CN112464384A - Collision time estimation method, device, equipment and storage medium - Google Patents
Collision time estimation method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a collision time estimation method, a collision time estimation device, collision time estimation equipment and a storage medium. The method comprises the following steps: if the collision between the current vehicle and the target vehicle is estimated, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle; acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any edge of the external rectangle of the target vehicle; acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle; and determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
Description
Technical Field
The embodiment of the invention relates to vehicle technology, in particular to a collision time estimation method, a collision time estimation device, collision time estimation equipment and a storage medium.
Background
Existing methods for calculating vehicle collision times are mainly calculated by simplifying the vehicle into particles, modeling the vehicle into a circle, and inflating the vehicle into a rectangle containing a safe area. The vehicle is simplified into mass points, which causes the defect that the TTC time has larger deviation; under the condition that the vehicle is simplified into a round shape, when the length and the width of the vehicle have more phase differences, the calculated result has great deviation; the vehicle collision time deviation can also exist when the vehicle is expanded into the rectangular collision containing the safe area, the existing rectangular collision calculation method is difficult to understand, most typically, the vehicle collision of the rectangular model is classified into the collision of the long side and the short side, the calculation method is also complicated, the efficiency is low, and the software implementation difficulty is increased.
Disclosure of Invention
The embodiment of the invention provides a collision time estimation method, a collision time estimation device, collision time estimation equipment and a storage medium, so that the efficiency of calculating the collision time of a vehicle and the accuracy of calculating the collision time of the vehicle can be ensured, and the understanding of a vehicle collision algorithm and the difficulty of software implementation are greatly reduced.
In a first aspect, an embodiment of the present invention provides a method for estimating collision time, including:
if the collision between the current vehicle and the target vehicle is estimated, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle;
acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed;
acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed;
and determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
Further, if it is estimated that the current vehicle and the target vehicle collide, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle, including:
acquiring the motion state information of a current vehicle and the motion state information of at least one target vehicle received by the current vehicle;
establishing a circular collision model according to the motion state information of the current vehicle and the motion state information of the target vehicle;
if the collision between the current vehicle and the target vehicle is estimated according to the circular collision model, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle.
Further, predicting the collision between the current vehicle and the target vehicle according to the circular collision model, including:
acquiring a first circumscribed circle of the current vehicle and a second circumscribed circle of the target vehicle;
and if the distance between the circle center of the first circumscribed circle and the circle center of the second circumscribed circle is less than or equal to the sum of the radius of the first circumscribed circle and the radius of the second circumscribed circle after the preset time, predicting that the current vehicle collides with the target vehicle.
Further, determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed, including:
if a first ray of at least one vertex of the circumscribed rectangle of the current vehicle and at least one side of the circumscribed rectangle of the target vehicle have an intersection point, and a second ray of at least one vertex of the circumscribed rectangle of the target vehicle and at least one side of the circumscribed rectangle of the current vehicle have an intersection point, determining the minimum value of the time for the at least one vertex of the circumscribed rectangle of the current vehicle to move to the first intersection point according to the first relative speed and the time for the at least one vertex of the circumscribed rectangle of the target vehicle to move to the second intersection point according to the second relative speed as the estimated collision time.
Further, the first relative speed is a difference vector between the speed of the current vehicle and the speed of the target vehicle, and the second relative speed is a difference vector between the speed of the target vehicle and the speed of the current vehicle.
In a second aspect, an embodiment of the present invention further provides a collision time estimation apparatus, where the apparatus includes:
the building module is used for building an external rectangle of the current vehicle according to the motion state information of the current vehicle and building an external rectangle of the target vehicle according to the motion state information of the target vehicle if the collision between the current vehicle and the target vehicle is estimated;
the first acquisition module is used for acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed;
the second acquisition module is used for acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed;
and the determining module is used for determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
Further, the establishing module is specifically configured to:
acquiring the motion state information of a current vehicle and the motion state information of at least one target vehicle received by the current vehicle;
establishing a circular collision model according to the motion state information of the current vehicle and the motion state information of the target vehicle;
if the collision between the current vehicle and the target vehicle is estimated according to the circular collision model, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle.
