CN104648245A - Forward anti-collision early-warning method based on laser radar - Google Patents
Forward anti-collision early-warning method based on laser radar Download PDFInfo
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- CN104648245A CN104648245A CN201510060023.6A CN201510060023A CN104648245A CN 104648245 A CN104648245 A CN 104648245A CN 201510060023 A CN201510060023 A CN 201510060023A CN 104648245 A CN104648245 A CN 104648245A
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Abstract
The invention provides a forward anti-collision early-warning method based on a laser radar. The method comprises the following steps of: S1, measuring the distance D between a car and a forward car through the laser radar; S2, reading the speed and accelerated speed of the car through a CAN cable; S3, calculating the safety distance according to a safety distance formula, wherein the safety distance formula is Dw=V2/2(a-f)+V*(T+s), Dbr=V2/2(a-f)+V*Ts, Dw stands for the alarming distance, Dbr stands for the automatically braking distance, V stands for the speed of the car, a stands for the accelerated speed of the car, f stands for the corrected value of the accelerated speed, T stands for the braking time, Ts stands for the automatically braking response time, and s stands for the corrected value of the braking time; as the further improvement of the invention, S4, judging according to the safety distance formula in the step S3, and taking out corresponding measures. The forward anti-collision early-warning method based on the laser radar has the following beneficial effects: car owners are early warned or measures are taken out for the cars according to different early-warning grades, thus the anti-collision effects are achieved, rear-end collisions are effectively reduced, and traffic accidents are reduced.
Description
Technical field
The present invention relates to forward direction anticollision method for early warning, particularly relate to a kind of forward direction anticollision method for early warning based on laser radar.
Background technology
Along with the development of auto-domain, traffic accident also gets more and more.Therefore, how better reducing traffic accident is problem demanding prompt solution.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of forward direction anticollision method for early warning based on laser radar reducing rear-end collision.
The invention provides a kind of forward direction anticollision method for early warning based on laser radar, comprise the following steps:
S1, distance D by this spacing of lidar measurement front vehicles;
S2, read this vehicle speed, acceleration/accel from CAN line;
S3, according to safety distance formulae discovery safety distance, safety distance formula is:
D
w = V
2/2(a-f) + V*(T+s)；
D
br = V
2/2(a-f) + V*T
s；
Wherein, D
wfor alarm distance; D
brfor self-actuating brake distance; V is this vehicle speed; A is this car acceleration/accel; F is acceleration correction value; T is braking time; Ts is the self-stopping reaction time; S is braking time correction;
As a further improvement on the present invention, S4, to judge according to the safety distance formula calculated in step S3, make corresponding action.
Step S4 comprises following sub-step:
If A is D
w" D: the risk not having to collide is described, automobile is in safe condition;
If B is D
w>D>D
br: certain collision risk is described but is not very serious, warning sends Amber alert;
If C is D<D
br: very large collision risk is described, warning sends warning red, and carries out brake.
As a further improvement on the present invention, in steps A, indicator lamp display is green.
As a further improvement on the present invention, in step B, indicator lamp display is yellow.
As a further improvement on the present invention, in step C, indicator lamp display is red.
The invention has the beneficial effects as follows: by correlation parameters such as the distance speed of other vehicles and this car on lidar measurement road, the related datas such as the Velocity-acceleration of this car are obtained by CAN, then according to the strategy formulated, calculate advanced warning grade, to warn to car owner according to different advanced warning grades or action etc. is implemented to automobile, thus play the effect of anticollision, effectively reduce rear-end collision, decrease traffic accident.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of forward direction anticollision method for early warning based on laser radar of the present invention;
Fig. 2 is three grades of schematic diagrams of warning of a kind of forward direction anticollision method for early warning based on laser radar of the present invention.
Detailed description of the invention
Illustrate below in conjunction with accompanying drawing and detailed description of the invention the present invention is further described.
Along with the development of auto-domain, traffic accident also gets more and more.Vehicle collision avoidance system as one of active vehicle safety system is subject to the great attention of domestic and international automotive research personnel, also achieves a lot of achievement.Collision avoidance system is mainly used in several aspects such as rear-end impact system, the anti-system in side, Reverse Sensor.The invention provides a kind of prediction policy of the forward direction anticollision based on laser radar, reduce the generation of rear-end collision.
