CN115923780A

CN115923780A - Vehicle night collision avoidance protection method and device, electronic equipment and storage medium

Info

Publication number: CN115923780A
Application number: CN202310004668.2A
Authority: CN
Inventors: 刘枫; 高长胜; 陈博; 刘斌; 吴杭哲
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-01-03
Filing date: 2023-01-03
Publication date: 2023-04-07

Abstract

The invention discloses a vehicle night collision avoidance protection method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring vehicle running information and night environment information of a current vehicle; determining a target obstacle based on vehicle travel information and night environment information of a current vehicle; under the condition that the current vehicle and the target barrier have collision risks, if the current vehicle does not meet the automatic emergency steering condition, the current vehicle executes an emergency braking strategy; and if the current vehicle meets the automatic emergency steering condition, judging whether the current vehicle meets the steering driving condition, if so, executing an emergency steering strategy by the current vehicle, and if not, executing an emergency steering braking strategy by the current vehicle. According to the technical scheme, the road condition is fully considered, and a fine collision avoidance strategy is formulated, so that the collision risk of the vehicle at night is reduced.

Description

Vehicle night collision avoidance protection method and device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of automatic driving, in particular to a vehicle night collision avoidance protection method and device, electronic equipment and a storage medium.

Background

Along with the development of the driving assistance technology of the intelligent vehicle, the intelligence degree of the vehicle is continuously improved, and the requirement on the driving safety of the vehicle is higher and higher.

In the current function of an Advanced Driving Assistance System (ADAS), a night vision System is available, which can help a driver to obtain higher anticipation ability under low illumination conditions such as night, and can clear traffic participants in darkness, who cannot be illuminated by low-beam light in advance, and provide more comprehensive and accurate information or give early warning to the driver for potential danger.

At present, the scheme of applying a night vision system to vehicle emergency collision avoidance control has collision risks.

Disclosure of Invention

The invention provides a vehicle night collision avoidance protection method and device, electronic equipment and a storage medium, which are used for reducing the risk of vehicle collision at night.

According to an aspect of the present invention, there is provided a vehicle night collision avoidance protection method, including:

acquiring vehicle running information and night environment information of a current vehicle;

determining a target obstacle based on the vehicle driving information and the night environment information of the current vehicle;

under the condition that the current vehicle and the target obstacle have collision risks, if the current vehicle does not meet the automatic emergency steering condition, the current vehicle executes an emergency braking strategy;

if the current vehicle meets the automatic emergency steering condition, judging whether the current vehicle meets the steering driving condition, if so, executing an emergency steering strategy by the current vehicle, and if not, executing an emergency steering braking strategy by the current vehicle.

According to another aspect of the present invention, there is provided a vehicle night collision avoidance protection apparatus, including:

the information acquisition module is used for acquiring vehicle running information and night environment information of a current vehicle;

a target obstacle determination module for determining a target obstacle based on the vehicle driving information of the current vehicle and the night environment information;

the emergency steering judging module is used for executing an emergency braking strategy on the current vehicle if the current vehicle does not meet an automatic emergency steering condition under the condition that the current vehicle has collision risk with the target obstacle;

and the steering driving judgment module is used for judging whether the current vehicle meets the steering driving condition or not if the current vehicle meets the automatic emergency steering condition, executing an emergency steering strategy by the current vehicle if the current vehicle meets the automatic emergency steering condition, and executing an emergency steering braking strategy by the current vehicle if the current vehicle does not meet the automatic emergency steering condition.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle night collision avoidance protection method according to any embodiment of the present invention.

According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to implement the vehicle night collision avoidance protection method according to any embodiment of the present invention when executed.

According to the technical scheme of the embodiment of the invention, the target barrier is determined according to the vehicle running information and the night environment information of the current vehicle, so that the barrier in the road is determined; under the condition that the current vehicle and the target obstacle have collision risks, if the current vehicle does not meet the automatic emergency steering condition, the current vehicle executes an emergency braking strategy; if the current vehicle meets the automatic emergency steering condition, whether the current vehicle meets the steering driving condition is judged, if yes, the current vehicle executes an emergency steering strategy, and if not, the current vehicle executes an emergency steering braking strategy.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a method for protecting a vehicle from collision at night according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of an emergency braking strategy provided in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of an emergency steering strategy according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of an emergency steering braking strategy provided in accordance with an embodiment of the present invention;