Further, the establishing module is specifically configured to:
acquiring a first circumscribed circle of the current vehicle and a second circumscribed circle of the target vehicle;
and if the distance between the circle center of the first circumscribed circle and the circle center of the second circumscribed circle is less than or equal to the sum of the radius of the first circumscribed circle and the radius of the second circumscribed circle after the preset time, predicting that the current vehicle collides with the target vehicle.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the time-to-collision estimation method according to any one of the embodiments of the present invention when executing the program.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the time-to-collision estimation method according to any one of the embodiments of the present invention.
According to the method and the device, after the collision between the current vehicle and the target vehicle is estimated, the external rectangle of the current vehicle is established according to the motion state information of the current vehicle, and the external rectangle of the target vehicle is established according to the motion state information of the target vehicle; acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed; acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed; and determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed, so that the efficiency of calculating the vehicle collision time and the accuracy of calculating the vehicle collision time can be ensured, and the understanding of a vehicle collision algorithm and the software implementation difficulty are greatly reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a collision time estimation method according to a first embodiment of the present invention;
FIG. 1a is a flow chart of another method for estimating a collision time according to one embodiment of the present invention;
FIG. 1b is a schematic view of a circular collision in the first embodiment of the present invention;
FIG. 1c is a schematic diagram of a rectangular model according to a first embodiment of the present invention;
FIG. 1d is a schematic side impact diagram of the point Car1_2 and the point Car2_0Car2_1 in the first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a collision time estimation apparatus according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a collision time estimation method according to an embodiment of the present invention, which is applicable to a collision time estimation situation, and the method may be implemented by a collision time estimation device according to an embodiment of the present invention, where the collision time estimation device may be implemented in a software and/or hardware manner, as shown in fig. 1, the collision time estimation method specifically includes the following steps:
s110, if the collision between the current vehicle and the target vehicle is estimated, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle.
The target vehicle may be a vehicle around the current vehicle, and specifically, the manner of acquiring the target vehicle may be to determine another vehicle, which receives the motion state information by using the communication device mounted in the current vehicle, as the target vehicle, or may be to determine a vehicle corresponding to the motion state information as the target vehicle by using the communication device mounted in the current vehicle to receive the motion state information sent by the roadside sensing device, where the communication device mounted in the vehicle may be an OBU device, which is not limited in this embodiment of the present invention.
The method for predicting the collision between the current vehicle and the target vehicle may be to predict the collision between the current vehicle and the target vehicle according to the established circular collision model, or may be to predict the collision according to other methods, which is not limited in the embodiment of the present invention.
The method for establishing the external rectangle of the current vehicle according to the motion state information of the current vehicle may be that the center of the current vehicle is taken as the center of the external rectangle of the current vehicle, and four sides of the current vehicle are four sides of the external rectangle of the current vehicle.
The method for establishing the circumscribed rectangle of the target vehicle according to the motion state information of the target vehicle may be that the center of the target vehicle is taken as the center of the circumscribed rectangle of the target vehicle, and four sides of the target vehicle are taken as four sides of the circumscribed rectangle of the target vehicle.
Illustratively, the motion state information of the current vehicle and the motion state information of the target vehicle are acquired in advance; if the collision between the current vehicle and the target vehicle is estimated according to the motion state information of the current vehicle and the motion state information of the target vehicle, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle.
S120, a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle is obtained, wherein the direction of the first ray is the same as the direction of the first relative speed.
The first vertex may be any vertex of a circumscribed rectangle of the current vehicle, for example, if four vertices of the circumscribed rectangle of the current vehicle are a, b, c, and d, the first vertex may be a, b, c, or d, which is not limited in this embodiment of the present invention.
Wherein the direction of the first ray and the direction of the first relative velocity are the same. And the first relative speed is a difference vector of the speed of the current vehicle and the speed of the target vehicle.
For example, if four sides of the external rectangle of the target vehicle are AB, BC, CD and AD, the arbitrary side of the external rectangle of the target vehicle may be AB, BC, CD or AD, which is not limited in this embodiment of the present invention.
