CN107031621B - A kind of automobile anti-collision method - Google Patents
A kind of automobile anti-collision method Download PDFInfo
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- CN107031621B CN107031621B CN201611039002.7A CN201611039002A CN107031621B CN 107031621 B CN107031621 B CN 107031621B CN 201611039002 A CN201611039002 A CN 201611039002A CN 107031621 B CN107031621 B CN 107031621B
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- 230000035484 reaction time Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 2
- ZRHANBBTXQZFSP-UHFFFAOYSA-M potassium;4-amino-3,5,6-trichloropyridine-2-carboxylate Chemical compound [K+].NC1=C(Cl)C(Cl)=NC(C([O-])=O)=C1Cl ZRHANBBTXQZFSP-UHFFFAOYSA-M 0.000 claims 1
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- 238000002474 experimental method Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
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- 230000006870 function Effects 0.000 description 2
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- 238000011160 research Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of automobile anti-collision methods, comprising the following steps: S1: carrying out ranging to front truck using the method for ultrasonic distance measurement；S2: two vehicle distances are divided into prompting distance, alarm distance, and force braking distance, establish anticollision mathematical model；S3: it after the velocity information for obtaining vehicle, substitutes into established anticollision model, finds out St, Sw, Sd；1) if vehicle and front truck spacing, which are in, reminds distance StWithin when, issue alerting signal, tell driver that spacing is excessively close between two vehicles at this time, driver hear remind after carry out deceleration and prepare；2) when vehicle and front truck spacing are in alarm distance SwWithin when, issue alarm signal, driver hear alarm after to enhance your vigilance, the moment pays attention to front truck driving condition, just can guarantee traveling；3) braking distance S is forced when vehicle and front truck spacing are indWithin when, force to send automobile reduce-speed sign allowing car deceleration to increase two vehicle spacings, reduce driving danger coefficient.
Description
Technical field
The present invention relates to automobile collision preventing technical fields, and in particular to a kind of automobile anti-collision method.
Background technique
With the lasting fast development of China's economic society, the quickening of urbanization reform, broad masses' purchase vehicle is in great demand,
Bring road traffic accident also increases substantially therewith.In town road and on highway, vehicle rear-end collision collision is to lead
The main reason for accident, occurs for cause, in order to alleviate limited path resource and this contradiction of car owning amount per capita, reduces the person
Safety and property loss, research automobile automatic collision technology, that is, automobile have found that it is likely that the vehicle to collide therewith, pedestrian automatically
Or other barriers and sound an alarm or take simultaneously braking or evade equal measures, occur to avoid collision, there is realistic meaning
And economic value.
The anti-collision system for automobile of famous foreign automobile brand independent research, usually using millimetre-wave radar as distance survey
Sensor, it is high using millimetre-wave radar cost, be not suitable for promoting on general car and lorry and bus.China's automobile
The research and development process of anti-collision system is compared with developed countries, and there are apparent gaps, is mainly manifested in: though most vehicles
It is equipped with anticollision apparatus for vehicle backing, without collision-proof front truck function；Remote ranging for preventing collision product range is smaller, and range error is big,
It can not apply on the road of the road conditions such as highway complexity.Ultrasonic distance-measuring sensor is one kind using ultrasonic wave as information carrier
Range unit, it is cheap since it is protected from weather influences, therefore possess in collision prevention of vehicle and safety pre-warning system wide
Application prospect.But ordinary ultrasonic wave sensor is because measurement distance shorter (1-15m) can be only applied to park or move backward to prevent
It hits in alarm system, so developing and developing the ultrasonic distance-measuring sensor with high performance-price ratio and be used for automobile active anticollision system
In system, for pushing automobile omnibearing detection and the development of automobile active collision-avoidance system and extensive utilization to have great show
Sincere justice.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of automobile anti-collision methods.
A kind of automobile anti-collision method, comprising the following steps:
S1: ranging is carried out to front truck using the method for ultrasonic distance measurement；
S2: being divided into three phases for two vehicle distances, respectively prompting distance St, alarm distance Sw, and force braking distance
Sd, three kinds of distance values relative sizes are S under same situationt> Sw> Sd, establish anticollision mathematical model；
S3: it after ultrasonic distance-measuring sensor obtains the velocity information of vehicle, substitutes into established anticollision model, finds out and mention
Wake up distance St, alarm distance Sw, and force braking distance Sd；
1) if vehicle and front truck spacing, which are in, reminds distance StWithin when, issue alerting signal, tell driver at this time
Spacing is excessively close between two vehicles, and driver carries out deceleration after hearing prompting and prepares；
2) when vehicle and front truck spacing are in alarm distance SwWithin when, issue alarm signal, after driver hears alarm
It enhances your vigilance, the moment pays attention to front truck driving condition, just can guarantee traveling；
3) braking distance S is forced when vehicle and front truck spacing are indWithin when, force to send reduce-speed sign to automobile allowing vapour
Vehicle slows down to increase two vehicle spacings, reduces driving danger coefficient.
