CN108399793A - Millimetre-wave radar automatic obstacle avoidance method based on truck traffic - Google Patents
Millimetre-wave radar automatic obstacle avoidance method based on truck traffic Download PDFInfo
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- CN108399793A CN108399793A CN201810121419.0A CN201810121419A CN108399793A CN 108399793 A CN108399793 A CN 108399793A CN 201810121419 A CN201810121419 A CN 201810121419A CN 108399793 A CN108399793 A CN 108399793A
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- 241000736199 Paeonia Species 0.000 claims description 3
- 235000006484 Paeonia officinalis Nutrition 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000035484 reaction time Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The millimetre-wave radar automatic obstacle avoidance method based on truck traffic that the present invention provides a kind of, including：An optional vehicle obtains the running data of the trailer-mounted radar acquisition of current vehicle, the running data includes the obstacle information of driving path as current vehicle on road；Obtain the running data of all vehicles in the investigative range of current vehicle；Running data in the investigative range of the running data of current vehicle and current vehicle is merged, the position and speed information of all vehicles in current vehicle investigative range is obtained, is calculated with the presence or absence of collision possibility according to the position and speed information of all vehicles in the investigative range of current vehicle；If it is possible to there is collision, controls current vehicle and turned to or slowed down avoidance.Gamut detection can be achieved in the present invention, collision possibility is calculated, to control the avoidance of automobile so that vehicle has good safety and comfort, stability, real-time, promptness.
Description
Technical field
The invention belongs to field of automobile control, and in particular to a kind of millimetre-wave radar automatic obstacle avoidance side based on truck traffic
Method.
Background technology
In recent years, with the improvement of people's life quality, car ownership increases rapidly, the big of communication is promoted
Power development is also brought conveniently to our life, but both advantageous and disadvantageous, and motor traffic accidents occurrence frequency increasingly increases, every year
The number for dying of traffic accident accounts for the ratio maximum of unexpected death number, and traffic safety problem increasingly attracts much attention.Closely
Nian Lai, as people increasingly pay close attention to ride safety of automobile and vehicle intellectualized development trend, with CW with frequency modulation
(FMCW) technology is that the millimetre-wave radar technology of representative is widely used in (waiting a series of vehicles to anti-collision alarm system before vehicle
In active collision-avoidance system, the advanced driving assistance system of automobile based on this kind of sensing technology by radar becomes international automobile actively
Security fields research hotspot problem.And have detection range remote as wherein most widely used millimetre-wave radar, high resolution,
Convenient for being installed on automobile, by the series of advantages such as inside even from weather is small, but the millimeter wave thunder determined due to self-characteristic
Up to that front vehicles can not be passed through to be detected, it is actually detectable apart from small to may result in vehicle, can not be analyzed calculating in advance,
Influence the performance of its active collision-avoidance system.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of millimeter wave based on truck traffic
Radar automatic obstacle avoidance method solves, in the prior art since millimetre-wave radar can not be detected across front vehicles, to lead to vehicle
Reality is detectable apart from small problem.
In order to solve the above-mentioned technical problem, the present invention is realised by adopting the following technical scheme：
A kind of millimetre-wave radar automatic obstacle avoidance method based on truck traffic, includes the following steps：
An optional vehicle obtains the running data of the trailer-mounted radar acquisition of current vehicle as current vehicle on road,
The running data includes the obstacle information of driving path；
Obtain the running data of all vehicles in the investigative range of current vehicle；
Running data in the investigative range of the running data of current vehicle and current vehicle is merged, is obtained current
The position and speed information of all vehicles within the scope of vehicle detection, according to the position of all vehicles in the investigative range of current vehicle
It is calculated with the presence or absence of collision possibility with velocity information；
If it is possible to there is collision, controls current vehicle and turned to or slowed down avoidance.
Further, the trailer-mounted radar is millimetre-wave radar.
Further, the running data in the investigative range of the running data of current vehicle and current vehicle is melted
It closes, obtains the position and speed information of all vehicles in current vehicle investigative range, including：
The position and speed information of all vehicles in current vehicle investigative range is obtained according to formula (1), formula (2), formula (3)：
d0-j=di+Li+d2j (1)
V0-j=V0-i+Vi-j (2)
θ0-j=θ0-i+θi-j (3)
Wherein, d0-jFor the distance between jth vehicle in current vehicle and its investigative range, diIt is visited for current vehicle and its
Survey the distance between i-th vehicle, L in rangeiFor i-th Chinese herbaceous peony end millimetre-wave radar in current vehicle investigative range and tail portion
Distance；
djy=dj× sin θ, djFor the distance between jth vehicle and i-th vehicle in current vehicle investigative range, θ is current
Azimuth within the scope of vehicle detection between jth vehicle and i-th vehicle；
V0-jFor speed of the jth vehicle relative to current vehicle, V in current vehicle investigative range0-iIt is detected for current vehicle
Speed of i-th vehicle relative to current vehicle, V in rangei-jIt is jth vehicle in current vehicle investigative range relative to i-th vehicle
Speed；
θ0-jFor azimuth of the jth vehicle relative to current vehicle, θ in vehicle in front investigative range0-iIt is detected for current vehicle
Azimuth of i-th vehicle relative to current vehicle, θ in rangei-jIt is jth vehicle in current vehicle investigative range relative to i-th
The azimuth of vehicle.
