CN107757465A - A kind of vehicle high-speed lane change aids in intelligent reminding system and method - Google Patents
A kind of vehicle high-speed lane change aids in intelligent reminding system and method Download PDFInfo
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- CN107757465A CN107757465A CN201710972154.0A CN201710972154A CN107757465A CN 107757465 A CN107757465 A CN 107757465A CN 201710972154 A CN201710972154 A CN 201710972154A CN 107757465 A CN107757465 A CN 107757465A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
-
- 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)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of vehicle high-speed lane change aids in intelligent reminding system and method, it is characterized in that described intelligent reminding system includes turn indicator light device, operating circuit, central control module, alarm set, the left and right turn signal of wherein turn indicator light device is connected to operating circuit or so control steering wheel, also it is connected simultaneously with the left and right Doppler anemometer of central control module, three control steering wheels of operating circuit are respectively connecting to three Doppler anemometers of central control module, the tachymeter of left and right two is connected with the left and right display of alarm set respectively, three Doppler anemometers are being connected to the central processing unit of centre control module afterwards, the buzzer of alarm set is also connected with central processing unit.When vehicle has lane change intention, the present invention can allow driver's Real Time Observation to the transport condition of this car, by the central processing unit of the central processing module of internal system judge can safe lane change, and control signal is sent to buzzer according to estimate of situation, and then remind driver can safe lane change.
Description
Technical field
The present invention relates to a kind of automotive engineering, the high speed lane change control skill in especially a kind of vehicle safety travel technology
Art, specifically a kind of vehicle high-speed lane change auxiliary intelligent reminding system and method.
Background technology
With the popularization of automobile consumption, requirement more and more higher of the people to automotive safety, and nonstandard driving behavior is
One of the main reason for causing the accident.At present, there is the relevant research of many vehicle lane changes, be mainly included on road
Multiple sensors are placed equidistant to realize the control to lane change, vehicle identification lane change behavior is monitored by camera video etc. and carried
Wake up, show the word or pattern specified outside car by driver's built-in function, but these schemes can not be realized simultaneously
Can intelligent decision lane change and to the in-car prompting with outside car.In order to improve the security of lane change in vehicle travel process, this
Invention provides a kind of vehicle high-speed lane change auxiliary intelligent reminding system.
The content of the invention
The purpose of the present invention is that high speed lane change can not be carried out timely for existing vehicle-mounted and road safety equipment
The problem of prompting easily causes the accident, carry out intelligent decision using tachymeter and the vehicle high-speed lane change reminded aids in intelligent reminding
System and method.
One of technical scheme is：
A kind of vehicle high-speed lane change aids in intelligent reminding system, it is characterized in that including：
One steering control device；The steering control device is vehicle turn signal, is made up of left-handed opening 1 and right switch 2；
One operating circuit；The operating circuit is controlled by steering control device, and it includes preceding control steering wheel 3, left control steering wheel 4
With right control steering wheel 5；
One central control module, the central control module include preceding tachymeter 6, left tachymeter 7 and right tachymeter 8 and center
Processor 9, control steering wheel 3, left control steering wheel 4 and right control before preceding tachymeter 6, left tachymeter 7 and right tachymeter 8 are separately mounted to
On steering wheel 5 processed, central processing unit 9 receives the signal of steering control device, tachymeter 6, left tachymeter 7 and right tachymeter before startup
8 pairs of vehicles itself and front, the Adjacent vehicles of rear respective side are tested the speed and carry out steering Calculation of Safety Distance, according to calculating
As a result can output turn to conclusion；
One alarm set, the alarm set are made up of left display 10, right display 11 and buzzer 12, left display
10th, right display 11 is arranged at left and right sides of vehicle rear, for reminding subsequent vehicle；Buzzer 12, which is installed, to be used to carry in the car
Can awake human pilot turn to；The alarm set is electrically connected with central processing unit 9, for receiving the output of central processing unit 9
Conclusion can be turned to and shown.
