WO2021077723A1

WO2021077723A1 - Vehicle lane changing early warning system and control method

Info

Publication number: WO2021077723A1
Application number: PCT/CN2020/089978
Authority: WO
Inventors: 葛慧敏; 黄明月; 杨友森; 孙辉; 郑明强
Original assignee: 江苏大学
Priority date: 2019-10-23
Filing date: 2020-05-13
Publication date: 2021-04-29
Also published as: CN110834634B; CN110834634A

Abstract

A vehicle lane changing early warning system and a control method. The vehicle lane changing early warning system comprises a vehicle distance monitoring unit, a vehicle speed monitoring unit, a data processing unit, and a control execution unit. The vehicle distance monitoring unit comprises a front millimeter wave radar range finder and a rear millimeter wave radar range finder. The vehicle speed monitoring unit comprises a transverse vehicle speed sensor, a longitudinal vehicle speed sensor, a front speed measuring instrument, and a rear speed measuring instrument. The data processing unit comprises a collision time calculation module, a lane changing time calculation module, a first determining module, a second determining module, a third determining module, and an information processing module. The control execution unit comprises a prompt device and a main control module. By means of the critical collision times between the vehicle and the front vehicle and the rear vehicle in the vehicle lane, the safe lane changing time required by the lane changing of the vehicle is accurately calculated, the operator is controlled and reminded to control the safe lane changing time to be less than the critical collision time.

Description

Vehicle lane changing early warning system and control method

Technical field

The invention relates to a vehicle early warning system and a control method, in particular to a vehicle lane changing early warning system and a control method, and belongs to the field of automobile control.

Background technique

With the rapid development of my country's economy, the number of vehicles has continued to increase, resulting in a rapid increase in highway traffic. With the increase in car ownership and utilization, the incidence of traffic accidents is also getting higher and higher. In traffic accidents, traffic accidents caused by lane-changing behavior accounted for 28% of the total traffic accidents, causing a relatively large negative impact on road traffic accidents. According to statistics, the traffic accidents caused by vehicles changing lanes are mainly caused by the wrong judgment of the drivers on the timing of the vehicle lane changing. Therefore, it is very important to provide drivers with safe lane changing decision-making significance when vehicles change lanes. It plays a very important role in reducing the occurrence of traffic accidents and protecting people's property and life safety.

Summary of the invention

Purpose of the invention: In view of the shortcomings in the prior art, the present invention provides a vehicle lane-changing early warning system and control method, which forces vehicles to complete lane-changing at a safe lane-changing time, avoiding traffic accidents caused by selecting the wrong lane-changing timing occur.

Technical solution: A vehicle lane change warning system, including a vehicle distance monitoring unit, a vehicle speed monitoring unit, a data processing unit, and a control execution unit; the vehicle distance monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, and the data processing unit Send instructions to the control execution unit, the control execution unit controls the steering of the vehicle and reminds the driver of the vehicle; it is characterized in that: the vehicle distance monitoring unit includes a front rangefinder and a rear rangefinder; the vehicle speed monitoring unit includes a lateral vehicle speed sensor and a longitudinal vehicle speed sensor , Front speedometer and rear speedometer; the data processing unit includes a critical collision time calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module, and an information processing module; the control execution unit includes Prompt device and main control module;

The lateral vehicle speed value measured by the lateral vehicle speed sensor is transmitted to the lane change time calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits it to the second judgment module and the third judgment module; longitudinal vehicle speed sensor, front speedometer The longitudinal speed of the vehicle, the speed of the vehicle in front of the target lane, and the speed of the vehicle behind the target lane measured by the and rear speedometer are transmitted to the first judgment module; the judgment value of the first judgment module is transmitted to the collision time calculation module; the front rangefinder measured The value of the distance between the vehicle and the vehicle in front of the target lane is transmitted to the collision time calculation module. The collision time calculation module calculates the critical collision time between the vehicle and the preceding vehicle and transmits it to the second judgment module. The judgment value of the second judgment module is transmitted to the third judgment module. Judgment module; the distance between the vehicle and the vehicle behind the target lane measured by the rear rangefinder is transmitted to the collision time calculation module, and the collision time calculation module calculates the critical collision time between the vehicle and the following vehicle and transmits it to the third judgment module. The judgment value of the judgment module is transmitted to the information processing module; the information processing module is respectively connected with the prompting device and the main control module, and the main control module controls the steering wheel control device through the steering module.

