CN106601029A - Forward collision early-warning method and system based on curve self-adaption - Google Patents
Forward collision early-warning method and system based on curve self-adaption Download PDFInfo
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- CN106601029A CN106601029A CN201710086550.3A CN201710086550A CN106601029A CN 106601029 A CN106601029 A CN 106601029A CN 201710086550 A CN201710086550 A CN 201710086550A CN 106601029 A CN106601029 A CN 106601029A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
The invention discloses a forward collision early-warning method and a forward collision early-warning system based on curve self-adaption, which can prevent the misinformation condition of listing vehicles in lateral lanes as early-warning vehicles through judging whether a target vehicle and a present vehicle are in the same lane after determining whether a horizontal coordinate distance between the two vehicles is within a set lane width. Moreover, a prediction trajectory of the present vehicle serves as a vertical axis of a local coordinate system, so that the vertical axis of the local coordinate system can change along with the road profile automatically, therefore, the forward collision early-warning system can adapt to a curve scene.
Description
Technical field
The invention belongs to vehicle drive assist system, specifically related to based on bend it is adaptive before hit method for early warning and system.
Background technology
It is that advanced driving aids in that early warning system (Forward Collision Warning System, FCWS) is hit before vehicle
The important component part of system (Advanced Driver Assistance Systems, ADAS), for road traffic accident
In the rear-end collision that takes place frequently have efficient preventive effect.
Early warning system is hit before the existing vehicle based on radar and may be only available for straight way, in corner easily other tracks
There is false early warning as the barrier in this track in vehicle, affect driver's normal driving.
The content of the invention
It is an object of the invention to provide based on method for early warning is hit before bend adaptive algorithm, solving in the case of bend easily
Be there is into the problem of false early warning as the barrier in this track in other track vehicles.The object of the invention also resides in offer employing
Hit before method for early warning early warning system based on hitting before bend adaptive algorithm, using bend adaptive algorithm bend is accurately judged
In the case of front truck with track risk of collision, and to driver alert.
Method for early warning is hit before the adaptive algorithm based on bend disclosed by the invention, is comprised the following steps,
The first step, according to this vehicle speed VHThis car prediction locus radius of curvature R is calculated with yaw velocity ωH；
Second step, compares the size of this car prediction locus radius of curvature and setting maximum curvature radius threshold value R, if RH>R, then turn
3rd step, otherwise turns the 4th step；
3rd step, current road shape is straight way, and with this car central point as round dot, this car course is the longitudinal axis, and course vertical line is built for transverse axis
Vertical local coordinate；
4th step, current road shape be bend, with this car central point as round dot, this car prediction locus curve be the longitudinal axis, course vertical line
Local coordinate is set up for transverse axis；
5th step, target carriage absolute position is converted in the local coordinate of this car；
6th step, according to the relative position of Ben Che and target carriage in local coordinate, judges whether target carriage is the same car of this car
The front truck in road, if then turning the 7th step, if otherwise turning the first step；
7th step, speed, acceleration according to Ben Che and target carriage, course, relative position calculates this car and the pre- of target carriage touches
Hit time TTC；
8th step, compares pre-impact time TTC with minimum pre-impact time TTCminSize, if TTC< TTCmin, then export
Before hit early warning information, and turn the first step, otherwise, directly turn the first step.
Further, in the 6th step, when road shape is bend, judge target carriage in local coordinate whether on transverse axis
Side, and judge bend center of circle P points to target carriage apart from DRAnd P points to this car apart from DHDifference whether in setting track width
Within degree；If so, then target carriage and this car in same track；If it is not, then target carriage and this car be not in same track.
Further, in the 6th step, when road shape is straight way, judge target carriage in local coordinate whether on transverse axis
Side, and judge target carriage with the transverse horizontal distance of this car whether within setting lane width；If so, then target carriage and this car
In same track；If it is not, then target carriage and this car be not in same track.
Further, the lane width that sets is as half lane width in the actual track in this car place.
The invention also discloses hit before method for early warning early warning system using being based on to be hit before bend adaptive algorithm, wrap
Include：Short-range wireless communication module, locating module, embedded control unit and car running computer；
The short-range wireless communication module is used for and target vehicle communication, and by the running condition information of the target carriage for receiving,
It is sent to the embedded control unit；
The locating module receives satellite positioning information, produces the running condition information of this car and sends that information to described embedding
Enter formula control unit；
This car and target that the embedded control unit is input into according to the short-range wireless communication module and the locating module
Vehicle travelling state information, by hit before the adaptive algorithm based on bend method for early warning calculate whether have before hit danger, if
Danger is hit before having, then early warning information is notified to driver by the car running computer.