fig. 5 is a flowchart of a method for protecting a vehicle from collision at night according to a second embodiment of the present invention;

fig. 6 is a flowchart of a method for protecting a vehicle from collision at night according to a third embodiment of the present invention;

fig. 7 is a schematic structural diagram of a vehicle night collision avoidance protection device according to a fourth embodiment of the present invention;

fig. 8 is a schematic structural diagram of an electronic device for implementing the vehicle night collision avoidance protection method according to the embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a vehicle night collision avoidance protection method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle automatically avoids an obstacle at night, and the method may be executed by a vehicle night collision avoidance protection device, where the vehicle night collision avoidance protection device may be implemented in a form of hardware and/or software, and the vehicle night collision avoidance protection device may be configured in a vehicle-mounted terminal. As shown in fig. 1, the method includes:

and S110, acquiring the vehicle running information and the night environment information of the current vehicle.

In the present embodiment, the vehicle travel information of the current vehicle includes information such as a vehicle speed, an acceleration, a steering speed, and a steering acceleration. The night environment information refers to road environment information where the current vehicle travels at night. The night environment information may include front environment information, side environment information, and rear environment information divided in azimuth. Classified by category, the nighttime environmental information may include, but is not limited to, lane lines, surrounding vehicles, pedestrians, obstacle recognition, lane boundaries, and the like.

For example, the night environment information may be obtained through an automobile night vision system and/or other devices, wherein the automobile night vision system may be an active night vision system, a passive night vision system, or a low-light night vision system, and the other devices may be one or more of a millimeter-wave radar, a camera, and a laser radar.

And S120, determining a target obstacle based on the vehicle running information and the night environment information of the current vehicle.

The target obstacle is an object that affects the current vehicle, and may be a pedestrian and/or a two-wheeled vehicle, for example.

Specifically, a person and/or a two-wheel vehicle which may be at risk can be screened out according to the vehicle driving information and the night environment information of the current vehicle, and information such as the position, the attribute, the speed and the longitudinal collision time related to the person and/or the two-wheel vehicle can be output.

S130, under the condition that the current vehicle and the target obstacle have collision risks, if the current vehicle does not meet the automatic emergency steering condition, the current vehicle executes an emergency braking strategy.

The automatic emergency steering condition is a judgment condition for judging whether the vehicle can be steered. The emergency braking strategy refers to a risk avoidance strategy for directly braking the vehicle in the current lane, as shown in fig. 2.

Optionally, the automatic emergency steering condition comprises: the escape curve path of the current vehicle has no obstacles. The escape curve path is a travel path where the vehicle avoids an obstacle.

For example, in a case where there is a risk of collision between the current vehicle and the target obstacle, if there is an obstacle in an escape curve path of the current vehicle, the current vehicle executes an emergency braking strategy to stop the vehicle to avoid collision.

S140, if the current vehicle meets the automatic emergency steering condition, judging whether the current vehicle meets the steering driving condition, if so, executing an emergency steering strategy by the current vehicle, and if not, executing an emergency steering braking strategy by the current vehicle.

The steering driving condition is a determination condition as to whether or not the vehicle can continue to drive after being steered. The emergency steering strategy refers to a danger avoiding strategy for continuing driving after the vehicle is steered, and is shown in figure 3. The emergency steering braking strategy refers to a danger avoiding strategy of braking after the vehicle is steered, and is shown in figure 4.

Optionally, the steering driving condition comprises: the longitudinal collision time of the current vehicle and the target object in the side lane is larger than a first longitudinal collision time threshold value, wherein the first longitudinal collision time threshold value is a longitudinal collision time value which ensures that the current vehicle and the target object in the side lane have no collision risk.

The target object may be a car, truck, or other traveling object in a side lane, among others. For example, the first longitudinal collision time threshold is a minimum longitudinal collision time value that ensures that the current vehicle does not have a risk of collision with the target object in the side lane.

It should be noted that the automatic emergency steering condition and the steering driving condition comprehensively consider the surrounding environment of the current vehicle, so that the selection of the risk avoidance strategy is more reasonable, and the collision is avoided.

In some optional embodiments, after determining the target obstacle based on the vehicle travel information and the nighttime environment information of the current vehicle, the method includes: and generating obstacle display information according to the target obstacle, wherein the type of the obstacle display information comprises an image type and/or a voice type.

