CN113299077B - Vehicle control method and device for preventing rear-end collision and storage medium - Google Patents
Vehicle control method and device for preventing rear-end collision and storage medium Download PDFInfo
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- CN113299077B CN113299077B CN202110847121.XA CN202110847121A CN113299077B CN 113299077 B CN113299077 B CN 113299077B CN 202110847121 A CN202110847121 A CN 202110847121A CN 113299077 B CN113299077 B CN 113299077B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The invention provides a vehicle control method, a device and a storage medium for preventing rear-end collision, wherein the method comprises the following steps: acquiring the speed of a rear vehicle and the distance between the rear vehicle and a front vehicle in real time; calculating the minimum braking duration of the rear vehicle according to the speed of the rear vehicle and the maximum braking acceleration of the rear vehicle; calculating the driving time required by the rear vehicle to drive the distance at the current speed in real time according to the speed of the rear vehicle and the distance; comparing the minimum braking duration with the driving duration, and if the driving duration is less than or equal to the minimum braking duration, prompting that the rear vehicle carefully knocks into the rear; if the running time length is larger than the minimum braking time length, comparing a first difference value between the running time length and the minimum braking time length with a first preset threshold value when the front vehicle is braked emergently, and if the first difference value is smaller than or equal to the first preset threshold value, prompting that the rear vehicle knocks into the rear carefully. The technical scheme of the invention can effectively remind the rear vehicle of rear-end collision.
Description
Technical Field
The invention relates to the technical field of vehicle driving, in particular to a vehicle control method and device for preventing rear-end collision and a storage medium.
Background
The rear-end collision of the vehicle refers to the behavior that when the vehicle running on the same lane runs behind, the head of the rear vehicle collides with the parking space of the front vehicle, and is mainly caused by the following distance smaller than the minimum running distance, the slow response of the driver or the poor performance of a braking system.
At present, in order to prevent rear-end collision of a vehicle, most of the rear-end collision prevention methods are to light a brake indicator lamp to prompt a driver of a rear vehicle to pay attention to control the deceleration or braking of the vehicle so as to avoid the rear vehicle from colliding with a front vehicle when braking, but if the rear vehicle is too close to the rear vehicle or the driver of the rear vehicle is not concentrated or the braking performance of the rear vehicle is poor, even if the front vehicle gives a prompt of careful rear-end collision through the brake indicator lamp, the rear vehicle may collide with the front vehicle, and the rear-end collision prevention methods are poor in solving effect and effectiveness.
Disclosure of Invention
The invention solves the problem of how to improve the solution effect of the rear-end collision problem.
To solve the above problems, the present invention provides a vehicle control method, apparatus, and storage medium for preventing a rear-end collision.
In a first aspect, the present invention provides a vehicle control method of preventing a rear-end collision, comprising:
acquiring the speed of a rear vehicle and the distance between the rear vehicle and a front vehicle in real time;
calculating the minimum braking duration of the rear vehicle according to the speed of the rear vehicle and the maximum braking acceleration of the rear vehicle; calculating the driving time required by the rear vehicle to drive the distance at the current speed in real time according to the speed of the rear vehicle and the distance;
comparing the minimum braking duration with the driving duration, and if the driving duration is less than or equal to the minimum braking duration, prompting that the rear vehicle carefully knocks into the rear;
if the running time length is larger than the minimum braking time length, comparing a first difference value between the running time length and the minimum braking time length with a first preset threshold value when the front vehicle is braked emergently, and if the first difference value is smaller than or equal to the first preset threshold value, prompting that the rear vehicle knocks into the rear carefully.
Optionally, if the driving time period is longer than the minimum braking time period, the method includes:
obtaining the braking acceleration of the front vehicle, comparing the braking acceleration with a second preset threshold value, and judging whether the front vehicle carries out emergency braking according to the comparison result;
and when the braking acceleration is greater than or equal to a second preset threshold value and the calibration duration is continued, determining that the front vehicle has emergency braking.
Optionally, the driving time period is less than or equal to the minimum braking time period, the method further comprising:
calculating a second difference value between the minimum braking time length and the running time length;
and when the second difference is larger than or equal to a third preset threshold value, outputting alarm information to prompt the rear vehicle to decelerate or brake.
