CN106157696A - Move avoidance system and preventing collision method based on truck traffic from car owner - Google Patents

Move avoidance system and preventing collision method based on truck traffic from car owner Download PDF

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Publication number
CN106157696A
CN106157696A CN201610777112.7A CN201610777112A CN106157696A CN 106157696 A CN106157696 A CN 106157696A CN 201610777112 A CN201610777112 A CN 201610777112A CN 106157696 A CN106157696 A CN 106157696A
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China
Prior art keywords
car
information
vehicle
vehicles
risk
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CN201610777112.7A
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Chinese (zh)
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CN106157696B (en
Inventor
贺锦鹏
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浙江吉利控股集团有限公司
浙江吉利汽车研究院有限公司
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Priority to CN201610777112.7A priority Critical patent/CN106157696B/en
Publication of CN106157696A publication Critical patent/CN106157696A/en
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Publication of CN106157696B publication Critical patent/CN106157696B/en

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162Decentralised systems, e.g. inter-vehicle communication event-triggered
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143Alarm means

Abstract

A kind of move avoidance system based on truck traffic from car owner, comprising: receiver module, for receiving the front vehicles driving information that front vehicles sends over;From car information acquisition module, for gathering from car driving information;Message processing module, for obtaining present road information, and according to front vehicles driving information, combine present road information from car driving information, judge from whether car and front vehicles exist the risk colliding, and when judging to there is, with front vehicles, the risk colliding from car, output is for performing the control signal of hedging action;Motion response module, for the control signal of response message processing module output, control performs initiative alarming, actively braking or active steering from car;Sending module, for being sent to front vehicle from car driving information.Present invention also offers and a kind of move preventing collision method based on truck traffic from car owner, the present invention can reduce the risk that the vehicle travelling in the same direction knocks into the back and knocked into the back.

Description

Move avoidance system and preventing collision method based on Che-car communication from car owner

Technical field

The present invention relates to technical field of vehicle safety, particularly relate to a kind of avoid system based on Che-car communication from car owner is dynamic System and preventing collision method.

Background technology

According to shown in " People's Republic of China's road traffic accident statistics annual report ", trail the master that collision is China's traffic accident Wanting Crash characteristics, for highway, this Crash characteristics is particularly acute.

It is to cause to trail collision that front truck is braked suddenly, the particularly a chain of main cause trailing collision.

Existing a kind of technology solving emergency brake of vehicle is " brake hard prompting ", and this system is brought to a halt shape at vehicle During state, logical signal of bringing to a halt is sent to Brake lamp, and Brake lamp can be with the frequency scintillation of 3.5Hz per second;And carry out 4m/s2With Lower when slowing down or control without ABS, Brake lamp flicker just automatically terminates.But this system is blocked etc. at bad weather and front truck and drives The person of sailing cannot normally can not play a role in the operating mode of normal observation Brake lamp.

The existing another kind of technology solving to trail accidents is " automatic emergency brake system ", and this system can visited Measure Braking mode vehicle when vehicle front exists risk of collision, it is to avoid collision or reduction collision speed.But, this system is general Use the detection danger ahead such as preposition radar, camera and other sensors, by the accuracy of identification of sensor, detection range etc. The impact of build-in attribute, and the impact of the environmental factor such as weather, road condition, especially when front abrupt deceleration vehicle is blocked (for example being blocked by other vehicles or building, trees etc., this situation easily causes vehicle pileup to trail collision), automatic emergency system Dynamic system can not find danger in advance and brake from car.This system when high vehicle speeds can not collision free completely, can only Reduce collision speed, still passenger can be damaged.

Restricted by prior art, when, bad weather too small in radius of turn and front truck are blocked, travel from car Front truck on track is braked suddenly, cannot react braking in time from car driver, cause the generation of rear-end impact accident;Or work as When there is risk of collision from car discovery front, automatic emergency brake system action causes from car brake hard, and being chased after of producing The generation of tail accident.

Content of the invention

The invention provides and a kind of move avoidance system and preventing collision method based on Che-car communication from car owner, can reduce in the same direction The risk that the vehicle travelling knocks into the back and knocked into the back.

The present invention solves it and technical problem is that what the following technical scheme of employing realized.

A kind of move avoidance system based on Che-car communication from car owner, including

Receiver module, for receiving the front vehicles driving information that front vehicles sends over;

From car information acquisition module, for gathering from car driving information;

Message processing module, is used for obtaining present road information, and according to described front vehicles driving information, described from car Driving information combines present road information, it is judged that whether there is, from car and described front vehicles, the risk colliding, and is sentencing Disconnected when car exists, with described front vehicles, the risk colliding, output is for performing the control signal of hedging action;

Motion response module, for responding the described control signal of described message processing module output, control performs from car Initiative alarming, actively braking or active steering;And

Sending module, for being sent to front vehicle by described from car driving information.

