application prospects.Unmanned technology mainly includes the perception of environmental information,
The parts such as the motion control of the intelligent decision of driving behavior, the planning in collisionless path and vehicle.
Existing unmanned vehicle only closes the barrier in the current environment perceived in the perception of environmental information
Note, if the relative distance of unmanned vehicle and barrier is less than prediction collision distance, unmanned vehicle is braked and is stopped immediately, to keep away
Exempt to collide.
Existing unmanned vehicle can not predict the appearance of barrier associated with the barrier in current environment, when associated
When barrier occurs, unmanned vehicle often has little time to stop, and causes traffic accident.
Summary of the invention
The embodiment of the present application provides a kind of vehicle collision avoidance pre-judging method, device, equipment and readable storage medium storing program for executing, with can
Vehicle is set to prejudge the appearance of barrier associated with the barrier in current environment, the generation to avoid traffic accident.
The embodiment of the present application first aspect provides a kind of vehicle collision avoidance pre-judging method, comprising:
Obtain the present road scene information of vehicle；
According to the present road scene information, the anticipation time is determined；
According to the anticipation time, anticollision strategy is determined；
The vehicle is controlled to travel according to the anticollision strategy.
In one possible implementation, described according to described current in the above method provided by the embodiments of the present application
Road scene information determines the anticipation time, specifically includes:
The corresponding prediction obstacle information of the present road scene information is carried out using trained identification model
Identification；
According to the current vehicle speed of recognition result and vehicle, the anticipation time is determined；
Wherein, the trained identification model be according to different road scene information and with the road scene
Information predicts what barrier training obtained correspondingly；
Wherein, the prediction barrier is the barrier predicted according to the present road scene information.
In one possible implementation, described according to recognition result in the above method provided by the embodiments of the present application
With the current vehicle speed of vehicle, determines the anticipation time, specifically includes:
Obtain the relative distance of the prediction barrier in the vehicle and the recognition result；
According to the relative distance of the current vehicle speed of the vehicle and the vehicle and the prediction barrier, anticipation is determined
Time.
In one possible implementation, described according to the anticipation in the above method provided by the embodiments of the present application
Time determines anticollision strategy, specifically includes:
If the anticipation time is less than at the first time, it is determined that the anticollision strategy used is the first anticollision strategy；
If the anticipation time is more than or equal at the first time and was less than or equal to for the second time, it is determined that the anticollision plan of use
Slightly the second anticollision strategy；
If the anticipation time was greater than for the second time, it is determined that the anticollision strategy used is third anticollision strategy.
In one possible implementation, in the above method provided by the embodiments of the present application, the control vehicle
It travels, specifically includes according to the anticollision strategy:
If the anticollision strategy is the first anticollision strategy, controls the vehicle and stop traveling；
If the anticollision strategy is the second anticollision strategy, controls the vehicle and travelled according to First Speed；
If the anticollision strategy is third anticollision strategy, controls the vehicle and travelled according to second speed；
Wherein, First Speed is less than second speed, and second speed is less than current vehicle speed.
In one possible implementation, described to obtain working as vehicle in the above method provided by the embodiments of the present application
Preceding road scene information, specifically includes:
Using the Video stream information in camera acquisition present road scene；
The barrier and the vehicle in the video flowing are acquired using comprehensive millimetre-wave radar and/or laser radar
The velocity information of range information and the barrier.
The embodiment of the present application second aspect provides a kind of vehicle collision avoidance anticipation device, comprising:
Scene obtains module, for obtaining the present road scene information of vehicle；
Time determining module, for determining the anticipation time according to the present road scene information；
Tactful determining module, for determining anticollision strategy according to the anticipation time；
Control module is travelled for controlling the vehicle according to the anticollision strategy.