Optionally, if the first difference is smaller than or equal to the first preset threshold, after prompting that the rear vehicle is rear-end collision due to caution, the method further includes:
comparing the first difference value with a fourth preset threshold value, wherein the fourth preset threshold value is smaller than the first preset threshold value;
and when the first difference value is smaller than or equal to the fourth preset threshold value, outputting alarm information to prompt the rear vehicle to brake.
Optionally, when the preceding vehicle is braked suddenly, the method further comprises:
acquiring the speed of a front vehicle, and calculating the braking distance of the front vehicle according to the speed of the front vehicle and the braking acceleration of the front vehicle;
and determining a total distance according to the braking distance and the distance between the rear vehicle and the front vehicle, recalculating according to the total distance and the speed of the rear vehicle, and correcting the running time.
Optionally, after calculating the minimum braking duration of the rear vehicle according to the vehicle speed of the rear vehicle and the maximum braking acceleration of the rear vehicle, the method further includes:
and acquiring road condition information and/or weather information, and correcting the minimum braking time according to the road condition information and/or the weather information.
Optionally, the correcting the minimum braking duration according to the road condition information and/or the weather information includes:
searching a road condition influence value of the braking duration in a preset first corresponding relation according to the road condition information, and/or searching a weather influence value of the braking duration in a preset second corresponding relation according to the weather information, wherein the first corresponding relation comprises the road condition information and the road condition influence value which are in one-to-one correspondence, and the second corresponding relation comprises the weather information and the weather influence value which are in one-to-one correspondence;
and adding the road condition influence value and/or the weather influence value with the minimum braking time length, and correcting the minimum braking time length.
In a second aspect, the present invention provides a vehicle control apparatus for preventing a rear-end collision, comprising:
the acquisition module is used for acquiring the speed of the rear vehicle and the distance between the rear vehicle and the front vehicle in real time;
the calculation module is used for calculating the minimum braking duration of the rear vehicle according to the speed of the rear vehicle and the maximum braking acceleration of the rear vehicle; calculating the driving time required by the rear vehicle to drive the distance at the current speed in real time according to the speed of the rear vehicle and the distance;
the prompting module is used for comparing the minimum braking time length with the driving time length, and prompting the rear vehicle to carefully rear-end the vehicle if the driving time length is less than or equal to the minimum braking time length; if the running time length is larger than the minimum braking time length, comparing a first difference value between the running time length and the minimum braking time length with a first preset threshold value when the front vehicle is braked emergently, and if the first difference value is smaller than or equal to the first preset threshold value, prompting that the rear vehicle knocks into the rear carefully.
In a third aspect, the present invention provides an electronic device comprising a memory and a processor;
the memory for storing a computer program;
the processor is configured to implement the vehicle control method of preventing rear-end collision as described above when executing the computer program.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle control method for preventing rear-end collision as described above.
The vehicle control method, the vehicle control device and the storage medium for preventing the rear-end collision have the beneficial effects that: the method comprises the steps of acquiring the speed of a rear vehicle and the distance between the rear vehicle and a front vehicle in real time, considering the braking performance of the rear vehicle, calculating the minimum braking time length of the rear vehicle according to the speed and the maximum braking acceleration of the rear vehicle, and calculating the driving time length according to the speed of the rear vehicle and the distance between the rear vehicle and the front vehicle, wherein the driving time length represents the driving time length which is estimated to be passed by the rear vehicle to hit the front vehicle at the current speed when the front vehicle stops or is braked emergently. When the driving time length is less than or equal to the minimum braking time length, the following distance between the rear vehicle and the front vehicle is too short, and the rear vehicle is prompted to carefully rear-end. If the running time is longer than the minimum braking time, the following distance between the rear vehicle and the front vehicle is the safe distance, but if the front vehicle brakes emergently at the moment, the rear vehicle needs to be reminded to brake as soon as possible. Considering that the driver needs to have response time when controlling the vehicle, therefore, a first difference value between the running time and the minimum braking time is compared with a first preset threshold value, the time corresponding to the first preset threshold value is the response time reserved for the driver, when the first difference value is smaller than or equal to the first preset threshold value, the time period required for the driver to react is indicated to enter, and the driver of the vehicle is prompted to perform braking operation and carefully overtake the rear end. According to the technical scheme, a driver of the vehicle is prompted to brake by combining the braking performance of the vehicle, and the rear vehicle is prompted when the following distance is short, so that the rear vehicle can be more effectively prompted to brake, rear-end collision is carefully performed, and the effect of solving the rear-end collision problem is greatly improved.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling a vehicle to prevent rear-end collisions in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a relative positional relationship between vehicles according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle control device for preventing a rear-end collision according to another embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
The technical scheme of the invention can be applied to an Intelligent transportation System (ITS for short), which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation research, artificial intelligence and the like) to transportation, service control and vehicle manufacturing, and strengthens the connection among vehicles, roads and users, thereby forming a comprehensive transportation System which ensures safety, improves efficiency, improves environment and saves energy.