For example, a first intersection point of a first ray where a first vertex of the circumscribed rectangle of the current vehicle is located and any side of the circumscribed rectangle of the target vehicle is obtained, which may be, for example, an intersection point of a first ray where a vertex a of the circumscribed rectangle of the current vehicle is located and a side AB of the circumscribed rectangle of the target vehicle.
S130, a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle is obtained, wherein the direction of the second ray is the same as the direction of a second relative speed.
The second vertex may be any vertex of a circumscribed rectangle of the target vehicle, for example, if four vertices of the circumscribed rectangle of the target vehicle are A, B, C and D, the second vertex may be a, B, C, or D, which is not limited in this embodiment of the present invention.
Wherein the direction of the second ray and the direction of the second relative velocity are the same. And the second relative speed is a difference vector of the speed of the target vehicle and the speed of the current vehicle.
For example, if four sides of the circumscribed rectangle of the current vehicle are ab, bc, cd and ad, the arbitrary side of the circumscribed rectangle of the current vehicle may be ab, bc, cd or ad, which is not limited in this embodiment of the present invention.
For example, a second intersection point of a second ray at which the second vertex of the circumscribed rectangle of the target vehicle is located and any side of the circumscribed rectangle of the current vehicle may be obtained, for example, the intersection point of the second ray at which the vertex a of the circumscribed rectangle of the target vehicle is located and a side ab of the circumscribed rectangle of the current vehicle may be obtained.
And S140, determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
For example, the estimated collision time may be determined according to a time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and a time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed, by obtaining a time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and a time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed, and determining the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed as the estimated collision time if the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed is less than the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed, and if the time for the second vertex of the circumscribed rectangle of the target vehicle to move to the second intersection point at the second relative speed is less than the time for the first vertex of the circumscribed rectangle of the current vehicle to move to the first intersection point at the first relative speed, determining the time for the second vertex of the circumscribed rectangle of the target vehicle to move to the second intersection point at the second relative speed as the estimated collision time. The method for determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed may also be that the minimum value of the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed is determined as the estimated collision time, which is not limited in the embodiment of the present invention.
Optionally, if it is estimated that the current vehicle and the target vehicle collide with each other, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle, including:
acquiring the motion state information of a current vehicle and the motion state information of at least one target vehicle received by the current vehicle;
establishing a circular collision model according to the motion state information of the current vehicle and the motion state information of the target vehicle;
if the collision between the current vehicle and the target vehicle is estimated according to the circular collision model, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle.
The motion state information of the at least one target vehicle may be obtained in a manner that the motion state information of the target vehicle is sent to the current vehicle through the vehicle-mounted communication device of the at least one target vehicle, or may be the motion state information of the at least one target vehicle sent through the road sensing device, which is not limited in this embodiment of the present invention.
The method for establishing the circular collision model according to the motion state information of the current vehicle and the motion state information of the target vehicle can be that the center of the current vehicle is the center of the circumscribed circle of the current vehicle, half of the diagonal length of the current vehicle is used as the radius of the circumscribed circle of the current vehicle, the center of the target vehicle is used as the center of the circumscribed circle of the target vehicle, and half of the diagonal length of the target vehicle is used as the radius of the circumscribed circle of the target vehicle.
Optionally, predicting the collision between the current vehicle and the target vehicle according to the circular collision model includes:
acquiring a first circumscribed circle of the current vehicle and a second circumscribed circle of the target vehicle;
and if the distance between the circle center of the first circumscribed circle and the circle center of the second circumscribed circle is less than or equal to the sum of the radius of the first circumscribed circle and the radius of the second circumscribed circle after the preset time, predicting that the current vehicle collides with the target vehicle.
The first circumscribed circle is a circumscribed circle of the current vehicle, the circle center of the circumscribed circle of the current vehicle is the center of the current vehicle, the radius of the circumscribed circle of the current vehicle is half of the diagonal length of the current vehicle, the second circumscribed circle is a circumscribed circle of the target vehicle, the circle center of the circumscribed circle of the target vehicle is the center of the target vehicle, and the radius of the circumscribed circle of the target vehicle is half of the diagonal length of the target vehicle.