In one possible implementation, in above-mentioned apparatus provided by the embodiments of the present application, the time determining module,
Include:
Recognition unit, for being hindered using trained identification model to the corresponding prediction of the present road scene information
Object information is hindered to be identified；
Determination unit determines the anticipation time for the current vehicle speed according to recognition result and vehicle；
Wherein, the trained identification model be according to different road scene information and with the road scene
Information predicts what barrier training obtained correspondingly；
Wherein, the prediction barrier is the barrier predicted according to the present road scene information.
In one possible implementation, in above-mentioned apparatus provided by the embodiments of the present application,
The determination unit, specifically for obtain the prediction barrier in the vehicle and the recognition result it is opposite away from
From；According to the relative distance of the current vehicle speed of the vehicle and the vehicle and the prediction barrier, the anticipation time is determined.
In one possible implementation, in above-mentioned apparatus provided by the embodiments of the present application, the strategy determining module,
Include:
First determination unit, if for the anticipation time be less than first time, it is determined that the anticollision strategy used for
First anticollision strategy；
Second determination unit, if being more than or equal at the first time and being less than or equal to the second time for the anticipation time,
Determine the anticollision strategy used for the second anticollision strategy；
Third determination unit, if for the anticipation time greater than the second time, it is determined that the anticollision strategy used for
Third anticollision strategy.
In one possible implementation, in above-mentioned apparatus provided by the embodiments of the present application, the control module, packet
It includes:
First control unit controls the vehicle and stops if being the first anticollision strategy for the anticollision strategy
Traveling；
Second control unit, if for the anticollision strategy be the second anticollision strategy, control the vehicle according to
First Speed traveling；
Third control unit, if for the anticollision strategy be third anticollision strategy, control the vehicle according to
Second speed traveling；
Wherein, First Speed is less than second speed, and second speed is less than current vehicle speed.
In one possible implementation, in above-mentioned apparatus provided by the embodiments of the present application, the scene obtains module,
Include:
First acquisition unit, for using the Video stream information in camera acquisition present road scene；
Second acquisition unit, for being acquired in the video flowing using comprehensive millimetre-wave radar and/or laser radar
Barrier and the range information of the vehicle and the velocity information of the barrier.
The embodiment of the present application third aspect provides a kind of electronic equipment, comprising: memory, processor and computer journey
Sequence；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor with reality
The now method as described in above-mentioned first aspect.
The embodiment of the present application fourth aspect provides a kind of computer readable storage medium, is stored thereon with computer program,
The program is executed by processor to realize the method as described in above-mentioned first aspect.
Based on aspects above, the embodiment of the present application is worked as by the present road scene information of acquisition vehicle according to described
Preceding road scene information determines that the anticipation time according to the anticipation time determines anticollision strategy, control the vehicle according to
The anticollision strategy traveling, so that vehicle can prejudge and the obstacle in present road scene according to present road scene information
Object is associated the appearance of barrier, makes evade collision decision in advance, guarantee that vehicle has enough reaction time and respond
Come the generation to avoid traffic accident, the intelligent level of automatic driving vehicle is further improved.
It should be appreciated that content described in foregoing invention content part is not intended to limit the pass of embodiments herein
Key or important feature, it is also non-for limiting scope of the present application.Other features will become to hold by description below
It is readily understood.
Detailed description of the invention
Fig. 1 is running environment schematic diagram provided by the embodiments of the present application；
Fig. 2 is the flow chart for the vehicle collision avoidance pre-judging method that the embodiment of the present application one provides；
Fig. 3 is the flow chart for the vehicle collision avoidance pre-judging method that the embodiment of the present application two provides；
Fig. 4 is the structural schematic diagram that the vehicle collision avoidance that the embodiment of the present application three provides prejudges device；
Fig. 5 is the structural schematic diagram that the vehicle collision avoidance that the embodiment of the present application four provides prejudges device；
Fig. 6 is the structural schematic diagram for the electronic equipment that the embodiment of the present application five provides.