It will be appreciated that the obstacle presentation information may be used to alert the driver to the presence of an obstacle in the road. Specifically, the information that can be displayed as the obstacle can be displayed by a display, a sound, a head-up display, or the like in the vehicle.

In some optional embodiments, after determining the target obstacle based on the vehicle travel information and the nighttime environment information of the current vehicle, the method includes: determining a longitudinal collision time of the current vehicle with the target obstacle based on vehicle travel information of the current vehicle and night environment information; and if the longitudinal collision time of the current vehicle and the target obstacle is smaller than a second longitudinal collision time threshold value, the current vehicle and the target obstacle have a collision risk, wherein the second longitudinal collision time threshold value is a longitudinal collision time value which ensures that the current vehicle and the target obstacle have no collision risk.

Illustratively, the second longitudinal collision time threshold is a minimum longitudinal collision time value that ensures that the current vehicle is not at risk of colliding with the target obstacle.

Example two

Fig. 5 is a flowchart of a vehicle night collision avoidance method according to a second embodiment of the present invention, and the method according to the second embodiment may be combined with various alternatives of the vehicle night collision avoidance method according to the first embodiment. The vehicle night collision avoidance protection method provided by the embodiment is further optimized. Optionally, the vehicle running information of the current vehicle includes a vehicle running speed and a vehicle acceleration; the determining a target obstacle based on the vehicle travel information and the night environment information of the current vehicle includes: determining a time at which the current vehicle reaches a target position based on the vehicle running speed and the vehicle acceleration; and determining that the detection target at the moment when the current vehicle reaches the target position is the target obstacle.

As shown in fig. 5, the method includes:

s210, vehicle running information and night environment information of the current vehicle are obtained, wherein the vehicle running information of the current vehicle comprises vehicle running speed and vehicle acceleration.

And S220, determining the time when the current vehicle reaches the target position based on the vehicle running speed and the vehicle acceleration.

And the moment when the current vehicle reaches the target position comprises the moment when the current vehicle reaches the target longitudinal position and the moment when the current vehicle reaches the collision position.

Specifically, the time when the front vehicle reaches the target longitudinal position is predicted based on the vehicle running speed and the vehicle acceleration; the present vehicle arrival collision position time is predicted based on the vehicle running speed and the vehicle acceleration.

And S230, determining that the detection target at the moment when the current vehicle reaches the target position is the target obstacle.

For example, a target in a target lane at the time when the current vehicle reaches the target longitudinal position may be selected as a target obstacle, and if a plurality of targets exist, the targets are sorted in ascending order of longitudinal collision time between the current vehicle and each target, and the target with the maximum longitudinal collision time is determined as the target obstacle; or, a target in a target lane at the moment when the current vehicle reaches the collision position can be selected as a target obstacle, if a plurality of targets exist, the targets are sorted according to the ascending order of the longitudinal collision time of the current vehicle and each target, and the target with the maximum longitudinal collision time is determined as the target obstacle; wherein the target lane may be a current lane, a left lane, and a right lane.

S240, under the condition that the current vehicle and the target obstacle have collision risks, if the current vehicle does not meet the automatic emergency steering condition, the current vehicle executes an emergency braking strategy.

S250, if the current vehicle meets the automatic emergency steering condition, judging whether the current vehicle meets the steering driving condition, if so, executing an emergency steering strategy by the current vehicle, and if not, executing an emergency steering braking strategy by the current vehicle.

According to the technical scheme of the embodiment of the invention, the time when the current vehicle reaches the target position is determined based on the vehicle running speed and the vehicle acceleration, and the detection target at the time when the current vehicle reaches the target position is determined to be the target obstacle, so that the prediction of the target obstacle of the current vehicle is realized, and a reliable basis is provided for avoiding collision of the vehicle at night.

EXAMPLE III

Fig. 6 is a flowchart of a vehicle night collision avoidance protection method according to a third embodiment of the present invention, where the method according to the present embodiment is a preferred example of the above embodiment.

As shown in fig. 6, the method includes:

the first step is as follows: the vehicle starts the pedestrian collision avoidance protection system at night.

The second step is that: and in the vehicle running process, obtaining the vehicle running information and night environment information of the current vehicle in real time, judging whether dangerous pedestrians and/or two-wheel vehicles exist in front of the vehicle, if so, executing the third step, and if not, running the current vehicle normally.

The third step: dangerous pedestrians and/or two-wheelers are presented to the driver.