The left-handed opening 1, right switch 2 are connected with left control steering wheel 4, right control steering wheel 5 respectively, left-handed opening 1, right switch
2 are connected with left tachymeter 7, right tachymeter 8 respectively simultaneously, for controlling whether auxiliary lane change system works；The work electricity
The preceding control steering wheel 3 on road, left control steering wheel 4, right control the steering wheel 5 preceding tachymeter 6 with central control module, left tachymeter respectively
7th, right tachymeter 8 is connected, for controlling speedometer scope (angle)；The preceding tachymeter 6 of the central control module, a left side
Tachymeter 7, right tachymeter 8 are respectively connecting to central processing unit 9, relative with other vehicles for tachymeter to be collected into Ben Che
Speed data passes to middle processor, and central processing unit is handled data, analyzed；The centre of the central control module
Reason device 9 is connected to the left display 10, right display 11 and buzzer 12 of alarm set, according to the processing of central processing unit, divides
Analysis situation transmits running condition information to display and the control signal of alarm whether is sent to buzzer transmission.
The preceding tachymeter 6, left tachymeter 7 and right tachymeter 8 are Doppler anemometer.The principle to test the speed is Doppler
Effect, because wave source or observer have relative velocity relative to medium, the wave frequency rate that observer receives can be varied from.
Tachymeter is arranged on this car in the present system, surveys speed v of the extraneous vehicle relative to this car, tachymeter is with given frequency f
Launch sound wave, the transmission speed of sound wave is c, then the sound wave f ' that moving object receives is
Moving object reflection sound wave, the sound wave f that tachymeter receives its reflection " are
(1) formula substitution (2) formula is obtained
It can thus be concluded that：
By launching the transmission speed c of the frequency f of sound wave, sound wave, the reflection wave frequency f that also tachymeter receives is " just
Speed of the extraneous vehicle relative to this car can be determined.
The two of technical scheme are：
A kind of vehicle high-speed lane change auxiliary intelligent prompt method of system for prompting based on claim 1, it is characterized in that it
Comprise the following steps：
Step (1), when this car driver has lane change intention, i.e., (right side) stirs steering indicating light to the left, operating circuit and center
The central processing circuit of control module is started working；
Step (2), a left side (right side) control steering wheel and preceding control steering wheel operating circuit in operating circuit are connected, it is anterior with it is left
(right side) control steering wheel is started working, and goes to opposite side from the side maximum deflection angle of setting, then rotate back into original position；
Step (3), preceding control steering wheel and left (right side) control steering wheel corresponding tachymeter of drive in defined angle internal rotation,
Whether have car traveling and relative velocity with this car, and be sent to central processing unit if measuring in this region；
Whether step (4), the lane change of central processing unit intelligent decision current state are safe；
Step (5), during via judging that current state lane change is safe, control two vehicle running state displays displays left
(right side) lane change icon, while internal buzzer sends all-bottom sound, while remind front vehicle and this car driver；It is current when judging
When state lane change is dangerous, internal buzzer sends high frequency warning, dangerous with alerting drivers current state lane change.
Whether the judgment principle of safety is the lane change of central processing unit intelligent decision current state：
The theoretical minimum safe distance of this car and front truck：
In formula, S1For lane-change when this car and front truck safe distance；Speed when V (t) is this car lane-change；When τ is lane-change
The artificial response lag time, span is the 0.3-1 seconds；Acceleration when a is this car lane-change；Vq(t) it is the speed of front truck；aq
For the acceleration of front truck；
The theoretical minimum safe distance of this car and rear car
In formula, S2For lane-change when this car and rear car safe distance；Vh(t) it is rear vehicle speed；τhArtificially reacted for rear car stagnant
Time afterwards, span are the 0.3-1 seconds；ahFor the acceleration of rear car.