Specific embodiment
Embodiments herein is more fully described below with reference to accompanying drawings.Although showing that the application's is certain in attached drawing
Embodiment, it should be understood that, the application can be realized by various forms, and should not be construed as being limited to this
In the embodiment that illustrates, providing these embodiments on the contrary is in order to more thorough and be fully understood by the application.It should be understood that
It is that being given for example only property of the accompanying drawings and embodiments effect of the application is not intended to limit the protection scope of the application.
The specification and claims of the embodiment of the present application and the term " first " in above-mentioned attached drawing, " second ", "
Three ", the (if present)s such as " 4th " are to be used to distinguish similar objects, without for describing specific sequence or successive time
Sequence.It should be understood that the data used in this way are interchangeable under appropriate circumstances, so as to the embodiment of the present application described herein as can
The enough sequence implementation with other than those of illustrating or describe herein.In addition, term " includes " and " having " and they
Any deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, being
System, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or
For the intrinsic other step or units of these process, methods, product or equipment.
Fig. 1 shows the running environment being applicable according to the method, apparatus, equipment and readable storage medium storing program for executing of the embodiment of the present application
Schematic diagram.The environment that scene is two-way two lane is illustrated, has two moving traffics 1 and vehicle 2 in the environment,
Both sides of the road parked vehicle 3 to 8, pedestrian P1 and P2, ball F1.Wherein, vehicle 1 and vehicle 2 are oneself of the embodiment of the present application
It is dynamic to drive vehicle, it is blocked due to stationary vehicle or barrier, vehicle 1 and vehicle 2 cannot during travelling current driving
Detect pedestrian P1 and P2, be equipped on vehicle 1 and vehicle 2 one for the camera of automatic Pilot, several millimetre-wave radars,
Laser radar and other equipment.Uniformly distributed multiple millimetre-wave radars around vehicle body are laid in roof central position
At least one laser radar, with guarantee can be with all standing around vehicle body.Laser radar uses light detection and ranging (LIDAR)
Technology, more than one laser radar can more completely and quickly scan entire 360 degree of visual fields.Camera passes through shooting video
Or image, millimetre-wave radar and laser radar are by measurement with other vehicles or barrier at a distance from and the movement of barrier is fast
Road environment information, is supplied to vehicle-mounted automated driving system by degree, by automated driving system according to current road conditions and movement
The information such as the distance of barrier generate control information, and control information acts on each equipment of automobile, component then to accelerate, slow down
Or stop automatic Pilot.
Vehicle is shown in Fig. 1, and two scenes that can be encountered are travelled on road.Referring to Fig. 1, in scene 1, vehicle 1 is
Straight trip, stopping close to the roadside of vehicle 1 has vehicle 6,7,8, and pedestrian P2 preparation traverses to road opposite, but due to the screening of vehicle 7
Gear, vehicle 1 cannot detect pedestrian P2, and in existing automatic Pilot control method, vehicle 1 continues according to currently higher speed row
It sails.In scene 2, vehicle 2 is just kept straight in another opposite lane, and stopping close to the roadside of vehicle 2 has vehicle 3,4,5, and vehicle 2 detects
There is a ball F1 to road center, but prepares to pick up the pedestrian P1 of ball F1 since barrier blocks not detecting, it is existing automatic
In driving control method, vehicle 2 continues to travel according to currently higher speed.
In existing automatic Pilot control method, in order to avoid collision, when automatic driving vehicle and the barrier detected
Relative distance be less than prediction collision distance Shi Caihui and braked and stopped immediately, therefore for above two scene or similar
In scene, emergent pedestrian is kept into higher speed due to not detecting, often has little time to brake and touch
Hit accident.Hereinafter reference will be made to the drawings to specifically describe embodiments herein.