Optionally, determining an estimated collision time according to a time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and a time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed, including:
if a first ray of at least one vertex of the circumscribed rectangle of the current vehicle and at least one side of the circumscribed rectangle of the target vehicle have an intersection point, and a second ray of at least one vertex of the circumscribed rectangle of the target vehicle and at least one side of the circumscribed rectangle of the current vehicle have an intersection point, determining the minimum value of the time for the at least one vertex of the circumscribed rectangle of the current vehicle to move to the first intersection point according to the first relative speed and the time for the at least one vertex of the circumscribed rectangle of the target vehicle to move to the second intersection point according to the second relative speed as the estimated collision time.
For example, if only a first ray where a vertex a of a circumscribed rectangle of the current vehicle is located exists and an intersection point O exists on one side of the circumscribed rectangle of the target vehicle, determining the time when a moves to the point O at the first relative speed as the estimated collision time; if only a first ray of the vertex A of the circumscribed rectangle of the current vehicle and one side of the circumscribed rectangle of the target vehicle have an intersection point O, and a first ray of the vertex B of the circumscribed rectangle of the current vehicle and one side of the circumscribed rectangle of the target vehicle have an intersection point P, determining the minimum value of the time from the A to the O point at the first relative speed and the time from the B to the P point at the first relative speed as the estimated collision time; if only the first ray of the vertex A of the circumscribed rectangle of the current vehicle and one side of the circumscribed rectangle of the target vehicle have an intersection point O, and the first ray of the vertex b of the circumscribed rectangle of the target vehicle and one side of the circumscribed rectangle of the current vehicle have an intersection point Q, the minimum value of the time when the A moves to the point O at the first relative speed and the time when the b moves to the point Q at the second relative speed is taken as the estimated collision time.
Optionally, the first relative speed is a difference vector between a speed of the current vehicle and a speed of the target vehicle, and the second relative speed is a difference vector between the speed of the target vehicle and the speed of the current vehicle.
The embodiment of the invention provides a method for calculating vehicle collision time based on circular and rectangular modeling. Firstly, performing circular modeling on a vehicle to ensure the operating efficiency of a program; secondly, when the modeled round vehicle can collide, a rectangular collision model is established for the vehicle, and a rectangular collision calculation method is provided to accurately calculate the TTC of the vehicle. Therefore, the embodiment of the invention effectively ensures the efficiency of calculating the vehicle collision time through the first round collision calculation, effectively ensures the accuracy of TTC calculation through the second super-comprehensible rectangular collision model algorithm, and greatly reduces the comprehension of the vehicle collision algorithm and the difficulty of software realization.
In a specific example, after the vehicle-mounted communication device receives the motion state information of the other vehicle sent by the vehicle-mounted communication device or the roadside sensing device of the other vehicle, according to the motion state information of the vehicle, a circular vehicle collision model is firstly established, and whether a circular collision exists between the vehicle and the other vehicle is calculated. If the circular collision does not exist, the collision calculation is finished, and the TTC is set to be infinite, namely no collision exists; if the vehicle has a circular collision, a rectangular collision model of the vehicle and other vehicles is established, and the rectangular collision condition of the vehicle and other vehicles is calculated through a rectangular collision time algorithm provided by the embodiment of the invention; outputting the calculated TTC when the host vehicle and other vehicles have rectangular collision; when the host vehicle and the other vehicle do not have a rectangular collision, the output TTC is infinite, that is, no collision occurs. Therefore, the calculation of the vehicle collision time is realized efficiently, accurately and easily understood.
As shown in fig. 1a, the method for estimating collision time includes the following steps:
(1) the vehicle is provided with communication equipment such as OBU equipment and receives the motion state information of other vehicles sent by the on-board communication equipment or the roadside sensing equipment of other vehicles.
(2) And establishing a circular collision model according to the motion state information of the vehicle and other vehicles, and calculating whether the vehicle has collision or not, namely, performing primary judgment on whether the vehicle possibly has collision or not.
(3) If there is no collision in the vehicle circular model, the TTC is set to infinity, i.e., no collision occurs.