Further, the running condition information includes position, course, speed, acceleration and yaw velocity information.
Advantageous Effects of the present invention are：The present invention is transformed into target carriage positional information in this car local coordinate, leads to
Cross judge target vehicle and this car lateral coordinates distance whether judge in setting lane width two cars whether same track from
And avoid that other track vehicle is classified as the wrong report situation of early warning vehicle；While the longitudinal axis of this car prediction locus as local coordinate
So that the local coordinate longitudinal axis can automatically with road deformation so that before hit early warning system and be suitable for bend scene.
Description of the drawings
Fig. 1 is to hit early warning system structured flowchart before the present invention；
Fig. 2 is that of the invention being based on before bend adaptive algorithm hits method for early warning flow chart；
Fig. 3 is that of the invention being based on before bend adaptive algorithm hits local coordinate schematic diagram in method for early warning.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described.
Early warning system, including short-distance wireless communication mould are hit before cooperating type based on bend adaptive algorithm as shown in Figure 1
Block 1, GNSS locating modules 2, embedded control unit 3 and car running computer 4.Short-range wireless communication module 1 and GNSS locating modules 2
It is connected with embedded control unit 3 by CAN or Ethernet interface as data input cell, wherein short-range wireless communication module
Receive the target carriage running condition information sent from surrounding objects car short-range wireless communication module（Including：Position, course, speed
Degree, acceleration, yaw velocity etc.）, and embedded control unit 3 is transmitted these information to, GNSS locating modules are received and defended
Star location information, produces the running condition information of this car, and the letter such as the position of this car, course, speed, acceleration and angular velocity
Breath, and embedded control unit 3 is transmitted these information to, embedded control unit 3 is using based on bend adaptive algorithm
Before hit method for early warning to this car for being input into by short-range wireless communication module 1 and GNSS locating modules 2 and target vehicle travelling state letter
Breath is calculated and processed, and danger is hit before judging whether, and early warning information is sent to into driving electricity by car load CAN
Brain 4；If result of calculation hits danger before existing, car running computer 4 hits pre- before being carried out to driver by the form of picture and sound
Alert prompting.
It is illustrated in figure 2 and hits method for early warning based on before bend adaptive algorithm, comprises the following steps,
The first step, according to this vehicle speed VHThis car prediction locus radius of curvature R is calculated with yaw velocity ωH；
Second step, compares the size of this car prediction locus radius of curvature and setting maximum curvature radius threshold value R, if RH>R, then turn
3rd step, otherwise turns the 4th step；
3rd step, current road shape is straight way, and with this car central point as round dot, this car course is the longitudinal axis, and course vertical line is built for transverse axis
Vertical local coordinate；
4th step, current road shape be bend, with this car central point as round dot, this car prediction locus curve be the longitudinal axis, course vertical line
Local coordinate is set up for transverse axis；
5th step, target carriage absolute position is converted in the local coordinate of this car；
6th step, according to the relative position of Ben Che and target carriage in local coordinate, judges whether target carriage is the same car of this car
The front truck in road, if then turning the 7th step, if otherwise turning the first step；
7th step, speed, acceleration according to Ben Che and target carriage, course, relative position calculates this car and the pre- of target carriage touches
Hit time TTC；
8th step, compares pre-impact time TTC with minimum pre-impact time TTCminSize, if TTC< TTCmin, then export
Before hit early warning information, and turn the first step, otherwise, directly turn the first step.
In the 6th step, road shape be bend when, judge target carriage in local coordinate whether above transverse axis, and judgement
Bend center of circle P points are to target carriage apart from DRAnd P points to this car apart from DHDifference whether in actual track that this car is located partly
Within individual lane width；If so, then target carriage and this car in same track；If it is not, then target carriage and this car be not in same track.
Road shape be straight way when, judge target carriage in local coordinate whether above transverse axis, and judge target carriage and
Whether the transverse horizontal distance of car is located in half lane width in actual track in this car；If so, then target carriage exists with this car
With in track；If it is not, then target carriage and this car be not in same track.
Fig. 3 show road shape for bend when, the present invention is locally sat based on hitting in method for early warning before bend adaptive algorithm
Mark system schematic diagram.Wherein P points are the center of circle of this car prediction locus, and first the 8 to the second curve of curve 9, the second curve 9 to the 3rd is bent
The distance between line 10, the 3rd curve 10 to the 4th curve 11 are an actual lane width（Generally they are isometric,
It is equal to the width in this car place track）.In the case of to judge bend, whether target carriage is front truck of this car with track, is only needed
Judge target carriage in local coordinate whether above x-axis, and P points are to the difference of the distance of this car to target carriage and P points
It is no within this car is located half lane width in actual track, if so, then target carriage and this car in same track, if
No, then target carriage and this car be not in same track.