Embodiment one
Fig. 2 is the flow chart for the vehicle collision avoidance pre-judging method that the embodiment of the present application one provides, as shown in Fig. 2, the application
The executing subject of embodiment is that vehicle collision avoidance prejudges device, and vehicle collision avoidance anticipation device can integrate in automatic Pilot system
In system.Then vehicle collision avoidance pre-judging method provided in this embodiment including the following steps:
S101, the present road scene information for obtaining vehicle.
Specifically, automatic driving vehicle travelled on present road can by the camera that configures, millimetre-wave radar and/
Or laser radar and other awareness apparatus can obtain in real time and identify present road scene information, the current road scene information
May include the vehicle or obstacle information for resting in roadside, road roll ball or it is other may barrier associated with pedestrian
Hinder the athletic posture information of object, scene 1 and scene 2 as shown in Figure 1.
S102, according to the present road scene information, determine the anticipation time.
Specifically, can according to present road scene information predict it is possible that it is related to present road scene information
The pedestrian of connection or other kinds of barrier, different road scenes correspond to the different prediction of appearance position, probability and type
Barrier, according to the difference of appearance position, probability and type, it can be determined that the anticipation time point to collide, and then determine energy
The size of the enough anticipation time that collision is reacted, such as 0.5 second, 2 seconds or 5 seconds.It, can according to the application embodiment
To learn above-mentioned corresponding relationship using deep learning or neural network.
For example, in two scenes as shown in Figure 1, due to the appearance of ball F1 in scene 2, barrier pedestrian is predicted
The probability that P1 occurs is greater than the probability that pedestrian P2 occurs in scene 1, therefore the risk that scene 2 collides occurs and be greater than out
Live scape 1, the reaction time of automated driving system is just shorter in scene 2, therefore the corresponding anticipation time of scene 2 can be 0.5
Second, the corresponding anticipation time of scene 1 can be 2 seconds.
S103, according to the anticipation time, determine anticollision strategy.
Specifically, the long short reaction of the time size of risk of collision is prejudged.When the anticipation time is shorter, risk of collision is just
Larger, when the anticipation time is longer, risk of collision is just smaller.It therefore, can be according to length, that is, risk of collision of anticipation time
Size selects anticollision strategy.For example, the anticipation time is 0.5 second, then parking strategy is taken to be avoided, the anticipation time is 5
Second, then the strategy taken is first to have decelerated to enough reaction time reply collisions to return again to just after confirmation will not collide
Constant velocity traveling.
S104, the control vehicle are travelled according to the anticollision strategy.
Specifically, vehicle driving, generation to avoid collision are controlled according to the anticollision strategy determined, or are avoided
The generation of this car owner duty.
Vehicle collision avoidance pre-judging method provided in this embodiment, by obtaining the present road scene information of vehicle, according to
Present road scene information determines the anticipation time, according to the anticipation time, determines anticollision strategy, controls vehicle according to anticollision
Strategy traveling, so that vehicle can prejudge barrier associated with the barrier in present road scene according to present road scene information
Hinder the appearance of object, make evade collision decision in advance, guarantees that vehicle has enough reaction time and respond to avoid traffic
The generation of accident further improves the intelligent level of automatic driving vehicle.
Embodiment two
Fig. 3 is the flow chart for the vehicle collision avoidance pre-judging method that the embodiment of the present application two provides, as shown in figure 3, this implementation
The vehicle collision avoidance pre-judging method that example provides, be on the basis of the application embodiment of the method one, to step S101-S104 into
Step refining, then method provided in this embodiment the following steps are included:
S201, using camera acquisition present road scene in Video stream information, using comprehensive millimetre-wave radar and/
Or laser radar acquires barrier and the range information of the vehicle and the velocity information of the barrier in the video flowing.
Specifically, automatic driving vehicle travelled on present road can by the camera that configures, millimetre-wave radar and/
Or laser radar and other awareness apparatus can obtain in real time and identify present road scene information, such as be worked as using camera acquisition
Video stream information in preceding road scene, using the obstacle in comprehensive millimetre-wave radar and/or laser radar acquisition video flowing
Object and the range information of this vehicle and the velocity information of barrier.