Further, described receiver module and described sending module are the cordless communication network modules between car and car, logical Cross WLAN technologies and realize communication.

Further, described motion response module includes the first alarm unit, the second alarm unit, brake unit and turns to Unit;Described first alarm unit and described second alarm unit are used for performing initiative alarming action;Described brake unit is used for Perform actively braking maneuver;Described steering unit is used for performing active steering action.

A kind of move preventing collision method based on Che-car communication from car owner, comprising:

Receive the front vehicles driving information that front vehicles sends over;

Gather from car driving information;

Obtain present road information, and according to described front vehicles driving information, described from car driving information combine described in Present road information, it is judged that whether there is the risk colliding from car and described front vehicles, and judge from car with described When front vehicles exists the risk colliding, output is for performing the control signal of hedging action;

Responding described control signal, control performs initiative alarming, actively braking or active steering from car;And

It is sent to front vehicle by described from car driving information.

Further, described from car driving information include vehicle essential information, car braking information, Vehicular turn information and At least one or more of information in track of vehicle information.

Further, described vehicle essential information includes at least one in vehicle location, speed, course angle;Described car Braking information includes car braking start time, at least one in vehicle acceleration change information;Described Vehicular turn is believed Breath includes Vehicular turn start time, at least one in the change information of Vehicular turn angle.

Further, described present road information include road restricted driving state, road direction, road limit for height information, Road limit for width information, road sign information, lane line position, lane line type, at least one or more of letter of signal lamp state Breath.

Further, according to described front vehicles driving information, described from car driving information combine described present road letter Breath, it is judged that the method that whether there is the risk colliding from car and described front vehicles refers to according to from car and front vehicles two Relative position between car, relative velocity, relative acceleration, the one or more of which of driving trace information combine described currently Road information judges whether the traveling action of front vehicles can cause the risk colliding from car.

Further, according to from the relative position between car with front vehicles two car, relative velocity, relative acceleration, OK Sail the one or more of which of trace information to combine described present road information and judge whether the traveling action of front vehicles can be led Cause comprises the steps: from the method for the risk that car collides

Step S101: when the acceleration of the front vehicles driving information of a certain vehicle in other vehicles on front side of car is less than When acceleration rate threshold or steering moment are more than steering moment threshold value, it is judged that this vehicle is carrying out risk action;

Step S102: the front vehicles driving information of the vehicle of this execution risk action is folded with present road information Add, it is judged that whether whether the vehicle of this execution risk action and travel in the same direction with from car traveling in same link;

Step S103: this execution risk action vehicle with from car travel same link and in the same direction travel when, it is judged that Whether there is other interval vehicles between the vehicle of car and this execution risk action, as existed and only existing an interval vehicle When, send sound flash alarm system;

Step S104: if being spaced vehicle without other between two cars, it is judged that away from collision moment whether more than braking moment at the latest With 1.2 seconds sums, as met condition, send sound flash alarm system;

Step S105: if away from collision moment less than or equal to braking moment and 1.2 seconds sums at the latest, continues to judge away from collision Whether the moment, more than or equal to braking moment at the latest, as met condition, sends vibrations warning, is used for informing driver front wind Danger;

Step S106: brake at the latest if being less than away from collision moment, it is judged that whether be less than threshold speed from car speed, from car Speed carries out braking less than use-8m/s2 during threshold speed with all strength;

Step S107: if being more than or equal to threshold speed from car speed, uses-4m/s2 to carry out partial brake, judges simultaneously Whether there is other vehicles that can cause colliding after car active steering from car adjacent lane, if existing from car adjacent lane The vehicle colliding after car active steering can be caused, proceed to step S106;

Step S108: if there is not, from car adjacent lane, the vehicle that can cause colliding after car active steering, it is judged that Whether away from collision moment more than or equal to turning to the moment at the latest, collision moment, more than or equal to turning to the moment at the latest, proceeds to step S106;

Step S109: if away from collision moment less than turning to the moment at the latest, according to front vehicle position information, overall width information, relatively Speed information carries out active steering action.

Further, described message processing module is multiple danger classes according to the risk regionalization of risk of collision, often The corresponding different sub-control signal of individual described danger classes, the described motion response module of each described sub-control signal control performs Corresponding action;Wherein, control includes sending sound flash alarm system from car execution initiative alarming and sends vibrations warning.