(4) And if the vehicle circular model has collision, establishing a vehicle rectangular collision model, and calculating the TTC of the vehicle rectangular model.
(5) And outputting the TTC.
The method for establishing and calculating the circular collision model in the step (3) comprises the following steps:
1) establishing a vehicle circular model, wherein the center of a vehicle is taken as the center of a circle, and half of the length of a diagonal line of the vehicle is taken as the radius, namely the circumscribed circle of the vehicle;
2) through analysis, when two circles collide, the distance (distance _ circles) between the centers of the two circles is smaller than the sum (distance _ rr) of the radii of the two circles;
3) when the vehicle circular model just has collision, distance _ circles is distance _ rr, namely two circles are just tangent;
4) therefore, whether the vehicle circular model has collision or not is judged, namely whether the situation that distance _ circles is less than or equal to distance _ rr exists in the moving direction of the vehicle or not is judged.
As shown in FIG. 1b, Car1 is the center position of the circular model of Car 1; car2 is the center position of the 2-Car circular model; car1_ v is the speed and direction of movement of Car 1; car2_ v is the speed and direction of movement of 2 cars; car1_ r is the radius of the 1-Car circular model; car2_ r is the radius of the 2-Car circular model; distance _ circles is the Distance between the circle centers of the 1 vehicle and the 2 vehicle.
When Distance _ circles ≦ Car1_ r + Car2_ r, i.e., there is a collision with the circular vehicle model.
The rectangular collision model establishing and calculating method in the step (4) comprises the following steps:
1) establishing a vehicle rectangular model, wherein the center of a vehicle is taken as the center of a rectangle, and four sides of the vehicle are four sides of the rectangle, namely the external rectangle of the vehicle;
2) the analysis shows that when the vehicle of the rectangular model collides, the vertex of one rectangle collides with one side of the other rectangle (the analysis result is the core basis of the extremely simple rectangle collision algorithm in the invention);
3) the rectangular collision can be simplified into four vertexes of one rectangle and four sides of the other rectangle, namely the collision of the vehicle rectangular model is simplified into the collision problem of a motion point and a motion line segment;
4) calculating the motion speed of the points relative to the line segments according to the motion speeds of the points and the line segments, namely solving the problem into the problem of collision between the motion points and the static line segments;
5) solving the intersection point of the ray passing through the point and the straight line passing through the line segment, wherein the moving direction of the ray passing through the point is the speed direction of the point relative to the line segment, and judging whether the intersection point is on the line segment;
6) if the intersection point is on the line segment, it indicates that there is a collision between a point of a rectangle and the side of another rectangle, and the time from the point moving to the intersection point at the relative movement speed is calculated, i.e. the time of collision TTC _ point2segment between the point and the line segment;
7) if the intersection point is not on the line segment, it indicates that the point of one rectangle and the side of the other rectangle do not collide, and sets the collision time TTC _ point2segment of the point and the line segment to infinity;
8) through the steps, collision time between four vertexes of one rectangle and four sides of the other rectangle is calculated;
9) and the minimum value of the collision time of all the points and the line segments is the TTC of the rectangular model of the vehicle.
As shown in FIG. 1c, Car1 is the center of the 1 vehicle; car2 is the center of 2 vehicles; car1_ v is the speed of the vehicle 1; car2_ v is the speed of the vehicle 2; car1_0, Car1_1, Car1_2, and Car1_3 are the four vertices of the 1-Car rectangular model, respectively; car2_0, Car2_1, Car2_2, and Car2_3 are the four vertices of the 2-Car rectangular model, respectively.