S202, using trained identification model to the corresponding prediction obstacle information of the present road scene information
It is identified.
Specifically, prediction barrier is the barrier predicted according to present road scene information.Trained identification
Model is to predict that barrier training obtains correspondingly according to different road scene information and with road scene information.
In practical application, identification model can use deep learning or neural network, and the application is it is not limited here.
S203, according to the current vehicle speed of recognition result and vehicle, determine the anticipation time.
Specifically, the relative distance of the prediction barrier in the vehicle and the recognition result is obtained.According to the vehicle
Current vehicle speed and the vehicle and it is described prediction barrier relative distance, determine anticipation the time.
Specifically, according to the available prediction obstacle information of present road scene information, predict that obstacle information includes
There is position in the road to get having arrived vehicle and having predicted the relative distance of barrier, further according to vehicle in prediction barrier
Current vehicle speed, then available time point to collide, it can determine the anticipation time.
Step S103, can specifically include:
If the anticipation time is less than at the first time, it is determined that the anticollision strategy used is the first anticollision strategy.
If the anticipation time is more than or equal at the first time and was less than or equal to for the second time, it is determined that the anticollision plan of use
Slightly the second anticollision strategy.
If the anticipation time was greater than for the second time, it is determined that the anticollision strategy used is third anticollision strategy.
Correspondingly, step S104, can specifically include:
If the anticollision strategy is the first anticollision strategy, controls the vehicle and stop traveling.
If the anticollision strategy is the second anticollision strategy, controls the vehicle and travelled according to First Speed.
If the anticollision strategy is third anticollision strategy, controls the vehicle and travelled according to second speed.
Wherein, First Speed is less than second speed, and second speed is less than current vehicle speed.
In practical application, corresponding collision strategy can be preset according to anticipation time threshold, for example, default be at the first time
0.5 second, the second time was 3 seconds.When obtaining the anticipation time less than 0.5 second, then it is assumed that must be tight there are larger risk of collision
Emergency stop vehicle uses the first anticollision strategy.When the anticipation time is more than or equal to 0.5 second and is less than or equal to 3 seconds, then it is assumed that collision wind
Danger be it is medium, vehicle present speed can be kept at a slow speed, such as 30 km of speed per hour hereinafter, i.e. use the second anticollision strategy.When
The time is prejudged greater than 3 seconds, then it is assumed that risk of collision is lower, vehicle present speed can be kept to medium level, such as speed per hour 30,000
Meter or more, 60 kms hereinafter, i.e. use third anticollision strategy.
Wherein, First Speed can be 30 km of speed per hour and hereinafter, second speed can be 30 km of speed per hour or more, 60,000
Meter or less.
Vehicle collision avoidance pre-judging method provided in this embodiment, by using the view in camera acquisition present road scene
Frequency stream information acquires barrier and the vehicle in the video flowing using comprehensive millimetre-wave radar and/or laser radar
Range information and the barrier velocity information, using trained identification model to the present road scene information
Corresponding prediction obstacle information is identified, according to the current vehicle speed of recognition result and vehicle, determines anticipation time, root
According to the anticipation time, anticollision strategy is determined, control vehicle is travelled according to anticollision strategy, so that vehicle is according to present road scene
Information can prejudge the appearance of barrier associated with the barrier in present road scene, make evade collision decision in advance,
Guarantee the generation that vehicle has enough reaction time and respond to avoid traffic accident, further improves automatic Pilot vehicle
Intelligent level.
Embodiment three
Fig. 4 is the structural schematic diagram that the vehicle collision avoidance that the embodiment of the present application three provides prejudges device, as shown in figure 4, this
Embodiment provide device include:
Scene obtains module 410, for obtaining the present road scene information of vehicle.
Time determining module 420, for determining the anticipation time according to the present road scene information.
Tactful determining module 430, for determining anticollision strategy according to the anticipation time.