The invention has the beneficial effects as follows:

1st, compared with existing automatic emergency brake technology, without the restriction of the sensor build-in attribute such as accuracy of identification, detection range Problem.

2nd, it is not necessarily to the road environment restriction problem that too small, bad weather and front truck are blocked by radius of turn.

3 it can be avoided that knock into the back from car during the emergency brake of vehicle of front side and move braking from car owner and cause by the thing that knocks into the back Therefore.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, and in order to allow the above-mentioned of the present invention keep away based on moving from car owner of Che-car communication System and preventing collision method and other objects, features and advantages can be become apparent, below especially exemplified by preferred embodiment, and coordinates Accompanying drawing, describes in detail.

Brief description

Fig. 1 is the structural representation moving avoidance system from car owner based on Che-car communication of first embodiment of the invention.

Fig. 2 is the moving the information of avoidance system from car owner and illustrate alternately based on Che-car communication of first embodiment of the invention Figure.

Fig. 3 is the rate-determining steps signal moving preventing collision method from car owner based on Che-car communication of first embodiment of the invention Figure.

Fig. 4 is the control flow signal moving preventing collision method from car owner based on Che-car communication of second embodiment of the invention Figure.

Detailed description of the invention

By further illustrating the technological means and effect that the present invention taked by reaching predetermined purpose, below in conjunction with accompanying drawing And preferred embodiment, to the concrete reality moving avoidance system and method from car owner based on Che-car communication proposing according to the present invention Execute mode, structure, feature and effect thereof, after describing in detail such as.

For the present invention aforementioned and other technology contents, feature and effect, following coordinate with reference to figure preferably implementing The detailed description of example can clearly appear from.By the explanation of detailed description of the invention, when can be to the present invention for reaching predetermined purpose The technological means taked and effect are able to more go deep into and concrete understanding, but institute's accompanying drawing is only to provide reference and explanation With not for the present invention is any limitation as.

Fig. 1 is the structural representation moving avoidance system from car owner based on Che-car communication of first embodiment of the invention, figure 2 is the mutual schematic diagram of information moving avoidance system from car owner based on Che-car communication of first embodiment of the invention, such as Fig. 1 and Shown in Fig. 2, moving avoidance system from car owner and include that the 120th, the 110th, receiver module believed from car information acquisition module based on Che-car communication Breath processing module the 130th, motion response module 140 and sending module 150;Wherein, receiver module 110 is used for receiving front vehicles and sends out The front vehicles driving information D1 bringing;From car information acquisition module 120 for gathering from car driving information D2 will be from car Driving information D2 is transferred to message processing module 130 and sending module 140;Message processing module 130 is used for obtaining present road Information D3, and according to front vehicles driving information D1, combine present road information D3 from car driving information D2, it is judged that from car with front Whether side's vehicle exists the risk colliding, and when judging to there is, with front vehicles, the risk colliding from car, output For performing control signal CON of hedging action;Motion response module 140 is for the control of response message processing module 130 output Signal CON processed, control performs initiative alarming, actively braking or active steering from car according to the degree of danger of risk of collision;Send out Send module 150, for front vehicle will be sent to from car driving information D2.

Specifically, receiver module 110 is used for receiving the front vehicles driving information D1 that front vehicles sends over, and will connect The front vehicles driving information D1 receiving is transferred to message processing module 130.Receiver module 110 e.g. wireless between car and car Communication network module, it realizes Small Extension Node. Communications by WLAN technologies, the therefore receiver module of each vehicle Carry out wireless communication with other vehicles a range of.In vehicle traveling process, the received model of receiver module 110 There will be other vehicles variable amount of in enclosing, receiver module 110 can receive and can each front vehicles in range of receiving send The front vehicles driving information D1 coming over.

Include multiple sensor and global positioning system (Global Positioning from car information acquisition module 120 System, GPS) etc..From car information acquisition module 120 gather from car driving information D2 include from the vehicle essential information of car, At least one or more of information in car braking information, Vehicular turn information and track of vehicle information.Vehicle essential information example As included the vehicle location utilizing GPS to detect, the speed utilizing vehicle speed sensor to detect, the boat utilizing gyro sensor to detect To angle etc.;Car braking information for example includes car braking start time, the vehicle acceleration utilizing acceleration transducer to detect Change information etc.;Vehicular turn information for example includes that Vehicular turn start time, the vehicle utilizing steering angle sensor to detect turn To angle change information etc.;Track of vehicle information for example, utilizes the vehicle driving trace that GPS generates.From car information acquisition module 120 are also transferred to message processing module 130 and sending module 150 by gather from car driving information D2 simultaneously.