The intelligent traffic system comprises a traffic information acquisition system, an information processing and analyzing system and an information publishing system, wherein the traffic information acquisition system is used for acquiring data of vehicles, traffic infrastructure and the like, the information processing and analyzing system is used for processing and analyzing the acquired data and making decisions, and the information publishing system is used for publishing information to a vehicle-mounted terminal, a network platform and the like.
The intelligent transportation system can also comprise a vehicle control system for assisting a driver in driving the automobile or replacing the driver to automatically drive the automobile, and in order to realize the intellectualization and automation of the vehicle, most of the vehicle control system is an electrically driven automobile, so that data acquisition, processing and the like are facilitated.
As shown in fig. 1, a vehicle control method for preventing a rear-end collision according to an embodiment of the present invention is applicable to a controller of a leading vehicle or a server of an intelligent transportation system, and includes:
and step S110, acquiring the speed of the rear vehicle and the distance between the rear vehicle and the front vehicle in real time.
Specifically, for two vehicles adjacent to each other on the same lane, a vehicle that is forward in the traveling direction is a front vehicle, and a vehicle that is backward in the traveling direction is a rear vehicle. The vehicle speed can be determined by measuring the rotating speed of the wheels through the automobile radar by detecting the position of the vehicle in real time through a positioning device on each vehicle, such as a GPS (global positioning system) and a Beidou positioning device. The vehicle identity information, the position, the vehicle speed and the like uploaded by each vehicle are acquired, the relative position relationship of the vehicles can be determined through the positions of the vehicles, and for one vehicle, the vehicle identity information of a rear vehicle behind the vehicle, such as a license plate number and the like, is determined according to the relative position relationship. In order to improve the identification precision of a rear vehicle following a front vehicle, a camera can be arranged at the tail of the front vehicle, and a license plate is shot through the camera to assist in identifying the rear vehicle.
Step S120, calculating the minimum braking duration of the rear vehicle according to the speed of the rear vehicle and the maximum braking acceleration of the rear vehicle; and calculating the driving time required by the rear vehicle to drive the distance at the current speed in real time according to the speed of the rear vehicle and the distance.
Specifically, the minimum braking duration of the rear vehicle = speed variation/maximum braking acceleration of the rear vehicle = (final speed-initial speed)/maximum braking acceleration of the rear vehicle, the final speed of the rear vehicle during braking is 0, the initial speed is the current speed of the rear vehicle, and the maximum braking speed of the rear vehicle and the parameters of the rear vehicle, such as performance and weight, are determined as fixed parameters, and the minimum braking duration of the rear vehicle during braking at the maximum braking acceleration at the current speed can be calculated according to the calculation formula. And the distance between the rear vehicle and the front vehicle is divided by the speed of the rear vehicle, so that the running time of the rear vehicle after running the distance can be obtained when the rear vehicle runs at the current constant speed. The braking distance is not very long when the vehicle is emergently braked, so that the braking distance can be ignored for estimation if the front vehicle emergently brakes at the moment, and the driving time length indicates that when the front vehicle emergently brakes at the moment, the rear vehicle drives at a constant speed continuously at the current speed and can rear-end the front vehicle after the time length corresponding to the driving time length.
Optionally, after calculating the minimum braking duration of the rear vehicle according to the vehicle speed of the rear vehicle and the maximum braking acceleration of the rear vehicle, the method further includes:
and acquiring road condition information and/or weather information, and correcting the minimum braking time according to the road condition information and/or the weather information.