C. this car and the leading vehicle distance S of people having a common goal are setq, S in the case of normally travelq≥S1；
D. this car and the rear car distance S of people having a common goal are seth, S in the case of normally travelh≥S2；
Work as Sq≥S1,Sh≥S2When, two left (right side) lane change icons of vehicle running state display display are controlled, at the same it is interior
Portion's buzzer sends all-bottom sound, while reminds front vehicle and this car driver；When S is worked as in judgementq≤S1, Sh≤S2When, internal honeybee
Ring device sends high frequency warning, dangerous with alerting drivers current state lane change.
Beneficial effects of the present invention：
1. tachymeter can realize testing the speed in certain area around fixed point rotary；
2. the data that the central processing unit in central control module can gather tachymeter carry out intelligent processing method, judge
Whether current state lane change is safe, and provides corresponding prompting；
3. vehicle running state display is located at automobile rear, the peace to front vehicle can be realized when vehicle lane change is safe
It is complete to remind；
4. buzzer is located at automotive interior, two kinds of different frequencies realize lane change safety and the dangerous prompting to driver
With warning.
Brief description of the drawings
Fig. 1 is the vehicle high-speed lane change auxiliary intelligent reminding system layout of the present invention.
Fig. 2 is the vehicle high-speed lane change auxiliary intelligent reminding system operating circuit of the present invention (M represents steering wheel in figure).
Fig. 3 is the vehicle high-speed lane change auxiliary intelligent reminding CS central process circuit of the present invention.
Fig. 4 is the vehicle high-speed lane change auxiliary intelligent reminding working-flow figure of the present invention.
Fig. 5 is the system composition schematic diagram of the present invention.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiment one.
As Figure 1-5.
A kind of vehicle high-speed lane change aids in intelligent reminding system.It includes turn indicator light device, operating circuit, center control mould
Block and alarm set；As shown in figure 5, the turn indicator light device includes left and right turn lamp switch, for controlling auxiliary lane change system
Whether system works；The operating circuit includes front part of vehicle control steering wheel and left and right control steering wheel, for controlling the survey of tachymeter
Scope is measured, when driver stirs turning indicator control, wherein left (right side) control steering wheel work, remaining time do not work；In described
Control module is entreated to include both sides Doppler anemometer and central processing unit after an anterior Doppler anemometer, two cars, it is more
General Le tachymeter is located at vehicle front, at left back and right back bodywork height half, whether there is vehicle and vehicle for surveying
With the relative velocity between this car；The alarm set includes two vehicle running state displays and buzzer, vehicle traveling
Status displays is located at vehicle left back and right back, for showing the transport condition of Current vehicle, when driver has lane change
Be intended to, and via central processing unit judge can safe lane change when, lane change to the left or to the right lane change, to remind rear car
, do not make any display under general case, the sound that buzzer is used to send two kinds of different frequencies works as driving to remind driver
Member has a lane change intention, and via central processing unit judge can safe lane change when, reminded with low frequency, if be unable to lane change then with
High frequency warns, and does not make any prompting under general case.
The hardware layout of the system for prompting of the present invention is as shown in figure 1, three Doppler anemometers are respectively installed in car
Anterior preceding Doppler anemometer 6, the left Doppler anemometer 7 of left back side and the right Doppler anemometer 8 of right lateral side side, position
At the half of vehicle body total height；Anterior preceding control steering wheel 3, the left control steering wheel 4 of left back side and the right control of right lateral side side
Steering wheel 5 processed is installed with together with corresponding tachymeter respectively, for controlling corresponding tachymeter；Two vehicle running state displays
Installed in the right display 11 of the left display 10 and right part of the right part at car rear, central processing unit 9 and buzzer 12 are arranged on
In driver's operating room.
Fig. 2 is that vehicle high-speed lane change aids in intelligent reminding system operating circuit：Operating circuit branch switch is led to by driver
Turning indicator control control is crossed, branch switch original state is off-state, when driver opens steering indicating light, the one of corresponding steering
Bar branch switch closes；Operating circuit main line element is that front part of vehicle controls steering wheel, and two bypass elements correspond to both sides control respectively
Steering wheel processed.