The fourth step: and judging whether the current vehicle has collision risk with the dangerous pedestrian and/or the two-wheel vehicle, if so, executing the fifth step, and if not, normally driving.

The fifth step: and if the environment meets the requirement of automatic emergency steering of the current vehicle, executing the sixth step, and if not, executing emergency braking of the current vehicle.

Specifically, the environment is not satisfied with automatic emergency steering of the current vehicle, indicating that an obstacle exists in the escape route of the current vehicle.

And a sixth step: and if the environment meets the requirement that the vehicle continues to run after the current vehicle automatically and emergently turns, if so, performing emergency turning on the current vehicle and continuing to run, and if not, performing emergency turning and braking on the current vehicle.

Specifically, if the environment meets the requirement that the vehicle continues to run after the current vehicle automatically and emergently turns, the escape route of the current vehicle is free of obstacles, and the longitudinal collision time of the target object in front of or behind the side lane and the current vehicle is larger than a first longitudinal collision time threshold value. If the environment does not meet the requirement that the vehicle continues to run after the current vehicle automatically and emergently turns, it is indicated that the escape path of the current vehicle is free of obstacles, but obstacles exist in front of the side lane, and the current vehicle cannot continue to pass, namely the longitudinal collision time of the target object in front of the side lane and the current vehicle is smaller than a first longitudinal collision time threshold, and the longitudinal collision time of the rear target object and the current vehicle is larger than a third longitudinal collision time threshold, wherein the third longitudinal collision time threshold can be a minimum longitudinal collision time threshold that the current vehicle and the rear target object have no collision risk. Meanwhile, the system sends out reminding information to the driver to inform the current vehicle state and the execution strategy.

Specifically, when the collision risk is detected, the current vehicle needs to execute emergency danger avoiding operation, and meanwhile, the system detects the night environment, and judges whether the adjacent space meets the danger avoiding operation of the automatic emergency steering condition, namely, avoiding spaces exist at two sides/one side of the current lane, no obstacles exist, no secondary collision risk exists when the vehicle is steered to the side lane, and the vehicle can continuously run after danger avoiding, the system judges that the current night environment meets the automatic emergency steering condition, plans an emergency danger avoiding path, and ensures that the vehicle can continuously run after danger avoiding;

further, the system judges that the current environment meets the automatic emergency steering condition, namely, avoidance spaces exist on two sides/one side of the vehicle lane, no obstacles exist, and no secondary collision risk exists when the vehicle is steered to the side lane, but the vehicle can not continue to run after the risk is avoided, the system executes an emergency steering and emergency braking strategy, plans an emergency risk avoiding path, and simultaneously longitudinally applies deceleration braking until the vehicle is in a safe area, adjusts the posture of the vehicle body, keeps in the lane and stops; and if the environment does not meet the automatic emergency steering condition, the system executes an emergency braking strategy, so that collision damage is reduced to the maximum extent.

In some embodiments, planning risk avoidance is performed according to risk avoidance strategy input of the emergency risk avoidance decision module and by combining traffic environment, dangerous target information and vehicle information, the planning risk avoidance includes a steering angle and deceleration required by emergency steering and deceleration braking, the steering angle and the deceleration include a steering angle and deceleration required by preset emergency steering without emergency braking at the current vehicle speed, and the emergency braking without deceleration required by emergency steering.

In some embodiments, the night pedestrian collision avoidance system further comprises: the longitudinal control execution module is used for receiving the command of the emergency hedge planning module and executing a longitudinal emergency braking action, and mainly comprises a braking system; the transverse steering control execution module is used for receiving the command of the emergency danger avoiding planning module and executing transverse emergency steering action, and mainly comprises a steering system; and the alarm module is used for reminding the driver, informing the current vehicle state and executing the strategy.

Example four

Fig. 7 is a schematic structural diagram of a vehicle night collision avoidance protection device according to a fourth embodiment of the present invention. As shown in fig. 7, the apparatus includes:

an information obtaining module 410, configured to obtain vehicle driving information and night environment information of a current vehicle;

a target obstacle determination module 420 for determining a target obstacle based on the vehicle driving information of the current vehicle and the night environment information;

an emergency steering judgment module 430, configured to, under a condition that there is a collision risk between the current vehicle and the target obstacle, if the current vehicle does not meet an automatic emergency steering condition, execute an emergency braking strategy on the current vehicle;

the steering driving determination module 440 is configured to determine whether the current vehicle meets a steering driving condition if the current vehicle meets an automatic emergency steering condition, execute an emergency steering policy if the current vehicle meets the steering driving condition, and execute an emergency steering braking policy if the current vehicle does not meet the steering driving condition.