Specifically, referring to the formula S = V/2g μ, where S denotes a braking distance, V denotes a vehicle speed, g is a gravitational acceleration, and μ is a friction coefficient, it is known that the friction coefficient μ affects the braking distance of the vehicle. The higher the road condition, the higher the coefficient of friction and the shorter the corresponding braking distance and the shorter the duration of the brake, e.g. the coefficient of friction for a high speed asphalt road is higher than the coefficient of friction for a silt road. Likewise, the better the weather, the greater the magic brake stone coefficient, the shorter the braking duration, the worse the weather, the smaller the friction coefficient, the longer the braking duration. Therefore, the minimum braking duration can be properly adjusted according to the road condition information and/or the weather information, and when the road condition is poor and/or the weather is poor, for example, the current road is a sand road, and the weather is rainy or snowy, the minimum braking duration can be properly prolonged.
Optionally, the correcting the minimum braking duration according to the road condition information and/or the weather information includes:
searching a road condition influence value of the braking duration in a preset first corresponding relation according to the road condition information, and/or searching a weather influence value of the braking duration in a preset second corresponding relation according to the weather information, wherein the first corresponding relation comprises the road condition information and the road condition influence value which are in one-to-one correspondence, and the second corresponding relation comprises the weather information and the weather influence value which are in one-to-one correspondence;
and adding the road condition influence value and/or the weather influence value with the minimum braking time length, and correcting the minimum braking time length.
Specifically, the road condition influence value and the weather influence value are both numerical values used for correcting the minimum braking duration, for example, the road condition influence value corresponding to an asphalt road surface is smaller than the road condition influence value corresponding to a sediment road surface, and the weather influence value corresponding to a sunny day is smaller than the weather influence value corresponding to a rainy and snowy day. The first corresponding relation and the second corresponding relation can be suggested according to statistical data in advance, in order to improve accuracy, the speed of the vehicle can be introduced, and the relation between the road condition information and the road condition influence value and the relation between the weather information and the weather influence value under different speeds are determined.
In the optional embodiment, the minimum braking duration is corrected according to the road condition information and the weather information, and the minimum braking duration is adjusted according to different road conditions and weather, so that the adaptability of different scenes is improved, the scene is closer to a real scene, and the calculation accuracy of the minimum braking duration is improved.
And S130, comparing the minimum braking duration with the driving duration, and prompting the rear vehicle to carefully rear-end if the driving duration is less than or equal to the minimum braking duration.
Specifically, when the running time period is less than or equal to the minimum braking time period, it indicates that the following vehicle is too close to the preceding vehicle, and if the preceding vehicle is stopped or suddenly braked at that time, the following vehicle may rear-end the preceding vehicle even if it is braked at the maximum braking acceleration, or the like. Therefore, it is necessary to prompt the rear vehicle to hit the rear with caution, and prompt information may be sent to the rear vehicle, or a display screen may be provided in the front vehicle to display prompt information to prompt the rear vehicle, and the prompt information may include "keep the following distance with caution", "please slow down, hit the rear with caution", and so on.
In this optional embodiment, through the comparison result of length when minimum braking market and travel, judge that the back car is too close with the preceding car with the car, and then the suggestion back car, can indicate the back car to slow down as early as possible, keep the car distance, when avoiding the urgent brake of preceding car or taking place the accident, the back car stops not to live, takes place to chase into the back, guarantees vehicle and personnel's safety.
Optionally, the driving time period is less than or equal to the minimum braking time period, the method further comprising:
calculating a second difference value between the minimum braking time length and the running time length;
and when the second difference is larger than or equal to a third preset threshold value, outputting alarm information to prompt the rear vehicle to decelerate or brake.
Specifically, when the running time corresponding to the rear vehicle continues to decrease, it indicates that the following distance between the rear vehicle and the front vehicle further decreases, the second difference between the minimum braking time and the running time is increased, and when the second difference is increased to be greater than or equal to the third preset threshold, it indicates that the rear vehicle is too close to the front vehicle.
For the intelligent traffic system, a control instruction can be output to the rear vehicle, and the rear vehicle is controlled to decelerate or brake by the control system of the rear vehicle. When the following distance between the rear vehicle and the front vehicle is continuously reduced to a certain degree, the rear vehicle is directly controlled to decelerate or brake, the reaction time of a driver can be reduced, the problem of speed control errors caused by sensor damage and the like can be prevented for an automatic driving vehicle, the rear vehicle is prevented from rear-end collision with the front vehicle, and the safety of the vehicle and personnel is ensured.
Step S140, if the running time is longer than the minimum braking time, comparing a first difference value between the running time and the minimum braking time with a first preset threshold value when the front vehicle is braked emergently, and if the first difference value is smaller than or equal to the first preset threshold value, prompting that the rear vehicle knocks into the rear carefully.