As shown in figure 3, it is tachymeter central processing circuit inside vehicle high-speed lane change accessory system central control module.In
Centre process circuit branch switch is also controlled by driver by turning indicator control, and branch switch original state is off-state, when
When driver opens steering indicating light, the corresponding branch switch closure turned to.Central control module includes tachymeter central processing
Circuit, central processing unit and three tachymeters.The anterior preceding Doppler anemometer 6 of central processing circuit main line connection, left branch
Road connects left back Doppler anemometer 7, the Doppler anemometer 8 of right branch road connection right back；Central processing unit is central control
The core of molding block is used for relative velocity of the outside automobile with this car for receiving the measurement of three Doppler anemometers, intelligent distinguishing
Can lane change, control inside and outside portion's prompting module to make prompting.
Letter side it, vehicle high-speed lane change of the invention auxiliary intelligent reminding system, including turn indicator light device, work electricity
The left and right turn signal of road, central control module, alarm set, wherein turn indicator light device is connected to operating circuit or so control flaps
Machine, while be also connected with the left and right Doppler anemometer of central control module, three control steering wheels of operating circuit connect respectively
To three Doppler anemometers of central control module, the tachymeter of left and right two connects with the left and right display of alarm set respectively
Connect, three Doppler anemometers are being connected to the central processing unit of centre control module, the buzzer of alarm set afterwards
It is connected with central processing unit.The present invention controls the circuit of control steering wheel in left and right on operating circuit branch road by left and right turn lamp switch
Switch while also control the circuit of left and right Doppler range rate measurement instrument circuit on the central processing circuit branch road inside central control module
Switch, when steering indicating light works, left (right side) control flaps machine circuit switch, which closes, and left (right side) is general strangles tachymeter line switching closure, this
When operating circuit a left side (right side) control steering wheel and it is preceding control steering wheel start control central control module a left side (right side) Doppler range rate measurement
Instrument and anterior Doppler anemometer measure front part of vehicle and to whether there is vehicle and Ben Che relative with other vehicles for a left side (right side) side
Speed, Doppler anemometer is by central processing unit of the data transfer collected to central control module, central processing unit logarithm
According to progress Treatment Analysis, and control signal is sent to buzzer according to analysis situation and passes real-time vehicle running state information
Display is passed, by the transport condition of this vehicle of display real-time display.When vehicle has lane change intention, the present invention can allow and drive
Can the person's of sailing Real Time Observation judge pacify to the transport condition of this car by the central processing unit of the central processing module of internal system
Full lane change, and control signal is sent to buzzer according to estimate of situation, and then remind driver can safe lane change.
Embodiment two.
As Figure 1-5.
A kind of vehicle high-speed lane change aids in intelligent prompt method, first, when this car driver has lane change intention, i.e., to the left
When (right side) stirs steering indicating light, operating circuit is started working with central control module；An operating circuit left side (right side) branch road is connected, it is anterior and
Left (right side) rear control steering wheel is started working, and goes to opposite side from side maximum deflection angle set in advance, then rotate back into original position
Put；Front portion in the rotation control central control module of steering wheel is with left (right side) rear Doppler anemometer in defined angle inward turning
Turn, whether have car traveling and relative velocity with this car, and the relative velocity measured is inputted into center if measuring in this region
Processor；The relative velocity that central processing unit transmits according to three sensors, whether intelligence is made safely to present case lane change
It can determine that, into following working condition：
1) lane change safe work state：
Central Control Module controls two left (right side) lane change icons of vehicle running state display display, while internal buzzing
Device sends all-bottom sound, while reminds front vehicle and this car driver；
2) lane change uneasiness full working condition：
The internal buzzer of central control module control sends high frequency warning, has danger with alerting drivers current state lane change
Danger.
Vehicle lane change enters straight-going state and vehicle due to when the dangerous stopping of lane change makes lane change and keeps straight trip after terminating,
When i.e. turning indicator control disconnects, operating circuit disconnects with center processing circuit not to work.