As shown in Figure 1 to Figure 2, a kind of forward direction anticollision method for early warning based on laser radar, comprises the following steps:
S1, distance D by this spacing of lidar measurement front vehicles;
S2, read this vehicle speed, acceleration/accel from CAN line;
S3, according to safety distance formulae discovery safety distance, safety distance formula is:
D
w = V
2/2(a-f) + V*(T+s)；
D
br = V
2/2(a-f) + V*T
s；
Wherein, D
wfor alarm distance; D
brfor self-actuating brake distance; V is this vehicle speed; A is this car acceleration/accel; F is acceleration correction value; T is braking time; Ts is the self-stopping reaction time; S is braking time correction;
S4, to judge according to the safety distance formula calculated in step S3, make corresponding action.
As shown in Figure 1 to Figure 2, step S4 comprises following sub-step:
If A is D
w" D: the risk not having to collide is described, automobile is in safe condition;
If B is D
w>D>D
br: certain collision risk is described but is not very serious, warning sends Amber alert;
If C is D<D
br: very large collision risk is described, warning sends warning red, and carries out brake.
As shown in Figure 1 to Figure 2, in steps A, indicator lamp display is green.
As shown in Figure 1 to Figure 2, in step B, indicator lamp display is yellow.
As shown in Figure 1 to Figure 2, in step C, indicator lamp display is red.
In above-mentioned parameter, there are some to be formulate when dispatching from the factory according to the situation of vehicle, have some to be obtained by Real-Time Monitoring, having some to be want car owner to arrange voluntarily.Braking time correction S is arranged by the knob that automobile is special by car owner, and arrange according to the brake speed of response for car owner, speed of response can be set to lower value soon, and the Calculation of Safety Distance value of relative front truck is now nearer; What speed of response was slow can be set to high value, and the Calculation of Safety Distance value of relative front truck is now far away.
Distance between front vehicles and this car, is calculated by laser radar, and with the vehicle nearest apart from this car for reference substance.
Brake acceleration/accel is wherein the brake acceleration/accel of normal braking situation on standard road surface obtained according to the test of vehicle before dispatching from the factory, and is an observed reading.
Its mode of warning is indicator lamp prompting, if normally, display is green; If there is slight risk of collision, display is yellow; If there is larger collision risk, display is red.
A kind of forward direction anticollision method for early warning based on laser radar provided by the invention, relative orthodox method, for safety distance calculating, add the concept of correction.Wherein acceleration correction value, is estimated by the operation real-time status of vehicle and acceleration mode, can more accurately be reflected the situations such as real-time road surface friction force.Braking time correction determines according to the different driving styles of car owner, and car owner is by the operation knob sets itself of native system, and the chaufeur of cautious style can arrange braking time length a bit, can make warning like this when leading vehicle distance is far away; It is shorter that the chaufeur of courageous and resolute type can arrange braking time, can make like this warning when leading vehicle distance is nearer.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (5)
1., based on a forward direction anticollision method for early warning for laser radar, it is characterized in that, comprise the following steps:
S1, distance D by this spacing of lidar measurement front vehicles;
S2, read this vehicle speed, acceleration/accel from CAN line;
S3, according to safety distance formulae discovery safety distance, safety distance formula is:
D
w= V
2/2(a-f) + V*(T+s)；
D
br= V
2/2(a-f) + V*T
s；
Wherein, D
wfor alarm distance; D
brfor self-actuating brake distance; V is this vehicle speed; A is this car acceleration/accel; F is acceleration correction value; T is braking time; Ts is the self-stopping reaction time; S is braking time correction;
S4, to judge according to the safety distance formula calculated in step S3, make corresponding action.
2. the forward direction anticollision method for early warning based on laser radar according to claim 1, it is characterized in that, step S4 comprises following sub-step:
If A is D
w" D: the risk not having to collide is described, automobile is in safe condition;
If B is D
w>D>D
br: certain collision risk is described but is not very serious, warning sends Amber alert;
If C is D<D
br: very large collision risk is described, warning sends warning red, and carries out brake.
3. the forward direction anticollision method for early warning based on laser radar according to claim 2, is characterized in that: in steps A, and indicator lamp display is green.