Sending module 150 will be for being sent to front vehicle from car driving information D2.Sending module 150 be also for example car with Cordless communication network module between car, it realizes Small Extension Node. Communications by WLAN technologies, therefore each vehicle Sending module all can carry out wireless communication with other vehicles a range of.Sending module 150 will be from car driving information D2 is sent to a range of other vehicles (front vehicle) on rear side of car.In vehicle traveling process, sending module 150 Can there will be other vehicles variable amount of in range of transmission, sending module 150 will be sent to send model from car driving information D2 Each other vehicles in enclosing.In other embodiments, sending module 150 and receiver module 110 also can be integrated in same In module.

The front vehicles driving information D1 that receiver module 110 receives i.e. refer to that front vehicles gathers from car driving information D2, when front vehicles is sent to from car, for the front vehicles driving information D1 being received from car, therefore, each Car as from car when received front vehicles driving information D1 include that vehicle essential information (includes vehicle location, car equally Speed, course angle etc.), car braking information (including car braking start time, vehicle acceleration change information etc.), Vehicular turn Information (including Vehicular turn start time, Vehicular turn angle change information etc.) and track of vehicle information etc..If as in figure 2 it is shown, Travelling in the same direction in same track on road surface has vehicle A, B, C, and vehicle A, B, C are provided with receiver module the 110th, from car information gathering Module 120 and sending module 150, and vehicle A is in the front side of vehicle B, vehicle C is at the rear side of vehicle B.If with vehicle A for from car, Being then front vehicle for vehicle B, C relative vehicle A, vehicle A is sent from garage to vehicle B, C respectively by sending module 150 Sail information D2.If with vehicle B for from car, for vehicle A relative vehicle B for for front vehicles, vehicle C relative vehicle B being then Front vehicle, vehicle B receives the front vehicles driving information D1 of vehicle A by receiver module 110, and (i.e. vehicle A is for from Che Shiche A send from car driving information D2), sent from car driving information D2 to vehicle C by sending module 150 simultaneously.If with car C is for from car, being then front vehicles for vehicle A, B relative vehicle C, and the front vehicles that vehicle C receives vehicle A, B simultaneously travels Information D1 (i.e. vehicle A for when car vehicle A send from car driving information D2 and vehicle B for from car when vehicle B send out pound from Car driving information D2).Be appreciated that for each there is the present invention move avoidance system based on Che-car communication from car owner Vehicle for, by the information of vehicles that gathers from car information acquisition module 120 for from car driving information D2, pass through receiver module 110 information of vehicles receiving are front vehicles driving information D1.Road surface travels when having more vehicle, each vehicle all by Be sent to from a range of front vehicle of car from car from car driving information D2, be received from simultaneously car a range of before The front vehicles driving information D1 of side's vehicle.For example, when there is also the vehicle X not illustrated on front side of vehicle A, then vehicle A, B, C also can receive the front vehicles driving information D1 of vehicle X.

Message processing module 130 is used for obtaining present road information D3, and the front vehicles receiving according to receiver module 110 Driving information D1, from car information acquisition module 120 gather combine present road information D3 from car driving information D2, it is judged that from car Whether there is the risk colliding with front vehicles, and when judging to there is, with front vehicles, the risk colliding from car, Output is for performing control signal CON of hedging action.Specifically, present road information D3 refers to that the road travelling from car is wrapped Containing various information, for example, can be obtained by reading on-vehicle navigation apparatus, but be not limited thereto.Present road information D3 includes Road restricted driving state, road direction, road limit for height information, road limit for width information, road sign information, lane line position, car At least one or more of information such as diatom type, signal lamp state.Message processing module 130 has plug-in, information processing Module 130 by algorithm and the rule of plug-in calculate, analyze front vehicles driving information D1, from car driving information D2 and work as Front road information D3, it is judged that whether there is the risk colliding from car and front vehicles.Such as message processing module 130 basis From one of which such as the relative position between car with each front vehicles two car, relative velocity, relative acceleration, driving traces Or much information combines present road information D3 and judges whether the traveling action of each front vehicles can cause touching from car The risk hit, exports control signal CON for performing hedging action according to judged result simultaneously.