A vehicle lane change warning control method, including the following steps:

Step 1. The lateral vehicle speed sensor measures the lateral vehicle speed v _Ih of the vehicle, the longitudinal vehicle speed sensor measures the longitudinal vehicle speed v _{Iz of the} vehicle, the front speedometer measures the vehicle speed in front of the target lane v _cl , and the rear speedometer measures the rear vehicle speed v _cf , and The lateral vehicle speed v _{Ih is} sent to the lane-changing time calculation module, and the longitudinal vehicle speed v _Iz , the preceding vehicle speed v _cl and the following vehicle speed v _{cf are} sent to the first judgment module and the collision time calculation module;

Step 2: The front distance meter measures the distance between the vehicle and the vehicle in front of the target lane D _cl , the rear distance meter measures the distance between the vehicle and the vehicle behind the target lane D _cf , and sends the distance D _cl and D _cf to Collision time calculation module;

Step 3. The first judgment module compares the longitudinal vehicle speed v _Iz , the preceding vehicle speed v _cl and the following vehicle speed v _cf. If v _cf ≤ _{v Iz} ≤ _{v cl} , then execute step 9 and the vehicle can change lanes, otherwise execute Step 6, the vehicle is forced to go straight;

Step 4: The lane change time calculation module calculates the time T _c required for the vehicle to complete the lane change, and sends T _c to the second judgment module and the third judgment module;

Step 5. The collision time calculation module calculates the critical collision time T _l _{between the host vehicle and the vehicle ahead of the target lane and the critical collision time T f} between the host vehicle and the vehicle behind the target lane, and sends T _l to the second judgment module, and sends T _{f is} sent to the third judgment module;

Step 6. The second judgment module compares the lane-changing time T _c with the critical collision time T _l between the vehicle and the vehicle ahead in the target lane. If T _c <T _l , proceed to step 8 to control the vehicle to go straight, otherwise proceed to step 7 , To determine the size of _{T c} and T _f;

Step 7. The third judgment module compares the lane-changing time T _c _{with the critical collision time T f} between the vehicle and the vehicle behind the target lane. If T _c <T _f , proceed to step 9 and the vehicle can change lanes, otherwise proceed to step 8. Control the vehicle to go straight;

Step 8. The prompt device prompts the driver to change lanes for too long and enter the forced straight forward phase. The main control module controls the vehicle steering wheel control device to adjust the steering wheel angle;

Step 9. The prompt device prompts the driver that the vehicle can change lanes.

Further, the lane change time T _{c is} calculated as follows:

T _c ＝L/v _Ih

Where: L is the width of the lane, in m; v _{Ih is} the lateral speed of the vehicle, in m/s.

_{Further, the critical collision time T l} between the host vehicle and the vehicle ahead in the target lane is calculated as follows:

T _l = D _cl /(v _Iz -v _cl )

Where: v _{Iz is} the longitudinal speed of the vehicle, v _cl is the speed of the vehicle in front of the target lane, and D _{cl is} the distance between the vehicle and the vehicle in front of the target lane.

_{Further, the critical collision time T l} between the vehicle and the vehicle in front of the target lane is calculated as follows:

Tf=D _cf /(v _Iz -v _cf )

Where: v _{Iz is} the longitudinal speed of the vehicle, v _cf is the speed of the vehicle behind the target lane, and D _{cf is} the distance between the vehicle and the vehicle behind the target lane.

Beneficial effects: The present invention calculates the collision time between the vehicle and the front and rear vehicles in the target lane, avoiding traffic accidents caused by excessive lane changing time, and effectively improving the driving safety of the vehicle changing lanes.