Specifically, the running time is longer than the minimum braking time, which indicates that the following distance between the rear vehicle and the front vehicle is safe, the front vehicle is unexpectedly stopped or emergently braked, and the rear vehicle cannot collide with the front vehicle when being braked at the maximum braking acceleration, as shown in fig. 2, when the front vehicle is emergently braked, the running time corresponding to the distance between the rear vehicle and the front vehicle is 4s, the minimum braking time is 3s, and the running time is longer than the minimum braking time. However, for the conventional vehicle, in addition to the vehicle braking duration, the reaction duration of the driver is also considered, so that the first difference between the driving duration and the minimum braking duration is compared with a first preset threshold, the first preset threshold is the reaction duration reserved for the driver, when the first difference is less than or equal to the first preset threshold, the prompt message can be output to the rear vehicle or a display screen is arranged on the front vehicle to display the prompt message to prompt the rear vehicle, and the prompt message can include 'emergency braking of the front vehicle, please pay attention to safety' and the like.
In the optional embodiment, the following distance between the rear vehicle and the front vehicle is considered, and the reaction time of the driver is also considered, so that the driver has sufficient time to brake after seeing the prompt information, traffic accidents are avoided, and the safety of the vehicle and personnel is ensured.
Optionally, if the driving time period is longer than the minimum braking time period, the method includes:
obtaining the braking acceleration of the front vehicle, comparing the braking acceleration with a second preset threshold value, and judging whether the front vehicle carries out emergency braking according to the comparison result;
and when the braking acceleration is greater than or equal to a second preset threshold value and the calibration duration is continued, determining that the front vehicle has emergency braking.
In this optional embodiment, in addition to comparing the braking acceleration with the second preset threshold, it is also determined whether the braking acceleration is greater than or equal to the second preset threshold for the duration of the calibration, so that situations such as mistaken brake stepping can be filtered out, and the accuracy of determining the emergency braking is improved.
In the method for controlling a vehicle to prevent rear-end collision according to the embodiment, the speed of the rear vehicle and the distance between the rear vehicle and the front vehicle are obtained in real time, the braking performance of the rear vehicle is considered, the minimum braking duration of the rear vehicle is calculated according to the speed of the rear vehicle and the maximum braking acceleration, and meanwhile, the driving duration is calculated according to the speed of the rear vehicle and the distance between the rear vehicle and the front vehicle, wherein the driving duration represents the driving duration which is estimated to be experienced when the rear vehicle collides with the front vehicle at the current speed when the front vehicle stops or is braked emergently. When the driving time length is less than or equal to the minimum braking time length, the following distance between the rear vehicle and the front vehicle is too short, and the rear vehicle is prompted to carefully rear-end. If the running time is longer than the minimum braking time, the following distance between the rear vehicle and the front vehicle is the safe distance, but if the front vehicle brakes emergently at the moment, the rear vehicle needs to be reminded to brake as soon as possible. Considering that the driver needs to have response time when controlling the vehicle, therefore, a first difference value between the running time and the minimum braking time is compared with a first preset threshold value, the time corresponding to the first preset threshold value is the response time reserved for the driver, when the first difference value is smaller than or equal to the first preset threshold value, the time period required for the driver to react is indicated to enter, and the driver of the vehicle is prompted to perform braking operation and carefully overtake the rear end. According to the technical scheme, a driver of the vehicle is prompted to brake by combining the braking performance of the vehicle, and the rear vehicle is prompted when the following distance is short, so that the rear vehicle can be more effectively prompted to brake, rear-end collision is carefully performed, and the effect of solving the rear-end collision problem is greatly improved.
Optionally, when the preceding vehicle is braked suddenly, the method further comprises:
acquiring the speed of a front vehicle, and calculating the braking distance of the front vehicle according to the speed of the front vehicle and the braking acceleration of the front vehicle;
and determining a total distance according to the braking distance and the distance between the rear vehicle and the front vehicle, recalculating according to the total distance and the speed of the rear vehicle, and correcting the running time.