Motion response module 140 for control signal CON of response message processing module 130 output, control from car according to The degree of danger of risk of collision performs initiative alarming, actively braking or active steering.Specifically, motion response module 140 connects Receiving control signal CON that message processing module 130 sends, message processing module 130 is according to the risk regionalization of risk of collision For multiple danger classes, the corresponding different sub-control signal of each danger classes, every sub-control signal control action response mould Block 140 performs corresponding action;The action that motion response module 140 performs includes initiative alarming, actively braking and active steering. The motion response module 140 then control signal CON control according to message processing module 130 from car according to the dangerous journey of risk of collision Degree performs initiative alarming, actively braking or active steering.In the present embodiment, motion response module 140 includes the first warning list Unit the 141st, the second alarm unit the 142nd, brake unit 143 and steering unit 144.First alarm unit 141 and the second alarm unit 142 are used for performing initiative alarming action, and specifically, the first alarm unit 141 is for sending sound flash alarm system to driver, for example logical Cross alarm lamp to send warning light, send voice prompt etc. by sound equipment;Second alarm unit 142 is for sending vibrations to driver Warning, for example, send vibrations by shaking device.Brake unit 143 is used for performing actively braking maneuver.Steering unit 144 is used for Perform active steering action.

When performing action from the motion response module 140 of car, this course of action can react on car driving information D2, Therefore in the wings vehicle receiver to send from the sending module 150 of car from car driving information D2, (front vehicle correspondence receives For front vehicles driving information D1) when, other vehicles carry out risk of collision judgement and execution action simultaneously, therefore, based on car- The moving avoidance system from car owner and can prevent from knocking into the back with front vehicles from car and preventing from being chased after by front vehicle from car of car communication Tail.

The present invention also provides and a kind of moves from car owner dynamic the keeping away of avoidance system based on Che-car communication from car owner based on above-mentioned Allowing method, Fig. 3 is the rate-determining steps signal moving preventing collision method from car owner based on Che-car communication of first embodiment of the invention Figure, as it is shown on figure 3, move from car owner the moving preventing collision method include of avoidance system based on Che-car communication from car owner based on above-mentioned Following steps:

Step S11: receive the front vehicles driving information D1 that front vehicles sends over.

Specifically, utilize receiver module 110 to receive the front vehicles driving information D1 that front vehicles sends over, and will connect The front vehicles driving information D1 receiving is transferred to message processing module 130.Receiver module 110 e.g. wireless between car and car Communication network module, it realizes Small Extension Node. Communications by WLAN technologies, the therefore receiver module of each vehicle Carry out wireless communication with other vehicles a range of.In vehicle traveling process, the received model of receiver module 110 There will be other vehicles variable amount of in enclosing, receiver module 110 can receive and can each front vehicles in range of receiving send The front vehicles driving information D1 coming over.

Step S12: gather from car driving information D2.

Specifically, utilization gathers from car driving information D2 from car information acquisition module 120;Wrap from car information acquisition module 12 Include multiple sensor and global positioning system (Global Positioning System, GPS) etc.;From car driving information D2 bag Include at least one or many in the vehicle essential information of car, car braking information, Vehicular turn information and track of vehicle information The information of kind.Vehicle essential information for example includes the vehicle location utilizing GPS to detect, the speed utilizing vehicle speed sensor to detect, profit Course angle etc. with gyro sensor detection;Car braking information for example includes car braking start time, utilizes acceleration The vehicle acceleration change information etc. of sensor detection;Vehicular turn information for example includes that Vehicular turn start time, utilization turn Vehicular turn angle change information etc. to angle transducer detection;The vehicle that track of vehicle information for example, utilizes GPS to generate travels Track.

The front vehicles driving information D1 being received in step S11 i.e. refer to that front vehicles gathers from car driving information D2, when front vehicles is sent to from car, for the front vehicles driving information D1 being received from car, therefore, each Car as from car when received front vehicles driving information D1 include that vehicle essential information (includes vehicle location, car equally Speed, course angle etc.), car braking information (including car braking start time, vehicle acceleration change information etc.), Vehicular turn Information (including Vehicular turn start time, Vehicular turn angle change information etc.) and track of vehicle information etc..

Step S13: obtain present road information D3, and according to front vehicles driving information D1, from car driving information D2 knot Road information D3 before being fated, it is judged that whether there is, from car and front vehicles, the risk colliding, and judging from car and front When vehicle exists the risk colliding, output is for performing control signal CON of hedging action.

Specifically, receiver module 110 is utilized to receive front vehicles driving information D1, utilize from car information acquisition module 120 Gather from car driving information D2 and utilize message processing module 130 to obtain present road information D3;Present road information D3 is Referring to that the road travelling from car is comprised various information, for example, can being obtained by reading vehicle mounted guidance, present road information D3 includes Road restricted driving state, road direction, road limit for height information, road limit for width information, road sign information, lane line position, At least one or more of information such as lane line type, signal lamp state.Message processing module 130 has plug-in, at information Reason module 130 by algorithm and the rule of plug-in calculate, analyze front vehicles driving information D1, from car driving information D2 and Present road information D3, it is judged that whether there is the risk colliding from car and front vehicles.Such as message processing module 130 According to from the relative position between car with each front vehicles two car, relative velocity, relative acceleration, driving trace etc. wherein Plant or much information combines present road information D3 and judges whether the traveling action of each front vehicles can cause occurring from car The risk of collision, exports control signal CON for performing hedging action according to judged result simultaneously.