Further, anticollision mathematical model is established in step S2 the specific method is as follows:
S2-1: it is equal to the variable quantity of object kinetic energy: μ NS=1/ to the function that object is done from the available frictional force of the conservation of energy
2mv2, wherein N is pressure of the vehicle to ground, and μ is coefficient of friction of the vehicle with ground, and S is braking distance, and m is the quality of vehicle, and v is
The speed of vehicle, wherein vehicle is equal to gravity, that is, F=mg, F=N of vehicle to the pressure on ground, so N=mg, obtains μ=1/ mg
2mv2, it may be assumed that S=v2/(2μg)；
Assuming that travelling two vehicles of front and back, rear car A, speed v on the same lane of highwaya, front truck B, speed vb, va>
vb, two vehicle spacing of front and back is S, and two vehicle braking distances are respectively as follows:
Sa=va 2/(2μg)；
Sb=vb 2/(2μg)；
If rear car is greater than rear car braking distance S with distance S locating for front truckaEven if front truck is due to occurring accident wink at this time
Between it is static, rear car also has enough distance brakes until stopping, so with the distance of front truck being the distance that is perfectly safe, danger by rear car
Dangerous coefficient is 0, then fixed:
S0=Sa=va 2/(2μg)；
If front truck B driver has found that there is an accident in front, and can brake front truck until static, then brake away from
From for Sb=vb 2/ (2 μ g) still thinks that front truck braking distance is Sa, it is assumed that two vehicle spacings are Sa-SbWhen, only front truck can be complete
Full brake, rear car just can guarantee safety, at this time two vehicles occur accident probability it is very high, our fixed danger coefficients at this time are 1,
Then:
S1=Sa-Sb=va 2/(2μg)-vb 2/(2μg)；
S2-2: alarm numerical value is determined:
1) there is the principle to maintain safe distance in safe driving common sense, that is, maintain safe distance as the one thousandth of speed, then set
It is fixed to remind distance for St=v；
2) spacing that alarm distance is danger coefficient when being 0, i.e. Sw=S0=va 2/(2μg)；
3) braking brake distance is the spacing that danger coefficient is 0.5, i.e. Sd=(S0+S1)/2；
S2-3: model it is perfect:
1) delay considers, t1For the reaction time of ordinary people, t2Step on brake pedal time, t3Slow down the entry-into-force time, t4Slow down
Maximum time, if t=t1+t2+t3+t4, then St, Sw, SdIt is required to increase delay distance t*va；
2) speed difference coefficient kv, alarm distance SwIt should be modified according to the speed of front truck, introduce a speed difference coefficient
kv, using two vehicle speed differences as variable, in the case where preceding vehicle speed is 0, reach maximum；When two vehicle speeds difference is smaller,
Speed difference coefficient reduces therewith, finally when two vehicle speeds are identical, coefficient kvReturn is 1；When speed difference coefficient kvWhen being 1.8 most
It is able to satisfy actual conditions；
3) friction factor, braking distance are inversely proportional with friction factor, then remind distance also should be related to coefficient of friction, then St
The ratio of friction factor should be increased, friction factor is generally 0.8, so this coefficient is set to 0.8/ μ；
S2-4: perfect through above-mentioned steps, anticollision model determines are as follows:
St=va*(0.8/μ)+va*t；
Sw=(va 2/(2μg)+va*t)*kv；
Sd={ va 2/(2μg)+i*[va 2/(2μg)-vb 2/(2μg)]}/2；
Wherein, work as va>vbWhen, i=1；Work as va<vbWhen, i=0.
The beneficial effects of the present invention are:
The present invention is according to supersonic sounding principle, based on kinetic energy conservation principle, to the follower's collision prevention alarm model of early stage
Corresponding analysis and improvement have been carried out, the automobile collision preventing alarm model based on ultrasonic distance measurement is established, car alarming is divided into and " is reminded
Distance ", " alarm distance " and " forcing braking distance " three kinds of situations, model are suitable for a variety of models, have very strong real-time
And practicability.
Specific embodiment
The present invention is further elaborated for following specific embodiments, but not as a limitation of the invention.
Test 1 orthodox car anticollision model experiment
The foundation of orthodox car anticollision model is as follows:
If on highway certain in a flash front truck B with VBSpeed is at the uniform velocity advanced, and rear car A is with VASpeed is advanced, t1For ordinary people
Reaction time, t2Step on brake pedal time, t3Slow down the entry-into-force time, t4Slow down maximum time.
