# US 11,308,809 B2 · Collision control method and apparatus, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,308,809 B2 - Document ID: US11308809B2 - Status: Granted - Kind: B2 - Application number: 16/906,055 - Filed: 2020-06-19 - Published: 2020-10-08 - Granted: 2022-04-19 - Earliest claimed: 2018-04-28 - Assignees: Shenzhen Sensetime Technology Co., Ltd. - Applicants: Shenzhen Sensetime Technology Co., Ltd. - Inventors: Yuanyang Tong; Ningyuan Mao; Wenzhi Liu - Web page: https://patentgrep.com/patent/US11308809B2 ## CPC - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - G06F 18/21: Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/584: {of vehicle lights or traffic lights} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2554/40: Dynamic objects, e.g. animals, windblown objects - B60W 2554/802: Longitudinal distance - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract The present disclosure relates to a collision control method and apparatus, an electronic device, and a storage medium. The method includes: detecting a target object in an image photographed by a traveling object; determining a forward collision hazard region of the traveling object; and executing collision control on the traveling object based on a relative relationship between the target object and the forward collision hazard region, where the collision control includes collision warning and/or driving control. ## Claims ### Claim 1 A collision control method, wherein the method comprises: detecting a target object in an image photographed by a traveling object; determining a forward collision hazard region of the traveling object; and executing collision control on the traveling object based on a relative relationship between the target object and the forward collision hazard region, wherein the collision control comprises collision warning and/or driving control, wherein determining the forward collision hazard region of the traveling object comprises: determining the forward collision hazard region of the traveling object based on a hazard distance and at least one of the width of the traveling object or the width of a road where the traveling object is located, wherein executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region comprises: determining a distance between the target object and the traveling object; and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the distance. ### Claim 2 (depends on 1) The method according to claim 1, wherein executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region comprises: determining a hazard level of the target object based on the relative relationship between the target object and the forward collision hazard region; and executing collision control corresponding to the hazard level on the traveling object. ### Claim 3 (depends on 2) The method according to claim 2, wherein the hazard level comprises a first hazard level and a second hazard level, and determining the hazard level of the target object based on the relative relationship between the target object and the forward collision hazard region comprises: determining the hazard level of the target object as the first hazard level if the target object is in the forward collision hazard region; or determining the hazard level of the target object as the second hazard level if the target object is outside the forward collision hazard region. ### Claim 4 (depends on 3) The method according to claim 3, wherein the hazard level further comprises a third hazard level, and determining the hazard level of the target object based on the relative relationship between the target object and the forward collision hazard region comprises: determining the hazard level of the target object as the third hazard level if the target object is outside the forward collision hazard region and the target object moves into the forward collision hazard region. ### Claim 5 (depends on 1) The method according to claim 1, wherein the collision control comprises first collision control and second collision control, and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the distance comprises: executing the first collision control on the traveling object if the target object is in the forward collision hazard region and the distance is less than or equal to a first distance threshold; or executing the second collision control on the traveling object if the target object is in the forward collision hazard region and the distance is greater than the first distance threshold, or the collision control comprises third collision control and fourth collision control, and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the distance comprises: executing the third collision control on the traveling object if the target object is outside the forward collision hazard region and the distance is less than or equal to a second distance threshold; or executing the fourth collision control on the traveling object if the target object is outside the forward collision hazard region and the distance is greater than the second distance threshold. ### Claim 6 (depends on 1) The method according to claim 1, wherein executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region comprises: determining a collision time between the target object and the traveling object; and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the collision time. ### Claim 7 (depends on 6) The method according to claim 6, wherein the collision control comprises fifth collision control and sixth collision control, and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the collision time comprises: executing the fifth collision control on the traveling object if the target object is in the forward collision hazard region and the collision time is less than or equal to a first time threshold; executing the sixth collision control on the traveling object if the target object is in the forward collision hazard region and the collision time is greater than the first time threshold, or the collision control comprises seventh collision control and eighth collision control, and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the collision time comprises: executing the seventh collision control on the traveling object if the target object is outside the forward collision hazard region and the collision time is less than or equal to a second time threshold; or executing the eighth collision control on the traveling object if the target object is outside the forward collision hazard region and the collision time is greater than the second time threshold. ### Claim 8 (depends on 1) The method according to claim 1, wherein detecting the target object in the image photographed by the traveling object