Step S14: responsive control signal CON, control performs initiative alarming, master from car according to the degree of danger of risk of collision Dynamic braking or active steering.

Specifically, utilizing control signal CON that motion response module 140 response message processing module 130 exports, control is certainly Car performs initiative alarming, actively braking or active steering according to the degree of danger of risk of collision.Motion response module 140 receives Control signal CON for performing hedging action that message processing module 130 sends, message processing module 130 is according to collision wind The risk regionalization of danger is multiple danger classes, the corresponding different sub-control signal of each danger classes, every height control letter Number control action respond module 140 performs corresponding action;The action that motion response module 140 performs includes initiative alarming, master Dynamic braking and active steering.Motion response module 140 then control signal CON according to message processing module 130 controls from car root Perform initiative alarming, actively braking or active steering according to the degree of danger of risk of collision.In the present embodiment, action response mould Block 140 includes the first alarm unit the 141st, the second alarm unit the 142nd, brake unit 143 and steering unit 144.First warning is single Unit 141 and the second alarm unit 142 are used for performing initiative alarming action, and specifically, the first alarm unit 141 is for driver Send sound flash alarm system, for example, sent warning light by alarm lamp, send voice prompt etc. by sound equipment;Second alarm unit 142 For sending vibrations warning to driver, for example, send vibrations by shaking device.Brake unit 143 is used for performing actively to brake Action.Steering unit 144 is used for performing active steering action.

Step S15: front vehicle will be sent to from car driving information D2.

Specifically, sending module 150 is utilized will to be sent to front vehicle from car driving information D2.Sending module 150 is for example Being also the cordless communication network module between car and car, it realizes Small Extension Node. Communications by WLAN technologies, therefore often The sending module of one vehicle all can carry out wireless communication with other vehicles a range of.Sending module 150 will be from car Driving information D2 is sent to a range of other vehicles (front vehicle) on rear side of car.In vehicle traveling process, send Module 150 can there will be other vehicles variable amount of in range of transmission, sending module 150 will be sent to from car driving information D2 Can each other vehicles in range of transmission.In other embodiments, sending module 150 and receiver module 110 also can be integrated In same module, receiver module 110 and front vehicles carry out wireless communication, and sending module 150 and front vehicle are entered Row wireless communication.

When performing action from the motion response module 140 of car, this course of action can react on car driving information D2, Therefore in the wings vehicle receiver to send from the sending module 150 of car from car driving information D2, (front vehicle correspondence receives For front vehicles driving information D1) when, other vehicles carry out risk of collision judgement and execution action simultaneously, therefore, based on car- The moving avoidance system from car owner and can prevent from knocking into the back with front vehicles from car and preventing from being chased after by front vehicle from car of car communication Tail.

Fig. 4 is the control flow signal moving preventing collision method from car owner based on Che-car communication of second embodiment of the invention Figure, the second embodiment is the one of which specific implementation method of first embodiment, as shown in Figure 4, based on Che-car communication from After car owner moves avoidance system startup:

Step S100: receive front vehicles driving information D1, gather from car driving information D2 and obtain present road letter Breath D3.

Step S101: when the acceleration of the front vehicles driving information D1 of a certain vehicle in front vehicles is less than acceleration When threshold value or steering moment are more than steering moment threshold value, it is judged that this vehicle is carrying out dangerous play.Wherein, acceleration rate threshold For example,-4m/s2, steering moment threshold value for example, 3N m.

Step S102: front vehicles driving information D1 and present road information D3 of the vehicle of this execution dangerous play are entered Row superposition, it is judged that whether whether the vehicle of this execution dangerous play and travel in the same direction with from car traveling in same link.

Step S103: this execution dangerous play vehicle with from car travel same link and in the same direction travel when, it is judged that Whether there is other interval vehicles between the vehicle of car and this execution dangerous play, as existed and only existing an interval vehicle When, send sound flash alarm system (perform initiative alarming action), for inform driver with from workshop every a car front vehicles Braking, reminds and brakes in advance from car driver.

Step S104: if being spaced vehicle without other between two cars, it is judged that away from collision moment TTC whether more than when braking at the latest Carve TBrake at the latestWith 1.2 seconds sums, as met condition, send sound flash alarm system, be used for informing driver's danger ahead, remind and drive from car The person of sailing brakes in advance.