In some alternative embodiments, the automatic emergency steering condition comprises:

and no obstacle exists in the escape curve path of the current vehicle.

In some optional embodiments, the steering driving condition includes:

the longitudinal collision time of the current vehicle and the target object in the side lane is greater than a first longitudinal collision time threshold, wherein the first longitudinal collision time threshold is a longitudinal collision time value which ensures that the current vehicle and the target object in the side lane have no collision risk.

In some optional embodiments, the vehicle travel information of the current vehicle includes a vehicle travel speed and a vehicle acceleration; the target obstacle determination module 420 is specifically configured to:

determining a time at which the current vehicle reaches a target position based on the vehicle travel speed and a vehicle acceleration;

and determining that the detection target at the moment when the current vehicle reaches the target position is the target obstacle.

In some optional embodiments, the time when the current vehicle reaches the target position includes a time when the current vehicle reaches the target longitudinal position and a time when the current vehicle reaches the collision position.

In some optional embodiments, the apparatus further comprises:

and the obstacle display information generating module is used for generating obstacle display information according to the target obstacle, and the type of the obstacle display information comprises an image type and/or a voice type.

In some optional embodiments, the apparatus further comprises:

a longitudinal collision time determination module for determining a longitudinal collision time of the current vehicle with the target obstacle based on vehicle travel information of the current vehicle and night environment information;

and the collision risk judging module is used for judging that the current vehicle has a collision risk with the target obstacle if the longitudinal collision time of the current vehicle and the target obstacle is less than a second longitudinal collision time threshold, wherein the second longitudinal collision time threshold is a longitudinal collision time value which ensures that the current vehicle and the target obstacle have no collision risk.

The vehicle night collision avoidance protection device provided by the embodiment of the invention can execute the vehicle night collision avoidance protection method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

EXAMPLE five

FIG. 8 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 8, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. Processor 11 performs the various methods and processes described above, such as a vehicle night collision avoidance method, comprising:

In some embodiments, the vehicle night collision avoidance method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle night collision avoidance method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle night collision avoidance method by any other suitable means (e.g., by way of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle night collision avoidance protection method is characterized by comprising the following steps:

2. The method of claim 1, wherein the automatic emergency steering condition comprises:

and no obstacle exists in the escape curve path of the current vehicle.

3. The method of claim 1, wherein the steering driving conditions comprise:

4. The method according to claim 1, wherein the vehicle travel information of the current vehicle includes a vehicle travel speed and a vehicle acceleration;

the determining a target obstacle based on the vehicle travel information and the night environment information of the current vehicle includes:

and determining that the detection target at the moment when the current vehicle reaches the target position is a target obstacle.

5. The method of claim 4, wherein the time at which the current vehicle reaches the target position comprises a time at which the current vehicle reaches the target longitudinal position and a time at which the current vehicle reaches the collision position.

6. The method according to claim 1, characterized by, after the determining a target obstacle based on the vehicle travel information and the nighttime environment information of the current vehicle, comprising:

and generating obstacle display information according to the target obstacle, wherein the type of the obstacle display information comprises an image type and/or a voice type.

7. The method according to claim 1, characterized by, after the determining a target obstacle based on the vehicle travel information and the nighttime environment information of the current vehicle, comprising:

determining a longitudinal collision time of the current vehicle with the target obstacle based on vehicle travel information and nighttime environment information of the current vehicle;

if the longitudinal collision time of the current vehicle and the target obstacle is smaller than a second longitudinal collision time threshold value, the current vehicle and the target obstacle have a collision risk, wherein the second longitudinal collision time threshold value is a longitudinal collision time value which ensures that the current vehicle and the target obstacle have no collision risk.

8. A vehicle night collision avoidance protection device, comprising:

the emergency steering judgment module is used for executing an emergency braking strategy on the current vehicle if the current vehicle does not meet an automatic emergency steering condition under the condition that the current vehicle and the target obstacle have collision risks;

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle night collision avoidance protection method of any of claims 1-7.

10. A computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle night collision avoidance protection method of any one of claims 1 to 7 when executed.