Control module 440 is travelled for controlling the vehicle according to the anticollision strategy.
Device provided in this embodiment can execute the technical solution of embodiment of the method shown in Fig. 2, realization principle and skill
Art effect is similar, and details are not described herein again.
Example IV
Fig. 5 is the structural schematic diagram that the vehicle collision avoidance that the embodiment of the present application four provides prejudges device, as shown in figure 5, this
The device that embodiment provides is on the basis of the device that the embodiment of the present application three provides, further, the time determining module
420, comprising:
Recognition unit 421, for corresponding pre- to the present road scene information using trained identification model
Obstacle information is surveyed to be identified.
Determination unit 422 determines the anticipation time for the current vehicle speed according to recognition result and vehicle.
Wherein, the trained identification model be according to different road scene information and with the road scene
Information predicts what barrier training obtained correspondingly.
Wherein, the prediction barrier is the barrier predicted according to the present road scene information.
Further, the determination unit 422 hinders specifically for the prediction obtained in the vehicle and the recognition result
Hinder the relative distance of object.According to the relative distance of the current vehicle speed of the vehicle and the vehicle and the prediction barrier,
Determine the anticipation time.
Further, the tactful determining module 430, comprising:
First determination unit 431, if being less than at the first time for the anticipation time, it is determined that the anticollision strategy of use
For the first anticollision strategy.
Second determination unit 432, if being more than or equal at the first time and being less than or equal to the second time for the anticipation time,
Then determine the anticollision strategy used for the second anticollision strategy.
Third determination unit 433, if being greater than for the second time for the anticipation time, it is determined that the anticollision strategy of use
For third anticollision strategy.
Further, the control module 440, comprising:
First control unit 441 controls the vehicle and stops if being the first anticollision strategy for the anticollision strategy
Only travel.
Second control unit 442 controls the vehicle and presses if being the second anticollision strategy for the anticollision strategy
It is travelled according to First Speed.
Third control unit 443 controls the vehicle and presses if being third anticollision strategy for the anticollision strategy
It is travelled according to second speed.
Wherein, First Speed is less than second speed, and second speed is less than current vehicle speed.
Further, the scene obtains module 410, comprising:
First acquisition unit 411, for using the Video stream information in camera acquisition present road scene.
Second acquisition unit 412, for being acquired in the video flowing using comprehensive millimetre-wave radar and/or laser radar
Barrier and the range information of the vehicle and the velocity information of the barrier.
Device provided in this embodiment can execute the technical solution of embodiment of the method shown in Fig. 3, realization principle and skill
Art effect is similar, and details are not described herein again.
Embodiment five
Fig. 6 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present application five provides, as shown in fig. 6, the present embodiment
The electronic equipment of offer includes: memory 610, processor 620 and computer program；
Wherein, the computer program is stored in the memory 610, and is configured as being held by the processor 620
Row is to realize such as the vehicle collision avoidance pre-judging method in the embodiment of the present application one or the vehicle collision avoidance in the embodiment of the present application two
Pre-judging method.
Related description can correspond to the corresponding associated description and effect of the step of referring to Fig. 1 to Fig. 2 and be understood, herein
It does not do and excessively repeats.
Embodiment six
The embodiment of the present application also provides a kind of computer readable storage medium, is stored thereon with computer program, the program
It is executed by processor to realize in vehicle collision avoidance pre-judging method or the embodiment of the present application two in such as the embodiment of the present application one
Vehicle collision avoidance pre-judging method.
Computer readable storage medium provided in this embodiment, by obtaining the present road scene information of vehicle, according to
The present road scene information determines the anticipation time, according to the anticipation time, determines anticollision strategy, and then control vehicle and press
It is travelled according to the anticollision strategy, to enable the vehicle to be prejudged and the barrier in current scene according to present road scene information
The appearance of associated barrier, makes evade collision decision in advance, guarantees that vehicle has enough reaction time and respond
The generation to avoid traffic accident further improves the intelligent level of automatic driving vehicle.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of module, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple module or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or module
It connects, can be electrical property, mechanical or other forms.