So as to filter out potential threat target carriage front to hit early warning system.As in Fig. 3, first object car 6 and Ben Che 5 are same
One track, and the second target carriage 7 and this car 5 be not or not same track.
In the present invention, locating module is in addition to using GNSS locating modules, it would however also be possible to employ existing other satellite fixes
Mode, such as d GPS locating module.
Claims (7)
1. it is based on before bend adaptive algorithm and hits method for early warning, it is characterised in that：Comprise the following steps,
The first step, according to this vehicle speed VHThis car prediction locus radius of curvature R is calculated with yaw velocity ωH；
Second step, compares the size of this car prediction locus radius of curvature and setting maximum curvature radius threshold value R, if RH>R, then turn
3rd step, otherwise turns the 4th step；
3rd step, current road shape is straight way, and with this car central point as round dot, this car course is the longitudinal axis, and course vertical line is built for transverse axis
Vertical local coordinate；
4th step, current road shape be bend, with this car central point as round dot, this car prediction locus curve be the longitudinal axis, course vertical line
Local coordinate is set up for transverse axis；
5th step, target carriage absolute position is converted in the local coordinate of this car；
6th step, according to the relative position of Ben Che and target carriage in local coordinate, judges whether target carriage is the same car of this car
The front truck in road, if then turning the 7th step, if otherwise turning the first step；
7th step, speed, acceleration according to Ben Che and target carriage, course, relative position calculates this car and the pre- of target carriage touches
Hit time TTC；
8th step, compares pre-impact time TTC with minimum pre-impact time TTCminSize, if TTC< TTCmin, then export
Before hit early warning information, and turn the first step, otherwise, directly turn the first step.
2. it is based on as claimed in claim 1 before bend adaptive algorithm and hits method for early warning, it is characterised in that：In 6th step,
When road shape is bend, judge target carriage in local coordinate whether above transverse axis, and judge bend center of circle P points to mesh
Mark car apart from DRAnd P points to this car apart from DHDifference whether within setting lane width；If so, then target carriage with this
Car is in same track；If it is not, then target carriage and this car be not in same track.
3. it is based on as claimed in claim 1 before bend adaptive algorithm and hits method for early warning, it is characterised in that：In 6th step,
When road shape is straight way, judge target carriage in local coordinate whether above transverse axis, and judge target carriage and this car
Whether transverse horizontal distance is within setting lane width；If so, then target carriage and this car in same track；If it is not, then target
Car is with this car not in same track.
4. it is based on as claimed in claim 2 or claim 3 before bend adaptive algorithm and hits method for early warning, it is characterised in that：It is described to set
Determine half lane width that lane width is actual track that this car is located.
5. adopt to be based on to be hit before bend adaptive algorithm and hit before method for early warning early warning system, it is characterised in that：
Including：Short-range wireless communication module（1）, locating module（2）, embedded control unit（3）And car running computer（4）；
The short-range wireless communication module（1）For communicating with target vehicle, and the transport condition of the target carriage for receiving is believed
Breath, is sent to the embedded control unit（3）；
The locating module（2）Satellite positioning information is received, the running condition information of this car is produced and is sent that information to institute
State embedded control unit（3）；
The embedded control unit（3）This car being input into according to the short-range wireless communication module and the locating module and mesh
Mark vehicle travelling state information, by hit before the adaptive algorithm based on bend method for early warning calculate whether have before hit danger,
If hitting danger before having, early warning information is passed through into the car running computer（4）Notify to driver.
6. adopt as claimed in claim 5 to be based on to be hit before bend adaptive algorithm and hit before method for early warning early warning system, its
It is characterised by：The running condition information includes position, course, speed, acceleration and yaw velocity information.
7. adopt as claimed in claim 5 to be based on to be hit before bend adaptive algorithm and hit before method for early warning early warning system, its
It is characterised by：The locating module adopts GNSS locating modules, d GPS locating module.
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| CN107672589A (en) * | 2017-09-26 | 2018-02-09 | 苏州观瑞汽车技术有限公司 | A kind of track of vehicle real-time predicting method and device based on GPR Detection Data |
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| CN108053690A (en) * | 2017-12-29 | 2018-05-18 | 东软集团股份有限公司 | Identify method, bend method for early warning, device, medium and the equipment of traveling lane |
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