Further, in the investigative range according to current vehicle all vehicles position and speed information calculate whether
There is a possibility that collision, including：
If current vehicle is less than critical safety distance D at a distance from vehicle in its investigative rangeminWhen, there is collision may
Property；
Critical safety distance D is calculated according to formula (4)min：
Wherein, u is speed image coefficient；D=Sb+d-Sq；
τ1To drive
Member's reaction time, τ2' it is that brake overcomes brake clearance time, τ2" it is brake braking force rise time, vbFor current vehicle
Speed, vqFor the preceding vehicle speed of current vehicle, abFor the braking deceleration of current vehicle, aqFor the braking of the front truck of current vehicle
Deceleration.
Compared with prior art, the present invention having the following technical effect that：
The radar measured data that the present invention can be sent according to front vehicles or front vehicle, is merged, and is realized complete
Range detection calculates collision possibility, to control the avoidance of automobile so that vehicle is with good safety and comfortably
Property, stability, real-time, promptness.
Description of the drawings
Fig. 1 is the work flow diagram of the present invention.
Fig. 2 is the schematic diagram under an embodiment.
Fig. 3 is the schematic diagram under another embodiment.
Explanation is further explained in detail to the particular content of the present invention below in conjunction with attached drawing.
Specific implementation mode
Specific embodiments of the present invention are given below, it should be noted that the invention is not limited in implement in detail below
Example, all equivalent transformations made on the basis of the technical solutions of the present application each fall within protection scope of the present invention.
Embodiment 1：
The present embodiment provides a kind of millimetre-wave radar automatic obstacle avoidance method based on truck traffic, as shown in Figure 1, include with
Lower step：
An optional vehicle obtains the running data of the trailer-mounted radar acquisition of current vehicle as current vehicle on road,
The running data includes the obstacle information of driving path；
Obtain the running data of all vehicles in the investigative range of current vehicle；
Running data in the investigative range of the running data of current vehicle and current vehicle is merged, is obtained current
The position and speed information of all vehicles within the scope of vehicle detection, according to the position of all vehicles in the investigative range of current vehicle
It is calculated with the presence or absence of collision possibility with velocity information；
If it is possible to there is collision, controls current vehicle and turned to or slowed down avoidance.
In this way, there are vehicles in the current vehicle investigative range by other occlusions, the radar of current vehicle is caused to be believed
When number can not detect, when current vehicle is by receiving running data that other vehicles are obtained by radar signal, data can be passed through
The running data of all vehicles in its investigative range can be obtained in fusion current vehicle, and the collision calculated in this way by the running data can
Energy property, more accurately.
Trailer-mounted radar in the present embodiment can be any vehicle-mounted biography emitted and receive radar signal in the prior art
Sensor, specifically, trailer-mounted radar used in the present embodiment are millimetre-wave radar.
Running data in the investigative range of the running data of current vehicle and current vehicle is merged, is obtained current
The position and speed information of all vehicles within the scope of vehicle detection, including：
The position and speed information of all vehicles in current vehicle investigative range is obtained according to formula (1), formula (2), formula (3)：
d0-j=di+Li+d2j (1)
V0-j=V0-i+Vi-j (2)
θ0-j=θ0-i+θi-j (3)
Wherein, d0-jFor the distance between jth vehicle in current vehicle and its investigative range, diIt is visited for current vehicle and its
Survey the distance between i-th vehicle, L in rangeiFor i-th Chinese herbaceous peony end millimetre-wave radar in current vehicle investigative range and tail portion
Distance；
djy=dj× sin θ, djFor the distance between jth vehicle and i-th vehicle in current vehicle investigative range, θ is current
Azimuth within the scope of vehicle detection between jth vehicle and i-th vehicle；
V0-jFor speed of the jth vehicle relative to current vehicle, V in current vehicle investigative range0-iIt is detected for current vehicle
Speed of i-th vehicle relative to current vehicle, V in rangei-jIt is jth vehicle in current vehicle investigative range relative to i-th vehicle
Speed；
θ0-jFor azimuth of the jth vehicle relative to current vehicle, θ in vehicle in front investigative range0-iIt is detected for current vehicle
Azimuth of i-th vehicle relative to current vehicle, θ in rangei-jIt is jth vehicle in current vehicle investigative range relative to i-th
The azimuth of vehicle.
As there are 3 vehicles, to be No. 0 vehicle, No. 1 vehicle and No. 2 vehicles respectively lead to No. 0 wherein No. 2 vehicles are blocked by No. 1 vehicle in Fig. 2
The radar wave of vehicle transmitting does not reach No. 2 vehicles.