Taking Car1_2 vertex of Car1 and Car side Car2_0Car2_1 of Car2 as examples to perform collision algorithm description of point and line segment, as shown in fig. 1d, fig. 1d is a schematic diagram of Car1_2 point and Car2_0Car2_1 side collision, and in fig. 1 d:
car1_2_ v is the velocity of point Car1_2 relative to Car 2;
car1_ Car2 is the intersection of point Car1_2 with Car1_2_ v and Car2_0Car2_ 1; the time TTC _12T01 required for Car1_2 to move to Car1_ Car2 point at the speed of Car1_2_ v is calculated, and if intersection Car1_ Car2 is not on segment Car2_0Car2_1, TTC _12T01 is set to infinity. Similarly, the time to collision of other points and sections TTC _10T01 (intersection of line segments between 0 point of vehicle 1 and 0 point and 1 point of vehicle 2), TTC _10T13 (intersection of line segments between 0 point of vehicle 1 and 1 point and 3 point of vehicle 2), TTC _10T02 (intersection of line segments between 0 point of vehicle 1 and 0 point and 2 point of vehicle 2), TTC _10T23 (intersection of line segments between 0 point of vehicle 1 and 2 point and 3 point of vehicle 2), TTC _11T01 (intersection of line segments between 0 point and 1 point of vehicle 1 and 2), TTC _11T13 (intersection of line segments between 1 point of vehicle 1 and 1 point and 3 point of vehicle 2), TTC _11T02 (intersection of line segments between 0 point and 2 point of vehicle 1), TTC _11T23 (intersection of line segments between 1 point of vehicle 1 point and 2 point of vehicle 2), and TTC _11T 8525 (intersection of line segments between 1 point and 2 point of vehicle 1 point and 2 point of vehicle 2) (intersection of vehicle 1 point and 2 point of vehicle 3), TTC _11T23 (intersection of vehicle 1 point and 2 point of vehicle 3 point of vehicle 13), and 2 point of vehicle 1 point of vehicle (intersection of vehicle 1 point of vehicle, TTC _12T02 (intersection of line segments between point 0 and point2 of car1 and point 0 and point2 of car 2), TTC _12T23 (intersection of line segments between point2 of car1 and point2 and point 3 of car 2), TTC _13T01 (intersection of line segments between point 0 and point 1 of car1 and point2 of car 2), TTC _13T13 (intersection of line segments between point 1 and point 3 of car2 and point 3 of car 1), TTC _13T02 (intersection of line segments between point 0 and point2 of car1 and point 3 of car 2), TTC _13T23 (intersection of line segments between point2 and point 3 of car 1), TTC _20T01 (intersection of line segments between point 0 and point 1 of car1 and point 0 of car 2), TTC _20T13 (intersection of line segments between point 1 and point 1 of car 2), TTC _20T13 (intersection of line segments between point 0 and point 1 and point of car 1) and point of car 2), TTC _20T13 (intersection of line segments between point 0 and point of car1 and point of car 02), TTC _2 and 2, TTC _20T23 (intersection of line segments between 0 point of car2 and 3 points of car 1), TTC _21T01 (intersection of line segments between 1 point of car2 and 0 point and 1 point of car 1), TTC _21T13 (intersection of line segments between 1 point of car2 and 1 point and 3 points of car 1), TTC _21T02 (intersection of line segments between 1 point of car2 and 0 point and 2 points of car 1), TTC _21T23 (intersection of line segments between 1 point of car2 and 3 points of car 1), TTC _22T01 (intersection of line segments between 2 point of car2 and 0 point and 1 point of car 1), TTC _22T13 (intersection of line segments between 2 point of car2 and 1 point and 3 points of car 1), TTC _22T02 (intersection of line segments between 2 point of car and 1 point of car1 point), TTC _22T23 and 2 point of car (intersection of line segments between 2 point of car2 point and 1 point of car), TTC _22T23 and 2 point of car, TTC _23T01 (intersection of line segments between 3 points of car2 and 0 and 1 points of car 1), TTC _23T13 (intersection of line segments between 3 points of car2 and 1 and 3 points of car 1), TTC _23T02 (intersection of line segments between 3 points of car2 and 0 and 2 points of car 1), and TTC _23T23 (intersection of line segments between 3 points of car2 and 3 points of car 1). The TTC of the rectangular collision is the minimum of the 32 above sets of point and line collisions TTC _ xxTxx.
After the estimated time of collision, the position at the time of collision may also be estimated, for example, the position after the time of collision of the first vertex moving at a first relative speed, or the position after the time of collision of the second vertex moving at a second relative speed.