Step S105: if away from collision moment TTC less than or equal to braking moment T at the latestBrake at the latestWith 1.2 seconds sums, continue to sentence Whether turn-off collision moment TTC is more than or equal to braking moment T at the latestBrake at the latest, as met condition, send vibrations warning and (perform master Dynamic actuation of an alarm), it is used for informing driver's danger ahead, it is necessary to take braking action.

Step S106: if away from collision moment TTC less than braking moment T at the latestBrake at the latest, it is judged that from car speed whether less than speed Degree threshold value, uses-8m/s2 to carry out braking (performing actively braking maneuver) when being less than threshold speed from car speed with all strength.Speed Threshold value for example, 50km/h.

Step S107: if being more than or equal to threshold speed from car speed, uses-4m/s2 to carry out partial brake, judges simultaneously Whether there is other vehicles that can cause colliding after car active steering from car adjacent lane, if existing from car adjacent lane The vehicle colliding after car active steering can be caused, proceed to step S106.

Step S108: if there is not, from car adjacent lane, the vehicle that can cause colliding after car active steering, it is judged that It whether is more than or equal to turn to moment T at the latest away from collision moment TTCTurn at the latest, collision moment TTC is more than or equal to when turning at the latest Carve TTurn at the latest, proceed to step S106.

Step S109: turn to moment T at the latest if being less than away from collision moment TTCTurn at the latest, believe according to front vehicle position information, overall width Breath, relative speed information etc. carry out active steering action.

Che-car communication move avoidance system and preventing collision method with mobile ad-hoc network as technical foundation from car owner, need The vehicle of transmission information automatically detects the vehicle in communication range and information progressively passes to other cars, can better meet The quick dynamic variation characteristic of vehicle on road, and then in subrange, issue important vehicle change information in time.

The Che of the present invention-car communication move avoidance system from car owner and preventing collision method has the advantage that

1st, compared with existing automatic emergency brake technology, without the restriction of the sensor build-in attribute such as accuracy of identification, detection range Problem.

2nd, it is not necessarily to the road environment restriction problem that too small, bad weather and front truck are blocked by radius of turn.

3 it can be avoided that knock into the back from car during front vehicles brake hard and move braking from car owner and cause by the thing that knocks into the back Therefore.

Above to provided by the present invention based on Che-car communication move avoidance system from car owner and preventing collision method has been carried out in detail Thin introducing, principle and embodiment to the present invention for the specific case used herein is set forth, saying of above example Bright method and the core concept thereof being only intended to help to understand the present invention;Simultaneously for one of ordinary skill in the art, foundation The thought of the present invention, all will change in specific embodiments and applications, and in sum, this specification content is not It is interpreted as limitation of the present invention.

Claims (10)