Specifically, after the front vehicle is subjected to emergency braking, the front vehicle can also run forwards under the action of inertia, if the running time length is calculated according to the distance between the rear vehicle and the front vehicle at the time of the emergency braking of the front vehicle, the rear vehicle runs the running time length at the current vehicle speed, and the position where the rear vehicle is subjected to the emergency braking when the rear vehicle reaches the position is not the position where the rear vehicle stops after the emergency braking, so that the braking distance of the front vehicle needs to be considered, the total distance which the rear vehicle needs to run when the rear vehicle collides with the front vehicle is obtained by adding the braking distance of the front vehicle to the distance between the rear vehicle and the front vehicle, and the real running time length can be obtained by dividing the current speed of the rear vehicle by the total distance.
In the optional embodiment, compared with the method of neglecting the brake distance of the front vehicle, the running time is estimated, the running time is corrected according to the brake distance calculated by the speed and the brake acceleration of the front vehicle, and the accuracy of the running time is improved.
Optionally, if the first difference is smaller than or equal to the first preset threshold, after prompting that the rear vehicle is rear-end collision due to caution, the method further includes:
comparing the first difference value with a fourth preset threshold value, wherein the fourth preset threshold value is smaller than the first preset threshold value;
and when the first difference value is smaller than or equal to the fourth preset threshold value, outputting alarm information to prompt the rear vehicle to brake.
Specifically, after the front vehicle is emergently braked, a first difference between the running time and the minimum braking time is reduced along with the running of the rear vehicle, when the first difference is smaller than or equal to a first preset threshold value, the fact that the driver enters the reaction time of the driver is indicated, the driver is prompted to brake, and if the driver does not pay attention to the prompting information or the driver operates too slowly, the first difference is continuously reduced. When the first difference is smaller than or equal to the fourth preset threshold, it may indicate that the remaining reaction time of the driver is not enough for the driver to make a braking reaction, and if the braking is not performed any more, the running time period may be shorter than the minimum braking time period, so that the rear vehicle may end up with the front vehicle even if the braking is performed at the maximum braking acceleration. Therefore, at the moment, the alarm information can be output through sound or flickering of the alarm lamp and the like to prompt the brake of the rear vehicle.
For the intelligent traffic system, a braking instruction can be directly sent out, the control system of the rear vehicle controls the braking of the rear vehicle, the rear vehicle is prevented from colliding with the front vehicle, traffic accidents are prevented, and the safety of vehicles and personnel is protected.
As shown in fig. 3, a vehicle control apparatus for preventing a rear-end collision according to an embodiment of the present invention includes:
the acquisition module is used for acquiring the speed of the rear vehicle and the distance between the rear vehicle and the front vehicle in real time;
the calculation module is used for calculating the minimum braking duration of the rear vehicle according to the speed of the rear vehicle and the maximum braking acceleration of the rear vehicle; calculating the driving time required by the rear vehicle to drive the distance at the current speed in real time according to the speed of the rear vehicle and the distance;
the prompting module is used for comparing the minimum braking time length with the driving time length, and prompting the rear vehicle to carefully rear-end the vehicle if the driving time length is less than or equal to the minimum braking time length; if the running time length is larger than the minimum braking time length, comparing a first difference value between the running time length and the minimum braking time length with a first preset threshold value when the front vehicle is braked emergently, and if the first difference value is smaller than or equal to the first preset threshold value, prompting that the rear vehicle knocks into the rear carefully.
Another embodiment of the present invention provides an electronic device including a memory and a processor; the memory for storing a computer program; the processor is configured to implement the vehicle control method of preventing rear-end collision as described above when executing the computer program.
A further embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle control method for preventing rear-end collision as described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like. In this application, the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (9)
1. A vehicle control method of preventing a rear-end collision, characterized by comprising:
acquiring the speed of a rear vehicle and the distance between the rear vehicle and a front vehicle in real time;
calculating the minimum braking duration of the rear vehicle according to the speed of the rear vehicle and the maximum braking acceleration of the rear vehicle; calculating the driving time required by the rear vehicle to drive the distance at the current speed in real time according to the speed of the rear vehicle and the distance;
comparing the minimum braking duration with the driving duration, and if the driving duration is less than or equal to the minimum braking duration, prompting that the rear vehicle carefully knocks into the rear;
if the running time length is greater than the minimum braking time length, comparing a first difference value between the running time length and the minimum braking time length with a first preset threshold value when the front vehicle is braked emergently, and if the first difference value is less than or equal to the first preset threshold value, prompting that the rear vehicle is tailed carefully; acquiring the braking acceleration of the front vehicle, comparing the braking acceleration with a second preset threshold value, and judging whether the front vehicle carries out emergency braking according to a comparison result; and when the braking acceleration is greater than or equal to a second preset threshold value and the calibration duration is continued, determining that the front vehicle has emergency braking.