According to the technical scheme of the embodiment, if the collision between the current vehicle and the target vehicle is estimated, the circumscribed rectangle of the current vehicle is established according to the motion state information of the current vehicle, and the circumscribed rectangle of the target vehicle is established according to the motion state information of the target vehicle; acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed; acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed; and determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed, so that the efficiency of calculating the vehicle collision time and the accuracy of calculating the vehicle collision time can be ensured, and the understanding of a vehicle collision algorithm and the software implementation difficulty are greatly reduced.
Example two
Fig. 2 is a schematic structural diagram of a collision time estimation apparatus according to a second embodiment of the present invention. The embodiment may be applicable to the case of collision time estimation, the device may be implemented in a software and/or hardware manner, and the device may be integrated into any device that provides a function of collision time estimation, as shown in fig. 2, where the collision time estimation device specifically includes: a setup module 210, a first acquisition module 220, a second acquisition module 230, and a determination module 240.
The establishing module 210 is configured to, if it is estimated that a current vehicle collides with a target vehicle, establish an external rectangle of the current vehicle according to motion state information of the current vehicle, and establish an external rectangle of the target vehicle according to the motion state information of the target vehicle;
the first obtaining module 220 is configured to obtain a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any edge of the external rectangle of the target vehicle, where a direction of the first ray is the same as a direction of a first relative speed;
a second obtaining module 230, configured to obtain a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any edge of the external rectangle of the current vehicle, where a direction of the second ray is the same as a direction of a second relative speed;
the determining module 240 is configured to determine the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
Optionally, the establishing module is specifically configured to:
acquiring the motion state information of a current vehicle and the motion state information of at least one target vehicle received by the current vehicle;
establishing a circular collision model according to the motion state information of the current vehicle and the motion state information of the target vehicle;
if the collision between the current vehicle and the target vehicle is estimated according to the circular collision model, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle.
Optionally, the establishing module is specifically configured to:
acquiring a first circumscribed circle of the current vehicle and a second circumscribed circle of the target vehicle;
and if the distance between the circle center of the first circumscribed circle and the circle center of the second circumscribed circle is less than or equal to the sum of the radius of the first circumscribed circle and the radius of the second circumscribed circle after the preset time, predicting that the current vehicle collides with the target vehicle.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, if the collision between the current vehicle and the target vehicle is estimated, the circumscribed rectangle of the current vehicle is established according to the motion state information of the current vehicle, and the circumscribed rectangle of the target vehicle is established according to the motion state information of the target vehicle; acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed; acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed; and determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed, so that the efficiency of calculating the vehicle collision time and the accuracy of calculating the vehicle collision time can be ensured, and the understanding of a vehicle collision algorithm and the software implementation difficulty are greatly reduced.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention. FIG. 3 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 3 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the present invention.
As shown in FIG. 3, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (a Compact disk-Read Only Memory (CD-ROM)), Digital Video disk (DVD-ROM), or other optical media may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing the collision time estimation method provided by the embodiment of the present invention:
if the collision between the current vehicle and the target vehicle is estimated, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle;
acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed;
acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed;
and determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
Example four
A fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the collision time estimation method provided in all the embodiments of the present invention:
if the collision between the current vehicle and the target vehicle is estimated, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle;
acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed;
acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed;
and determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having 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 portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (Hyper Text Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a source text input by a user, and translating the source text into a target text corresponding to a target language; acquiring historical correction behaviors of the user; and correcting the target text according to the historical correction behaviors to obtain a translation result, and pushing the translation result to a client where the user is located.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable 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. 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 portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for estimating time of collision is characterized by comprising the following steps:
if the collision between the current vehicle and the target vehicle is estimated, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle;
acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed;
acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed;
and determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
2. The method of claim 1, wherein if a collision between a current vehicle and a target vehicle is predicted, establishing a bounding rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing a bounding rectangle of the target vehicle according to the motion state information of the target vehicle comprises:
acquiring the motion state information of a current vehicle and the motion state information of at least one target vehicle received by the current vehicle;
establishing a circular collision model according to the motion state information of the current vehicle and the motion state information of the target vehicle;
if the collision between the current vehicle and the target vehicle is estimated according to the circular collision model, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle.