1. move an avoidance system based on Che-car communication from car owner, it is characterized in that, including
Receiver module (110), for receiving the front vehicles driving information (D1) that front vehicles sends over;
From car information acquisition module (120), for gathering from car driving information (D2);
Message processing module (130), is used for obtaining present road information (D3), and according to described front vehicles driving information (D1), described described present road information (D3) is combined from car driving information (D2), it is judged that whether exist with front vehicles from car The risk colliding, and when judging to there is, with front vehicles, the risk colliding from car, output is used for performing hedging and moves The control signal (CON) made;
Motion response module (140), is used for responding the described control signal (CON) that described message processing module (130) exports, control System performs initiative alarming, actively braking or active steering from car;And
Sending module (150), for being sent to front vehicle by described from car driving information (D2).
2. as claimed in claim 1 move avoidance system based on Che-car communication from car owner, it is characterized in that, described receiver module (110) and described sending module (150) is the cordless communication network module between car and car, real by WLAN technologies Now communicate.
3. as claimed in claim 1 move avoidance system based on Che-car communication from car owner, it is characterized in that, described action response Module (140) includes the first alarm unit (141), the second alarm unit (142), brake unit (143) and steering unit (144);Described first alarm unit (141) and described second alarm unit (142) are used for performing initiative alarming action;Described system Moving cell (143) is used for performing actively braking maneuver;Described steering unit (144) is used for performing active steering action.
4. move a preventing collision method based on Che-car communication from car owner, it is characterized in that, comprising:
Receive the front vehicles driving information (D1) that front vehicles sends over;
Gather from car driving information (D2);
Obtain present road information (D3), and according to described front vehicles driving information (D1), described from car driving information (D2) In conjunction with described present road information (D3), it is judged that whether there is, from car and front vehicles, the risk colliding, and judging certainly When car exists, with front vehicles, the risk colliding, output is for performing the control signal (CON) of hedging action;
Responding described control signal (CON), control performs initiative alarming, actively braking or active steering from car;And
It is sent to front vehicle by described from car driving information (D2).
5. as claimed in claim 4 move preventing collision method based on Che-car communication from car owner, it is characterized in that, described travel from car Information (D2) includes at least one in vehicle essential information, car braking information, Vehicular turn information and track of vehicle information Or much information.
6. as claimed in claim 5 moving preventing collision method based on Che-car communication from car owner, it is characterized in that, described vehicle is basic Information includes at least one in vehicle location, speed, course angle;When described car braking information includes that car braking starts Carve, at least one in vehicle acceleration change information;Described Vehicular turn information includes that Vehicular turn start time, vehicle turn At least one in the change information of angle.
7. as claimed in claim 6 move preventing collision method based on Che-car communication from car owner, it is characterized in that, described present road Information (D3) include road restricted driving state, road direction, road limit for height information, road limit for width information, road sign information, Lane line position, lane line type, at least one or more of information of signal lamp state.
8. as claimed in claim 7 move preventing collision method based on Che-car communication from car owner, it is characterized in that, according to described front Vehicle traveling information (D1), described combine described present road information (D3) from car driving information (D2), it is judged that from car with described Front vehicles whether exist the method for the risk colliding refer to according to from the relative position between car with front vehicles two car, Relative velocity, relative acceleration, the one or more of which of driving trace information combine described present road information (D3) and judge Whether the traveling action of front vehicles can cause the risk colliding from car.
9. as claimed in claim 8 move preventing collision method based on Che-car communication from car owner, it is characterized in that, according to from car with front Relative position between side's vehicle two car, relative velocity, relative acceleration, the one or more of which of driving trace information combine Described present road information (D3) judges the method whether the traveling action of front vehicles can cause the risk colliding from car Comprise the steps:
Step S101: when the acceleration of the front vehicles driving information (D1) of a certain vehicle in other vehicles on front side of car is less than When acceleration rate threshold or steering moment are more than steering moment threshold value, it is judged that this vehicle is carrying out risk action;
Step S102: the front vehicles driving information (D1) of the vehicle of this execution risk action is folded with present road information Add, it is judged that whether whether the vehicle of this execution risk action and travel in the same direction with from car traveling in same link;
Step S103: this execution risk action vehicle with from car travel same link and in the same direction travel when, it is judged that from car And whether there is other interval vehicles between the vehicle of this execution risk action, during as existed and only existing an interval vehicle, Send sound flash alarm system;
Step S104: if being spaced vehicle without other between two cars, it is judged that away from collision moment (TTC) whether more than braking moment at the latest (TBrake at the latest) and 1.2 seconds sums, as met condition, send sound flash alarm system;
Step S105: if away from collision moment (TTC) less than or equal to braking moment (T at the latestBrake at the latest) and 1.2 seconds sums, continue to sentence Whether turn-off collision moment (TTC) is more than or equal to braking moment (T at the latestBrake at the latest), as met condition, send vibrations warning, use In informing driver front risk;
Step S106: if away from collision moment (TTC) less than braking (T at the latestBrake at the latest), it is judged that it whether is less than speed threshold from car speed Value, uses-8m/s2 to carry out braking when being less than threshold speed from car speed with all strength;
Step S107: if being more than or equal to threshold speed from car speed, uses-4m/s2 to carry out partial brake, judges from car simultaneously Whether adjacent lane exists other vehicles that can cause colliding after car active steering, if can lead from car adjacent lane existence Cause the vehicle colliding after car active steering, proceed to step S106;
Step S108: if there is not, from car adjacent lane, the vehicle that can cause colliding after car active steering, it is judged that away from touching Hit the moment whether (TTC) is more than or equal to turn to moment (T at the latestTurn at the latest), collision moment (TTC) is more than or equal to turn at the latest Moment (TTurn at the latest), proceed to step S106;
Step S109: turn to moment (T at the latest if being less than away from collision moment (TTC)Turn at the latest), believe according to front vehicle position information, overall width Breath, relative speed information carry out active steering action.
10. as claimed in claim 4 move preventing collision method based on Che-car communication from car owner, it is characterized in that, described information processing Module (130) is multiple danger classes according to the risk regionalization of risk of collision, and each described danger classes is corresponding different Sub-control signal, the described motion response module (140) of each described sub-control signal control performs corresponding action;Wherein, control System performs initiative alarming from car and includes sending sound flash alarm system and send vibrations warning.
CN201610777112.7A 2016-08-30 2016-08-30 Avoidance system and preventing collision method are moved from car owner based on Che-Che Tongxin CN106157696B (en)

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