2. The vehicle control method of preventing rear-end collision according to claim 1, characterized in that the running period is less than or equal to the minimum braking period, the method further comprises:
calculating a second difference value between the minimum braking time length and the running time length;
and when the second difference is larger than or equal to a third preset threshold value, outputting alarm information to prompt the rear vehicle to decelerate or brake.
3. The method according to claim 1, wherein if the first difference is less than or equal to the first preset threshold, after the rear-end careful rear-end collision is prompted, the method further comprises:
comparing the first difference value with a fourth preset threshold value, wherein the fourth preset threshold value is smaller than the first preset threshold value;
and when the first difference value is smaller than or equal to the fourth preset threshold value, outputting alarm information to prompt the rear vehicle to brake.
4. The vehicle control method for preventing a rear-end collision according to claim 1, characterized in that when the preceding vehicle is suddenly braked, the method further comprises:
acquiring the speed of a front vehicle, and calculating the braking distance of the front vehicle according to the speed of the front vehicle and the braking acceleration of the front vehicle;
and determining a total distance according to the braking distance and the distance between the rear vehicle and the front vehicle, recalculating according to the total distance and the speed of the rear vehicle, and correcting the running time.
5. The vehicle control method of preventing rear-end collision according to any one of claims 1 to 4, characterized in that after calculating the minimum braking period of the rear vehicle from the rear vehicle speed and the maximum braking acceleration of the rear vehicle, the method further comprises:
and acquiring road condition information and/or weather information, and correcting the minimum braking time according to the road condition information and/or the weather information.
6. The method according to claim 5, wherein the correcting the minimum braking duration according to the road condition information and/or the weather information comprises:
searching a road condition influence value of the braking duration in a preset first corresponding relation according to the road condition information, and/or searching a weather influence value of the braking duration in a preset second corresponding relation according to the weather information, wherein the first corresponding relation comprises the road condition information and the road condition influence value which are in one-to-one correspondence, and the second corresponding relation comprises the weather information and the weather influence value which are in one-to-one correspondence;
and adding the road condition influence value and/or the weather influence value with the minimum braking time length, and correcting the minimum braking time length.
7. A vehicle control apparatus that prevents a rear-end collision, characterized by comprising:
the acquisition module is used for acquiring the speed of the rear vehicle and the distance between the rear vehicle and the front vehicle in real time;
the calculation module is used for calculating the minimum braking duration of the rear vehicle according to the speed of the rear vehicle and the maximum braking acceleration of the rear vehicle; calculating the driving time required by the rear vehicle to drive the distance at the current speed in real time according to the speed of the rear vehicle and the distance;
the prompting module is used for comparing the minimum braking time length with the driving time length, and prompting the rear vehicle to carefully rear-end the vehicle if the driving time length is less than or equal to the minimum braking time length; if the running time length is greater than the minimum braking time length, comparing a first difference value between the running time length and the minimum braking time length with a first preset threshold value when the front vehicle is braked emergently, and if the first difference value is less than or equal to the first preset threshold value, prompting that the rear vehicle is tailed carefully; acquiring the braking acceleration of the front vehicle, comparing the braking acceleration with a second preset threshold value, and judging whether the front vehicle carries out emergency braking according to a comparison result; and when the braking acceleration is greater than or equal to a second preset threshold value and the calibration duration is continued, determining that the front vehicle has emergency braking.
8. An electronic device comprising a memory and a processor;
the memory for storing a computer program;
the processor, when executing the computer program, is configured to implement the vehicle control method of preventing rear-end collision according to any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle control method for preventing rear-end collision according to any one of claims 1 to 6.
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| DE102017223480A1 (en) * | 2017-12-20 | 2019-06-27 | Robert Bosch Gmbh | Method and device for automatically controlling the longitudinal dynamics of a vehicle |
| CN110517486A (en) * | 2019-08-16 | 2019-11-29 | 东南大学 | A kind of forward direction anti-collision warning method based on driving behavior state |
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| CN112435474B (en) * | 2020-11-20 | 2022-03-18 | 吉林大学 | Expressway variable speed limit control system and control method for rear-end collision risk prevention and control |
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