3. The method of claim 2, wherein predicting the collision between the current vehicle and the target vehicle based on the circular collision model comprises:
acquiring a first circumscribed circle of the current vehicle and a second circumscribed circle of the target vehicle;
and if the distance between the circle center of the first circumscribed circle and the circle center of the second circumscribed circle is less than or equal to the sum of the radius of the first circumscribed circle and the radius of the second circumscribed circle after the preset time, predicting that the current vehicle collides with the target vehicle.
4. The method of claim 1, wherein determining an estimated time to collision based on a time at which a first vertex of a circumscribed rectangle of the current vehicle moves to the first intersection at a first relative velocity and a time at which a second vertex of a circumscribed rectangle of a target vehicle moves to the second intersection at a second relative velocity comprises:
if a first ray of at least one vertex of the circumscribed rectangle of the current vehicle and at least one side of the circumscribed rectangle of the target vehicle have an intersection point, and a second ray of at least one vertex of the circumscribed rectangle of the target vehicle and at least one side of the circumscribed rectangle of the current vehicle have an intersection point, determining the minimum value of the time for the at least one vertex of the circumscribed rectangle of the current vehicle to move to the first intersection point according to the first relative speed and the time for the at least one vertex of the circumscribed rectangle of the target vehicle to move to the second intersection point according to the second relative speed as the estimated collision time.
5. The method of claim 1, wherein the first relative speed is a difference vector of a speed of a current vehicle and a speed of a target vehicle, and the second relative speed is a difference vector of a speed of a target vehicle and a speed of a current vehicle.
6. A time-to-collision estimation apparatus, comprising:
the building module is used for building an external rectangle of the current vehicle according to the motion state information of the current vehicle and building an external rectangle of the target vehicle according to the motion state information of the target vehicle if the collision between the current vehicle and the target vehicle is estimated;
the first acquisition module is used for acquiring a first intersection point of a first ray where a first vertex of the external rectangle of the current vehicle is located and any side of the external rectangle of the target vehicle, wherein the direction of the first ray is the same as the direction of a first relative speed;
the second acquisition module is used for acquiring a second intersection point of a second ray where a second vertex of the external rectangle of the target vehicle is located and any side of the external rectangle of the current vehicle, wherein the direction of the second ray is the same as the direction of a second relative speed;
and the determining module is used for determining the estimated collision time according to the time when the first vertex of the circumscribed rectangle of the current vehicle moves to the first intersection point at the first relative speed and the time when the second vertex of the circumscribed rectangle of the target vehicle moves to the second intersection point at the second relative speed.
7. The apparatus of claim 6, wherein the establishing module is specifically configured to:
acquiring the motion state information of a current vehicle and the motion state information of at least one target vehicle received by the current vehicle;
establishing a circular collision model according to the motion state information of the current vehicle and the motion state information of the target vehicle;
if the collision between the current vehicle and the target vehicle is estimated according to the circular collision model, establishing an external rectangle of the current vehicle according to the motion state information of the current vehicle, and establishing an external rectangle of the target vehicle according to the motion state information of the target vehicle.
8. The apparatus of claim 7, wherein the establishing module is specifically configured to:
acquiring a first circumscribed circle of the current vehicle and a second circumscribed circle of the target vehicle;
and if the distance between the circle center of the first circumscribed circle and the circle center of the second circumscribed circle is less than or equal to the sum of the radius of the first circumscribed circle and the radius of the second circumscribed circle after the preset time, predicting that the current vehicle collides with the target vehicle.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the time-to-collision estimation method as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a time-of-collision estimation method according to any one of claims 1 to 5.
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| CN113954867B (en) * | 2021-09-29 | 2023-10-20 | 广州文远知行科技有限公司 | Method, device, equipment and storage medium for rapidly calculating time from object to collision |
| US11981328B2 (en) | 2022-02-02 | 2024-05-14 | Ford Global Technologies, Llc | Vehicle object avoidance |
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| CN112464384B (en) | 2021-09-14 |
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