Module may or may not be physically separated as illustrated by the separation member, show as module
Component may or may not be physical module, it can and it is in one place, or may be distributed over multiple networks
In module.Some or all of the modules therein can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, can integrate in a processing module in each functional module in each embodiment of the application
It is that modules physically exist alone, can also be integrated in two or more modules in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also realize in the form of hardware adds software function module.
For implement the present processes program code can using any combination of one or more programming languages come
It writes.These program codes can be supplied to the place of general purpose computer, special purpose computer or other programmable data processing units
Device or controller are managed, so that program code makes defined in flowchart and or block diagram when by processor or controller execution
Function/operation is carried out.Program code can be executed completely on machine, partly be executed on machine, as stand alone software
Is executed on machine and partly execute or executed on remote machine or server completely on the remote machine to packet portion.
In the context of this application, machine readable media can be tangible medium, may include or is stored for
The program that instruction execution system, device or equipment are used or is used in combination with instruction execution system, device or equipment.Machine can
Reading medium can be machine-readable signal medium or machine-readable storage medium.Machine readable media can include but is not limited to electricity
Son, magnetic, optical, electromagnetism, infrared or semiconductor system, device or equipment or above content any conjunction
Suitable combination.The more specific example of machine readable storage medium will include the electrical connection of line based on one or more, portable meter
Calculation machine disk, hard disk, random access memory (RAM), read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM
Or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage facilities or
Any appropriate combination of above content.
Although this should be understood as requiring operating in this way with shown in addition, depicting each operation using certain order
Certain order out executes in sequential order, or requires the operation of all diagrams that should be performed to obtain desired result.
Under certain environment, multitask and parallel processing be may be advantageous.Similarly, although containing several tools in being discussed above
Body realizes details, but these are not construed as the limitation to the scope of the present disclosure.In the context of individual embodiment
Described in certain features can also realize in combination in single realize.On the contrary, in the described in the text up and down individually realized
Various features can also realize individually or in any suitable subcombination in multiple realizations.
Although having used specific to this theme of the language description of structure feature and/or method logical action, answer
When understanding that theme defined in the appended claims is not necessarily limited to special characteristic described above or movement.On on the contrary,
Special characteristic described in face and movement are only to realize the exemplary forms of claims.
Claims (14)
1. a kind of vehicle collision avoidance pre-judging method characterized by comprising
Obtain the present road scene information of vehicle；
According to the present road scene information, the anticipation time is determined；
According to the anticipation time, anticollision strategy is determined；
The vehicle is controlled to travel according to the anticollision strategy.
2. determination is pre- the method according to claim 1, wherein described according to the present road scene information
Sentence the time, specifically include:
The corresponding prediction obstacle information of the present road scene information is identified using trained identification model；
According to the current vehicle speed of recognition result and vehicle, the anticipation time is determined；
Wherein, the trained identification model be according to different road scene information and with the road scene information
What one-to-one prediction barrier training obtained；
Wherein, the prediction barrier is the barrier predicted according to the present road scene information.
3. according to the method described in claim 2, it is characterized in that, described work as front truck according to recognition result and vehicle
Speed determines the anticipation time, specifically includes:
Obtain the relative distance of the prediction barrier in the vehicle and the recognition result；
According to the relative distance of the current vehicle speed of the vehicle and the vehicle and the prediction barrier, when determining anticipation
Between.
4. according to the method described in claim 2, it is characterized in that, described determine anticollision strategy according to the anticipation time,
It specifically includes:
If the anticipation time is less than at the first time, it is determined that the anticollision strategy used is the first anticollision strategy；
If the anticipation time be more than or equal at the first time and be less than or equal to the second time, it is determined that the anticollision strategy used for
Second anticollision strategy；
If the anticipation time was greater than for the second time, it is determined that the anticollision strategy used is third anticollision strategy.