1) front truck collides static car rear-end model:
Wherein, amFor car deceleration stage peak acceleration.
Alarm distance SwAre as follows:
Wherein, d0Between two vehicles after stopping for two vehicles
Safe distance, generally take 2-5m.
Force braking distance SdFor alarm distance, not no reaction time of driver:
2) front truck is in deceleration situations drag:
If the distance of front truck Reduced Speed Now is Sz', then the alarm distance S of rear carwWith pressure braking distance SdAre as follows:
Sw=S-S'Z+d0；
3) front truck at the uniform velocity or accelerate car rear-end model:
It is respectively 40Km/h, 80Km/h and 120Km/h in this vehicle speed according to above-mentioned model, front truck is static, and (or front is
Barrier) and in the case of opposite speed is 20Km/h, it can be deduced that orthodox car anticollision model force braking distance and alarm away from
From as shown in table 1.
1 orthodox car anticollision model experiment results of table
The automobile anti-collision method experiment of the present invention of experiment 2
Automobile collision preventing model according to the present invention is respectively 40Km/h, 80Km/h and 120Km/h, front truck in this vehicle speed
In the case of static (or front is barrier) and opposite speed are 20Km/h, it can be deduced that automobile anti-collision method tradition vapour of the present invention
Vehicle avoiding collision forces braking distance and alarm distance as shown in table 2.
The avoiding collision of the present invention of table 2 and conventional crash methods experiment Comparative result
Available conclusion in from the above:
1) two methods difference in alarm distance is little, but the numerical value that obtains than traditional algorithm of method of the invention with
The increase of car speed and become larger, more meet real safety requirements；
2) anticollision process is divided into 3 classes by traditional algorithm, but in actually driving, distinguishes that vehicle is at the uniform velocity or speed change state
It wastes time, efficiency reduces；
3) present invention is added to prompting distance, is the again more one layer of protection of safe driving.
Claims (1)
1. a kind of automobile anti-collision method, which comprises the following steps:
S1: ranging is carried out to front truck using the method for ultrasonic distance measurement；
S2: being divided into three phases for two vehicle distances, respectively prompting distance St, alarm distance Sw, and force braking distance Sd,
Three kinds of distance values relative sizes are S under same situationt> Sw> Sd, establish anticollision mathematical model；
S3: ultrasonic distance-measuring sensor obtain vehicle velocity information after, substitute into established anticollision model, find out prompting away from
From St, alarm distance Sw, and force braking distance Sd；
1) if vehicle and front truck spacing, which are in, reminds distance StWithin when, issue alerting signal, tell driver at this time two vehicles it
Between spacing it is excessively close, driver hear remind after carry out deceleration prepare；
2) when vehicle and front truck spacing are in alarm distance SwWithin when, issue alarm signal, driver hear alarm after to improve
Vigilant, the moment pays attention to front truck driving condition, just can guarantee traveling；
3) braking distance S is forced when vehicle and front truck spacing are indWithin when, force to automobile send reduce-speed sign allows automobile to subtract
Speed increases two vehicle spacings, reduces driving danger coefficient；
Wherein: anticollision mathematical model is established in step S2, and the specific method is as follows:
S2-1: it is equal to the variable quantity of object kinetic energy: μ NS=1/2mv to the function that object is done from the available frictional force of the conservation of energy2,
Wherein N is pressure of the vehicle to ground, and μ is coefficient of friction of the vehicle with ground, and S is braking distance, and m is the quality of vehicle, and v is the speed of vehicle
Degree, wherein vehicle is equal to gravity, that is, F=mg, F=N of vehicle to the pressure on ground, so N=mg, obtains mg μ=1/2mv2, it may be assumed that S
=v2/(2μg)；
Assuming that travelling two vehicles of front and back, rear car A, speed v on the same lane of highwaya, front truck B, speed vb, va>vb, preceding
Two vehicle spacings are S afterwards, and two vehicle braking distances are respectively as follows:
Sa=va 2/(2μg)；
Sb=vb 2/(2μg)；
If rear car is greater than rear car braking distance S with distance S locating for front truckaEven if front truck is quiet since the moment of fault occurs at this time
Only, rear car also has enough distance brakes until stopping, so with the distance of front truck being the distance that is perfectly safe, danger system by rear car