Description of the drawings

Figure 1 is a diagram of the control principle of the present invention;

Figure 2 is a control flow chart of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

As shown in Figure 1, a vehicle lane change warning system includes a vehicle distance monitoring unit, a vehicle speed monitoring unit, a data processing unit, and a control execution unit; the vehicle distance monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, The data processing unit issues instructions to the control execution unit, and the control execution unit controls the steering of the vehicle and reminds the driver of the vehicle; it is characterized in that: the vehicle distance monitoring unit includes a front rangefinder and a rear rangefinder; the vehicle speed monitoring unit includes a lateral vehicle speed sensor, Longitudinal vehicle speed sensor, front speedometer and rear speedometer; the data processing unit includes a critical collision time calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module, and an information processing module; the control The execution unit includes a prompt device and a main control module;

The lateral vehicle speed value measured by the lateral vehicle speed sensor is transmitted to the lane change time calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits it to the second judgment module and the third judgment module; longitudinal vehicle speed sensor, front speedometer The longitudinal speed of the vehicle, the speed of the vehicle in front of the target lane, and the speed of the vehicle behind the target lane measured by the and rear speedometer are transmitted to the first judgment module; the judgment value of the first judgment module is transmitted to the collision time calculation module; the front rangefinder measured The value of the distance between the vehicle and the vehicle in front of the target lane is transmitted to the collision time calculation module. The collision time calculation module calculates the critical collision time between the vehicle and the preceding vehicle and transmits it to the second judgment module. The judgment value of the second judgment module is transmitted to the third judgment module. Judgment module; the distance between the vehicle and the vehicle behind in the target lane measured by the rear rangefinder is transmitted to the collision time calculation module, and the collision time calculation module calculates the critical collision time between the vehicle and the following vehicle and transmits it to the third judgment module. The judgment value of the judgment module is transmitted to the information processing module; the information processing module is respectively connected with the prompting device and the main control module, and the main control module controls the direction of the vehicle through the steering module.

As shown in Figure 2, a vehicle lane changing control method includes the following steps:

Step 1. The lateral vehicle speed sensor measures the lateral vehicle speed v _Ih of the vehicle, the longitudinal vehicle speed sensor measures the longitudinal vehicle speed v _{Iz of the} vehicle, the front speedometer measures the vehicle speed v _{cl of the} target lane, and the rear speedometer measures the rear vehicle speed v _cf , and The lateral vehicle speed v _{Ih is} sent to the lane-changing time calculation module, and the longitudinal vehicle speed v _Iz , the preceding vehicle speed v _cl and the following vehicle speed v _{cf are} sent to the first judgment module and the collision time calculation module;

Step 2. The front distance meter measures the distance D _{cl between the} _{vehicle in front of the vehicle and the target lane, and the rear distance meter measures the distance D cf} between the vehicle and the vehicle behind in the target lane, and sends the distances D _cl and D _cf to Collision time calculation module;

Step 9. The prompt device prompts the driver that the vehicle can change lanes.

The T _c lane change time is calculated as follows:

T _c ＝L/v _Ih

T _l is the critical target vehicle lane preceding vehicle impact time is calculated as follows:

T _l = D _cl /(v _Iz -v _cl )

Where: v _{Iz is} the longitudinal speed of the vehicle in m/s; v _cl is the speed of the vehicle in front of the target lane, in m/s; D _{cl is} the distance between the vehicle and the vehicle in front of the target lane, in m.

T _f ＝D _cf /(v _Iz -v _cf )

Where: v _{Iz is} the longitudinal speed of the vehicle, in m/s; v _cf is the vehicle speed behind the target lane, in m/s; D _{cf is} the distance between the vehicle and the vehicle behind the target lane, in m.

The embodiments are the preferred embodiments of the present invention, but the present invention is not limited to the above-mentioned embodiments. Without departing from the essence of the present invention, any obvious improvements, substitutions or substitutions can be made by those skilled in the art. The variants all belong to the protection scope of the present invention.

Claims

A vehicle lane changing early warning system includes a vehicle distance monitoring unit, a vehicle speed monitoring unit, a data processing unit, and a control execution unit; the vehicle distance monitoring unit and the vehicle speed monitoring unit transmit the measured data to the data processing unit, and the data processing unit issues instructions to The control execution unit, the control execution unit controls the steering of the vehicle and reminds the vehicle driver; it is characterized in that: the distance monitoring unit includes a front rangefinder and a rear rangefinder; the vehicle speed monitoring unit includes a lateral speed sensor, a longitudinal speed sensor, and a front speed measurement The data processing unit includes a critical collision time calculation module, a lane change time calculation module, a first judgment module, a second judgment module, a third judgment module, and an information processing module; the control execution unit includes a prompting device and Main control module;

