Method and apparatus for detecting and avoiding collision applied to vehicle

1. A method for detecting and avoiding a collision applied to a vehicle, the vehicle determining a first path according to a real-time vehicle status, the method comprising:

S 1 ) predefining a second path according to the real-time vehicle status;

S 2 ) determining whether the current first path is at risk of the collision, and determining whether the current second path is at risk of the collision; and

S 3 ) controlling the vehicle by an apparatus using a method for avoiding the collision in response to determining that the current first path is at risk of the collision and/or the current second path is at risk of the collision, wherein the vehicle is controlled by a vehicle control right arbitration, wherein the vehicle control right arbitration comprises: determining an actual vehicle control right arbitration module from N redundant vehicle control right arbitration modules by means of network aggregation and negotiation, to control the vehicle, and

wherein the network aggregation and negotiation comprise: obtaining, by the N redundant vehicle control right arbitration modules, a message and a transmission delay of each other based on a CAN bus, and determine the actual vehicle control right arbitration module by means of network negotiation according to the message and the minimum transmission delay and a predefined priority of the N redundant vehicle control right arbitration modules.

2. The method according to claim 1 , wherein in step S 1 ), whether the current first path is at risk of the collision and whether the current second path is at risk of the collision are determined by selecting a combination of one or more of following operations:

a vehicle status estimation, a braking time and braking distance estimation, an obstacle filtering, an obstacle tracking, a first path analysis, a safe distance calculation, an obstacle confidence calculation, a calculation of a distance to a most dangerous obstacle, a collision detection strategy assessment or a collision risk level assessment.

3. The method according to claim 1 , wherein the first path is a custom emergency path, and the second path is a secure takeover path.

4. The method according to claim 1 , wherein in step S 3 ), the vehicle is further controlled by selecting a combination of one or more of following operations:

a safety risk analysis, a vehicle track point generation, a vehicle speed control, a vehicle steering control or a vehicle gear control.

5. An apparatus for detecting and avoiding a collision applied to a vehicle, the vehicle determining a first path according to a real-time vehicle status, wherein the apparatus comprises:

at least one processor; and

a memory storing instructions, wherein the instructions, when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:

predefining a second path according to the real-time vehicle status;

determining whether the current first path is at risk of the collision, and determining whether the current second path is at risk of the collision; and

controlling the vehicle with a method for avoiding the collision in response to determining that the current first path is at risk of the collision and/or the current second path is at risk of the collision, wherein the vehicle is controlled by a vehicle control right arbitration, wherein the vehicle control right arbitration comprises: determining an actual vehicle control right arbitration module from N redundant vehicle control right arbitration modules by means of network aggregation and negotiation, to control the vehicle, and

wherein the network aggregation and negotiation comprise: obtaining, by the N redundant vehicle control right arbitration modules, a message and a transmission delay of each other based on a CAN bus, and determine the actual vehicle control right arbitration module by means of network negotiation according to the message and the minimum transmission delay and a predefined priority of the N redundant vehicle control right arbitration modules.

6. The apparatus according to claim 5 , wherein whether the current first path is at risk of the collision and whether the current second path is at risk of the collision are determined by selecting a combination of one or more of following operations:

a vehicle status estimation, a braking time and braking distance estimation, an obstacle filtering, an obstacle tracking, a first path analysis, a safe distance calculation, an obstacle confidence calculation, a calculation of a distance to a most dangerous obstacle, a collision detection strategy assessment or a collision risk level assessment.

7. The apparatus according to claim 5 , wherein the first path is a custom emergency path, and the second path is a secure takeover path.

8. The apparatus according to claim 5 , wherein the vehicle is further controlled by selecting a combination of one or more of following operations:

a safety risk analysis, a vehicle track point generation, a vehicle speed control, a vehicle steering control or a vehicle gear control.

9. A non-transitory machine-readable storage medium storing instructions, wherein the instructions, when executed by a controller, cause the controller to implement operations, the operations comprising:

predefining a second path according to a real-time vehicle status;

determining whether a current first path determined by a vehicle according to the real-time vehicle status is at risk of a collision, and determining whether the current second path is at risk of the collision; and

controlling the vehicle with a method for avoiding the collision in response to determining that the current first path is at risk of the collision and/or the current second path is at risk of the collision, wherein the vehicle is controlled by a vehicle control right arbitration, wherein the vehicle control right arbitration comprises: determining an actual vehicle control right arbitration module from N redundant vehicle control right arbitration modules by means of network aggregation and negotiation, to control the vehicle, and

wherein the network aggregation and negotiation comprise: obtaining, by the N redundant vehicle control right arbitration modules, a message and a transmission delay of each other based on a CAN bus, and determine the actual vehicle control right arbitration module by means of network negotiation according to the message and the minimum transmission delay and a predefined priority of the N redundant vehicle control right arbitration modules.

10. The machine-readable storage medium according to claim 9 , wherein whether the current first path is at risk of the collision and whether the current second path is at risk of the collision are determined by selecting a combination of one or more of following operations:

a vehicle status estimation, a braking time and braking distance estimation, an obstacle filtering, an obstacle tracking, a first path analysis, a safe distance calculation, an obstacle confidence calculation, a calculation of a distance to a most dangerous obstacle, a collision detection strategy assessment or a collision risk level assessment.

11. The machine-readable storage medium according to claim 9 , wherein the first path is a custom emergency path, and the second path is a secure takeover path.

12. The machine-readable storage medium according to claim 9 , wherein the vehicle is further controlled by selecting a combination of one or more of following operations:

a safety risk analysis, a vehicle track point generation, a vehicle speed control, a vehicle steering control or a vehicle gear control.