5. according to the method described in claim 4, it is characterized in that, the control vehicle is according to the anticollision policy line
It sails, specifically includes:
If the anticollision strategy is the first anticollision strategy, controls the vehicle and stop traveling；
If the anticollision strategy is the second anticollision strategy, controls the vehicle and travelled according to First Speed；
If the anticollision strategy is third anticollision strategy, controls the vehicle and travelled according to second speed；
Wherein, First Speed is less than second speed, and second speed is less than current vehicle speed.
6. method according to any one of claims 1-5, which is characterized in that the present road scene for obtaining vehicle
Information specifically includes:
Using the Video stream information in camera acquisition present road scene；
Barrier in the video flowing is acquired at a distance from the vehicle using comprehensive millimetre-wave radar and/or laser radar
The velocity information of information and the barrier.
7. a kind of vehicle collision avoidance prejudges device characterized by comprising
Scene obtains module, for obtaining the present road scene information of vehicle；
Time determining module, for determining the anticipation time according to the present road scene information；
Tactful determining module, for determining anticollision strategy according to the anticipation time；
Control module is travelled for controlling the vehicle according to the anticollision strategy.
8. device according to claim 7, which is characterized in that the time determining module, comprising:
Recognition unit, for using trained identification model to the corresponding prediction barrier of the present road scene information
Information is identified；
Determination unit determines the anticipation time for the current vehicle speed according to recognition result and vehicle；
Wherein, the trained identification model be according to different road scene information and with the road scene information
What one-to-one prediction barrier training obtained；
Wherein, the prediction barrier is the barrier predicted according to the present road scene information.
9. device according to claim 8, which is characterized in that
The determination unit, specifically for obtaining the relative distance of the prediction barrier in the vehicle and the recognition result；
According to the relative distance of the current vehicle speed of the vehicle and the vehicle and the prediction barrier, the anticipation time is determined.
10. device according to claim 8, which is characterized in that the strategy determining module, comprising:
First determination unit, if being less than first time for the anticipation time, it is determined that the anticollision strategy used is first
Anticollision strategy；
Second determination unit, if being more than or equal at the first time for the anticipation time and being less than or equal to for the second time, it is determined that
The anticollision strategy used is the second anticollision strategy；
Third determination unit, if being greater than for the second time for the anticipation time, it is determined that the anticollision strategy used is third
Anticollision strategy.
11. device according to claim 10, which is characterized in that the control module, comprising:
First control unit controls the vehicle and stops traveling if being the first anticollision strategy for the anticollision strategy；
Second control unit controls the vehicle according to first if being the second anticollision strategy for the anticollision strategy
Speed traveling；
Third control unit controls the vehicle according to second if being third anticollision strategy for the anticollision strategy
Speed traveling；
Wherein, First Speed is less than second speed, and second speed is less than current vehicle speed.
12. device according to any one of claims 7-11, which is characterized in that the scene obtains module, comprising:
First acquisition unit, for using the Video stream information in camera acquisition present road scene；
Second acquisition unit, for acquiring the obstacle in the video flowing using comprehensive millimetre-wave radar and/or laser radar
Object and the range information of the vehicle and the velocity information of the barrier.
13. a kind of electronic equipment characterized by comprising memory, processor and computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor to realize such as
Method of any of claims 1-6.
14. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
It executes to realize such as method of any of claims 1-6.
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| CN201910586830.XA CN110316186A (en) | 2019-07-01 | 2019-07-01 | Vehicle collision avoidance pre-judging method, device, equipment and readable storage medium storing program for executing |
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| CN201910586830.XA CN110316186A (en) | 2019-07-01 | 2019-07-01 | Vehicle collision avoidance pre-judging method, device, equipment and readable storage medium storing program for executing |
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