Number is 0, then fixed:
S0=Sa=va 2/(2μg)；
If front truck B driver has found that there is accident in front, and front truck can brake until static, then braking distance is
Sb=vb 2/ (2 μ g) still thinks that front truck braking distance is Sa, it is assumed that two vehicle spacings are Sa-SbWhen, only front truck can be stopped completely
Vehicle, rear car just can guarantee safety, at this time two vehicles occur accident probability it is very high, our fixed danger coefficients at this time are 1, then:
S1=Sa-Sb=va 2/(2μg)-vb 2/(2μg)；
S2-2: alarm numerical value is determined:
1) there is the principle to maintain safe distance in safe driving common sense, that is, maintain safe distance as the one thousandth of speed, then setting mentions
Distance of waking up is St=v；
2) spacing that alarm distance is danger coefficient when being 0, i.e. Sw=S0=va 2/(2μg)；
3) braking brake distance is the spacing that danger coefficient is 0.5, i.e. Sd=(S0+S1)/2；
S2-3: model it is perfect:
1) delay considers, t1For the reaction time of ordinary people, t2Step on brake pedal time, t3Slow down the entry-into-force time, t4Slow down maximum
Time, if t=t1+t2+t3+t4, then St, Sw, SdIt is required to increase delay distance t*va；
2) speed difference coefficient kv, alarm distance SwIt should be modified according to the speed of front truck, introduce a speed difference coefficient kv,
Using two vehicle speed differences as variable, in the case where preceding vehicle speed is 0, reach maximum；When two vehicle speeds difference is smaller, speed
Poor coefficient reduces therewith, finally when two vehicle speeds are identical, coefficient kvReturn is 1；
3) coefficient of friction, braking distance are inversely proportional with coefficient of friction, then remind distance also should be related to coefficient of friction, then StIt should
Increase the ratio of coefficient of friction, coefficient of friction is generally 0.8；
S2-4: perfect through above-mentioned steps, anticollision model determines are as follows:
Sw=(va 2/(2μg)+va*t)*kv；
Sd={ va 2/(2μg)+i*[va 2/(2μg)-vb 2/(2μg)]}/2；
Wherein, work as va>vbWhen, i=1；Work as va<vbWhen, i=0.
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| CN107730655A (en) * | 2017-09-25 | 2018-02-23 | 深圳市赛亿科技开发有限公司 | A kind of intelligent travelling crane recorder control method and system |
| CN112026758B (en) * | 2017-09-30 | 2021-06-15 | 上海蔚来汽车有限公司 | Front collision avoidance method and system for vehicle |
| CN108973854A (en) * | 2018-06-28 | 2018-12-11 | 四川复海生态环保科技有限责任公司 | For preventing the system and method for vehicle traffic accident |
| 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 |
| CN110155046B (en) * | 2019-05-09 | 2020-12-29 | 武汉理工大学 | Automatic emergency braking hierarchical control method and system |
| CN110550026B (en) * | 2019-09-25 | 2021-05-28 | 清华大学 | Automatic braking control method, device and system based on medium-time distance information |
| CN112373388A (en) * | 2020-10-22 | 2021-02-19 | 上善智城(苏州)信息科技有限公司 | Intelligent auxiliary braking system and method based on new energy automobile |
| CN114104001A (en) * | 2021-12-17 | 2022-03-01 | 北京航空航天大学 | Automatic driving takeover prompting time calculation method in following scene |
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| DE10036276A1 (en) * | 2000-07-26 | 2002-02-07 | Daimler Chrysler Ag | Automatic braking and steering system for a vehicle |
| CN102139674A (en) * | 2011-02-23 | 2011-08-03 | 电子科技大学 | System for preventing automobile end collision foggy day |
| CN202180823U (en) * | 2011-07-28 | 2012-04-04 | 胡春凯 | Intelligent collision avoidance system for automobile |
| DE202013006196U1 (en) * | 2013-07-09 | 2014-10-13 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Driver assistance system for a motor vehicle and motor vehicle |
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Effective date of registration: 20190812 Address after: 211100 No. 19 Suyuan Avenue, Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province Patentee after: NANJING HURYS INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 510000 Guangzhou High-tech Industrial Development Zone Science Avenue 231, 233 Skirt Building B1B2, 1st, 2nd, 3rd and 4th floors Patentee before: BOAO ZONGHENG NETWORK TECHNOLOGY Co.,Ltd. Effective date of registration: 20190812 Address after: 510000 Guangzhou High-tech Industrial Development Zone Science Avenue 231, 233 Skirt Building B1B2, 1st, 2nd, 3rd and 4th floors Patentee after: BOAO ZONGHENG NETWORK TECHNOLOGY Co.,Ltd. Address before: 536000 Beihai city jinhaian Road No. 45 the Guangxi Zhuang Autonomous Region North Bay technology innovation center 4 Building No. 0905 Patentee before: BEIHAI HESI TECHNOLOGY Co.,Ltd. |
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Granted publication date: 20190712 Termination date: 20211121 |