comprises: detecting the target object in the image photographed by the traveling object via a neural network. ### Claim 9 A collision control apparatus, wherein the apparatus comprises: a processor; and a memory configured to store processor executable instructions which, when executed by the processor, cause the processor to: detect a target object in an image photographed by a traveling object; determine a forward collision hazard region of the traveling object; and execute collision control on the traveling object based on a relative relationship between the target object and the forward collision hazard region, wherein the collision control comprises collision warning and/or driving control, wherein determining the forward collision hazard region of the traveling object comprises: determining the forward collision hazard region of the traveling object based on a hazard distance and at least one of the width of the traveling object or the width of a road where the traveling object is located, wherein executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region comprises: determining a distance between the target object and the traveling object; and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the distance. ### Claim 10 (depends on 9) The apparatus according to claim 9, wherein executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region comprises: determining a hazard level of the target object based on the relative relationship between the target object and the forward collision hazard region; and executing collision control corresponding to the hazard level on the traveling object. ### Claim 11 (depends on 10) The apparatus according to claim 10, wherein the hazard level comprises a first hazard level and a second hazard level, and determining the hazard level of the target object based on the relative relationship between the target object and the forward collision hazard region comprises: determining the hazard level of the target object as the first hazard level if the target object is in the forward collision hazard region; or determining the hazard level of the target object as the second hazard level if the target object is outside the forward collision hazard region. ### Claim 12 (depends on 11) The apparatus according to claim 11, wherein the hazard level further comprises a third hazard level, and determining the hazard level of the target object based on the relative relationship between the target object and the forward collision hazard region comprises: determining the hazard level of the target object as the third hazard level if the target object is outside the forward collision hazard region and the target object moves into the forward collision hazard region. ### Claim 13 (depends on 9) The apparatus according to claim 9, wherein the collision control comprises first collision control and second collision control, and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the distance comprises: executing the first collision control on the traveling object if the target object is in the forward collision hazard region and the distance is less than or equal to a first distance threshold; or executing the second collision control on the traveling object if the target object is in the forward collision hazard region and the distance is greater than the first distance threshold, or the collision control comprises third collision control and fourth collision control, and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the distance comprises: executing the third collision control on the traveling object if the target object is outside the forward collision hazard region and the distance is less than or equal to a second distance threshold; or executing the fourth collision control on the traveling object if the target object is outside the forward collision hazard region and the distance is greater than the second distance threshold. ### Claim 14 (depends on 9) The apparatus according to claim 9, wherein executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region comprises: determining a collision time between the target object and the traveling object; and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the collision time. ### Claim 15 (depends on 14) The apparatus according to claim 14, wherein the collision control comprises fifth collision control and sixth collision control, and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the collision time comprises: executing the fifth collision control on the traveling object if the target object is in the forward collision hazard region and the collision time is less than or equal to a first time threshold; or executing the sixth collision control on the traveling object if the target object is in the forward collision hazard region and the collision time is greater than the first time threshold, or the collision control comprises seventh collision control and eighth collision control, and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the collision time comprises: executing the seventh collision control on the traveling object if the target object is outside the forward collision hazard region and the collision time is less than or equal to a second time threshold; or executing the eighth collision control on the traveling object if the target object is outside the forward collision hazard region and the collision time is greater than the second time threshold. ### Claim 16 A non-transitory computer readable storage medium having computer program instructions stored thereon, wherein when the computer program instructions are executed by a processor, the processor is caused to implement a collision control method comprising: detecting a target object in an image photographed by a traveling object; determining a forward collision hazard region of the traveling object; and executing collision control on the traveling object based on a relative relationship between the target object and the forward collision hazard region, wherein the collision control comprises collision warning and/or driving control, wherein determining the forward collision hazard region of the traveling object comprises: determining the forward collision hazard region of the traveling object based on a hazard distance and at least one of the width of the traveling object or the width of a road where the traveling object is located, wherein executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region comprises: determining a distance between the target object and the traveling object; and executing collision control on the traveling object based on the relative relationship between the target object and the forward collision hazard region and the distance.