Being calculated according to the position and speed information of all vehicles in the investigative range of current vehicle may with the presence or absence of collision
Property, including：
If current vehicle is less than critical safety distance D at a distance from vehicle in its investigative rangeminWhen, there is collision may
Property；
As shown in figure 3, calculating critical safety distance D according to formula (4)min：
Wherein, u is speed image coefficient；D=Sb+d-Sq；
τ1To drive
Member's reaction time, τ2' it is that brake overcomes brake clearance time, τ2" it is brake braking force rise time, vbFor current vehicle
Speed, vqFor the preceding vehicle speed of current vehicle, abFor the braking deceleration of current vehicle, aqFor the braking of the front truck of current vehicle
Deceleration.
The value of μ such as table 1 in the present embodiment：
Table 1
| vbRange | 0-30 | 30-60 | 60-120 |
| μ values | 1.1 | 1.0 | 0.9 |
In order to improve the accuracy of anticollision algorithm, false probability is reduced, introducing speed influences coefficient μ, friction speed grade
Speed factor to affect answer difference.
Claims (4)
1. a kind of millimetre-wave radar automatic obstacle avoidance method based on truck traffic, which is characterized in that include the following steps：
An optional vehicle obtains the running data of the trailer-mounted radar acquisition of current vehicle as current vehicle on road, described
Running data includes the obstacle information of driving path；
Obtain the running data of all vehicles in the investigative range of current vehicle；
Running data in the investigative range of the running data of current vehicle and current vehicle is merged, current vehicle is obtained
The position and speed information of all vehicles in investigative range, according to the position of all vehicles in the investigative range of current vehicle and speed
Information is spent to calculate with the presence or absence of collision possibility；
If it is possible to there is collision, controls current vehicle and turned to or slowed down avoidance.
2. the millimetre-wave radar automatic obstacle avoidance method based on truck traffic as described in claim 1, which is characterized in that described vehicle-mounted
Radar is millimetre-wave radar.
3. the millimetre-wave radar automatic obstacle avoidance method based on truck traffic as described in claim 1, which is characterized in that will be current
Running data in the running data of vehicle and the investigative range of current vehicle is merged, and is obtained in current vehicle investigative range
The position and speed information of all vehicles, including：
The position and speed information of all vehicles in current vehicle investigative range is obtained according to formula (1), formula (2), formula (3)：
d0-j=di+Li+d2j (1)
V0-j=V0-i+Vi-j (2)
θ0-j=θ0-i+θi-j (3)
Wherein, d0-jFor the distance between jth vehicle in current vehicle and its investigative range, diFor current vehicle and its investigative range
The distance between interior i-th vehicle, LiIt is i-th Chinese herbaceous peony end millimetre-wave radar in current vehicle investigative range at a distance from tail portion；
djy=dj× sin θ, djFor the distance between jth vehicle and i-th vehicle in current vehicle investigative range, θ is current vehicle
Azimuth in investigative range between jth vehicle and i-th vehicle；
V0-jFor speed of the jth vehicle relative to current vehicle, V in current vehicle investigative range0-iFor current vehicle investigative range
Speed of interior i-th vehicle relative to current vehicle, Vi-jFor speed of the jth vehicle relative to i-th vehicle in current vehicle investigative range
Degree；
θ0-jFor azimuth of the jth vehicle relative to current vehicle, θ in vehicle in front investigative range0-iFor current vehicle investigative range
Azimuth of interior i-th vehicle relative to current vehicle, θi-jIt is jth vehicle in current vehicle investigative range relative to i-th vehicle
Azimuth.
4. the millimetre-wave radar automatic obstacle avoidance method based on truck traffic as described in claim 1, which is characterized in that described
It is calculated with the presence or absence of collision possibility according to the position and speed information of all vehicles in the investigative range of current vehicle, including：
If current vehicle is less than critical safety distance D at a distance from vehicle in its investigative rangeminWhen, there is a possibility that collision；
Critical safety distance D is calculated according to formula (4)min：
Wherein, u is speed image coefficient；D=Sb+d-Sq；
τ1It is anti-for driver
Between seasonable, τ2' it is that brake overcomes brake clearance time, τ2" it is brake braking force rise time, vbFor current vehicle speed,
vqFor the preceding vehicle speed of current vehicle, abFor the braking deceleration of current vehicle, aqFor the braking deceleration of the front truck of current vehicle
Degree.
Priority Applications (1)
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| CN201810121419.0A CN108399793A (en) | 2018-02-07 | 2018-02-07 | Millimetre-wave radar automatic obstacle avoidance method based on truck traffic |
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| CN110395300A (en) * | 2019-07-30 | 2019-11-01 | 交控科技股份有限公司 | A kind of train collaboration formation running gear and method based on truck traffic |
| CN110491153A (en) * | 2019-07-23 | 2019-11-22 | 深圳市新桓信息技术研究院有限公司 | A kind of intelligent management system of car networking |
| CN110832341A (en) * | 2018-12-27 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Vehicle speed calculation method, system, device and storage medium |
| CN116923386A (en) * | 2023-09-15 | 2023-10-24 | 北京木牛领航科技有限公司 | Vehicle driving method, system, medium and equipment |
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Application publication date: 20180814 |