The lateral vehicle speed value measured by the lateral vehicle speed sensor is transmitted to the lane change time calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits it to the second judgment module and the third judgment module; longitudinal vehicle speed sensor, front speedometer The longitudinal speed of the vehicle, the speed of the vehicle in front of the target lane, and the speed of the vehicle behind the target lane measured by the rear speedometer are transmitted to the first judgment module; the judgment value of the first judgment module is transmitted to the collision time calculation module; the front rangefinder measured The value of the distance between the vehicle and the vehicle in front of the target lane is transmitted to the collision time calculation module. The collision time calculation module calculates the critical collision time between the vehicle and the preceding vehicle and transmits it to the second judgment module. The judgment value of the second judgment module is transmitted to the third judgment module. Judgment module; the distance between the vehicle and the vehicle behind the target lane measured by the rear rangefinder is transmitted to the collision time calculation module, and the collision time calculation module calculates the critical collision time between the vehicle and the following vehicle and transmits it to the third judgment module. The judgment value of the judgment module is transmitted to the information processing module; the information processing module is respectively connected with the prompting device and the main control module, and the main control module controls the steering wheel control device through the steering module.
The vehicle lane change warning control method according to claim 1, characterized in that it comprises the following steps:

Step 1. The lateral vehicle speed sensor measures the lateral vehicle speed v Ih of the vehicle, the longitudinal vehicle speed sensor measures the longitudinal vehicle speed v Iz of the vehicle, the front speedometer measures the vehicle speed v cl of the target lane, and the rear speedometer measures the rear vehicle speed v cf , and The lateral vehicle speed v Ih is sent to the lane-changing time calculation module, and the longitudinal vehicle speed v Iz , the preceding vehicle speed v cl and the following vehicle speed v cf are sent to the first judgment module and the collision time calculation module;

Step 2: The front distance meter measures the distance between the vehicle and the vehicle in front of the target lane D cl , the rear distance meter measures the distance between the vehicle and the vehicle behind the target lane D cf , and sends the distance D cl and D cf to Collision time calculation module;

Step 3. The first judgment module compares the longitudinal vehicle speed v Iz , the preceding vehicle speed v cl and the following vehicle speed v cf. If v cf ≤ v Iz ≤ v cl , then execute step 9 and the vehicle can change lanes, otherwise execute Step 6, the vehicle is forced to go straight;

Step 4: The lane change time calculation module calculates the time T c required for the vehicle to complete the lane change, and sends T c to the second judgment module and the third judgment module;

Step 5. The collision time calculation module calculates the critical collision time T l between the host vehicle and the vehicle ahead of the target lane and the critical collision time T f between the host vehicle and the vehicle behind the target lane, and sends T l to the second judgment module, and sends T f is sent to the third judgment module;

Step 6. The second judgment module compares the lane-changing time T c with the critical collision time T l between the vehicle and the vehicle ahead in the target lane. If T c <T l , proceed to step 8 to control the vehicle to go straight, otherwise proceed to step 7 , To determine the size of T c and T f;

Step 7. The third judgment module compares the lane-changing time T c with the critical collision time T f between the vehicle and the vehicle behind the target lane. If T c <T f , proceed to step 9 and the vehicle can change lanes, otherwise proceed to step 8. Control the vehicle to go straight;

Step 8. The prompt device prompts the driver to change lanes for too long and enter the forced straight forward phase. The main control module controls the vehicle steering wheel control device to adjust the steering wheel angle;

Step 9. The prompt device prompts the driver that the vehicle can change lanes.
The vehicle lane-changing early warning control method according to claim 2, wherein the lane-changing time T c is calculated as follows:

T c ＝L/v Ih

Where: L is the width of the lane, in m; v Ih is the lateral speed of the vehicle, in m/s.
The vehicle lane-changing early warning control method according to claim 2, wherein the critical collision time T l between the host vehicle and the vehicle in front of the target lane is calculated as follows:

T l = D cl /(v Iz -v cl )

Where: v Iz is the longitudinal speed of the vehicle, v cl is the speed of the vehicle in front of the target lane, and D cl is the distance between the vehicle and the vehicle in front of the target lane.
The vehicle lane-changing early warning control method according to claim 2, wherein the critical collision time T l between the host vehicle and the vehicle in front of the target lane is calculated as follows:

T f ＝D cf /(v Iz -v cf )

Where: v Iz is the longitudinal speed of the vehicle, v cf is the speed of the vehicle behind the target lane, and D cf is the distance between the vehicle and the vehicle behind the target lane.