4. the forward direction anticollision method for early warning based on laser radar according to claim 2, is characterized in that: in step B, and indicator lamp display is yellow.
5. the forward direction anticollision method for early warning based on laser radar according to claim 2, is characterized in that: in step C, and indicator lamp display is red.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510060023.6A CN104648245A (en) | 2015-02-04 | 2015-02-04 | Forward anti-collision early-warning method based on laser radar |
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| CN201510060023.6A CN104648245A (en) | 2015-02-04 | 2015-02-04 | Forward anti-collision early-warning method based on laser radar |
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| CN104648245A true CN104648245A (en) | 2015-05-27 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105313769A (en) * | 2015-10-14 | 2016-02-10 | 武汉理工大学 | Vehicle active forewarning method, system and device based on millimeter wave radar |
| CN106004728A (en) * | 2016-06-29 | 2016-10-12 | 四川莱源科技有限公司 | Vehicle safety radar early-warning terminal |
| CN109693610A (en) * | 2018-12-29 | 2019-04-30 | 河南护航实业股份有限公司 | A kind of application method of laser radar in automobile front anti-collision |
| CN111123253A (en) * | 2019-12-26 | 2020-05-08 | 成都纳雷科技有限公司 | Vehicle identification method, system and medium based on adaptive threshold target clustering |
| CN111795070A (en) * | 2020-07-24 | 2020-10-20 | 广州狸园科技有限公司 | Electronic slide rail stroke control system based on 5G big data |
| CN111856510A (en) * | 2020-08-03 | 2020-10-30 | 北京理工大学重庆创新中心 | Vehicle front collision prediction method based on laser radar |
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| CN102582554A (en) * | 2011-06-29 | 2012-07-18 | 北京理工大学 | Early-warning and control system for car safety distance |
| CN103465886A (en) * | 2013-09-18 | 2013-12-25 | 毛振刚 | Intelligent protection safety device for reducing casualty risks caused by automobile collision |
| CN103625449A (en) * | 2012-08-25 | 2014-03-12 | 青岛联合创新技术服务平台有限公司 | Rear-end collision avoiding system of automobile |
| WO2014098653A1 (en) * | 2012-12-19 | 2014-06-26 | Volvo Truck Corporation | Method and arrangement for determining the speed behaviour of a leading vehicle |
| CN104129377A (en) * | 2014-07-25 | 2014-11-05 | 杭州电子科技大学 | Initiative anticollision self-adapting fuzzy control method for vehicle |
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2015
- 2015-02-04 CN CN201510060023.6A patent/CN104648245A/en active Pending
Patent Citations (5)
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| CN102582554A (en) * | 2011-06-29 | 2012-07-18 | 北京理工大学 | Early-warning and control system for car safety distance |
| CN103625449A (en) * | 2012-08-25 | 2014-03-12 | 青岛联合创新技术服务平台有限公司 | Rear-end collision avoiding system of automobile |
| WO2014098653A1 (en) * | 2012-12-19 | 2014-06-26 | Volvo Truck Corporation | Method and arrangement for determining the speed behaviour of a leading vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105313769A (en) * | 2015-10-14 | 2016-02-10 | 武汉理工大学 | Vehicle active forewarning method, system and device based on millimeter wave radar |
| CN105313769B (en) * | 2015-10-14 | 2018-01-12 | 武汉理工大学 | A kind of vehicle-mounted active forewarning method, system and device based on millimetre-wave radar |
| CN106004728A (en) * | 2016-06-29 | 2016-10-12 | 四川莱源科技有限公司 | Vehicle safety radar early-warning terminal |
| CN109693610A (en) * | 2018-12-29 | 2019-04-30 | 河南护航实业股份有限公司 | A kind of application method of laser radar in automobile front anti-collision |
| CN111123253A (en) * | 2019-12-26 | 2020-05-08 | 成都纳雷科技有限公司 | Vehicle identification method, system and medium based on adaptive threshold target clustering |
| CN111795070A (en) * | 2020-07-24 | 2020-10-20 | 广州狸园科技有限公司 | Electronic slide rail stroke control system based on 5G big data |
| CN111856510A (en) * | 2020-08-03 | 2020-10-30 | 北京理工大学重庆创新中心 | Vehicle front collision prediction method based on laser radar |
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Application publication date: 20150527 |
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