Comprise the following steps that：
Step (1), when this car driver has lane change intention, i.e., (right side) stirs steering indicating light to the left, operating circuit and center
The central processing circuit of control module is started working；
Step (2), a left side (right side) control steering wheel and preceding control steering wheel operating circuit in operating circuit are connected, it is anterior with it is left
(right side) control steering wheel is started working, and goes to opposite side from the side maximum deflection angle of setting, then rotate back into original position；
Step (3), preceding control steering wheel and left (right side) control steering wheel corresponding tachymeter of drive in defined angle internal rotation,
Whether have car traveling and relative velocity with this car, and be sent to central processing unit if measuring in this region；
Whether step (4), the lane change of central processing unit intelligent decision current state are safe；
Judgment principle is as follows：
The theoretical minimum safe distance of this car and front truck：
In formula, S1For lane-change when this car and front truck safe distance；Speed when V (t) is this car lane-change；When τ is lane-change
The artificial response lag time, span is the 0.3-1 seconds；Acceleration when a is this car lane-change；Vq(t) it is the speed of front truck；aq
For the acceleration of front truck；
The theoretical minimum safe distance of this car and rear car
In formula, S2For lane-change when this car and rear car safe distance；Vh(t) it is rear vehicle speed；τhArtificially reacted for rear car stagnant
Time afterwards, span are the 0.3-1 seconds；ahFor the acceleration of rear car.
E. this car and the leading vehicle distance S of people having a common goal are setq, S in the case of normally travelq≥S1；
F. this car and the rear car distance S of people having a common goal are seth, S in the case of normally travelh≥S2；
Step (5), work as S via judgementq≥S1,Sh≥S2When, control two vehicle running state display displays left (right side)
Lane change icon, while internal buzzer sends all-bottom sound, while remind front vehicle and this car driver；When S is worked as in judgementq≤S1,
Sh≤S2When, internal buzzer sends high frequency warning, dangerous with alerting drivers current state lane change.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.
Claims (5)
1. a kind of vehicle high-speed lane change aids in intelligent reminding system, it is characterized in that including：
One steering control device；The steering control device is vehicle turn signal, is made up of left-handed opening (1) and right switch (2)；
One operating circuit；The operating circuit is controlled by steering control device, and it includes preceding control steering wheel (3), left control steering wheel (4)
With right control steering wheel (5)；
One central control module, the central control module include preceding tachymeter (6), left tachymeter (7) and right tachymeter (8) and in
Central processor (9), control steering wheel (3), left control before preceding tachymeter (6), left tachymeter (7) and right tachymeter (8) are separately mounted to
On steering wheel (4) processed and right control steering wheel (5), central processing unit (9) receives the signal of steering control device, tachymeter before startup
(6), left tachymeter (7) and right tachymeter (8) test the speed going forward side by side to vehicle itself and front, the Adjacent vehicles of rear respective side
Can row turns to Calculation of Safety Distance, conclusion is turned to according to result of calculation output；
One alarm set, the alarm set are made up of left display (10), right display (11) and buzzer (12), left display
(10), right display (11) is arranged at left and right sides of vehicle rear, for reminding subsequent vehicle；Buzzer (12) is installed in the car
For reminding human pilot to turn to；The alarm set is electrically connected with central processing unit (9), for receiving central processing unit
(9) can what be exported turn to conclusion and be shown.
2. vehicle high-speed lane change according to claim 1 aids in intelligent reminding system, it is characterized in that the left-handed opening (1),
It is right switch (2) respectively with it is left control steering wheel (4), it is right control steering wheel (5) be connected, left-handed opening (1), it is right switch (2) simultaneously respectively
It is connected with left tachymeter (7), right tachymeter (8), for controlling whether auxiliary lane change system works；Before the operating circuit
Control steering wheel (3), left control steering wheel (4), right control steering wheel (5) respectively test the speed by the preceding tachymeter (6) with central control module, a left side
Instrument (7), right tachymeter (8) are connected, for controlling speedometer scope；The preceding tachymeter (6) of the central control module,
Left tachymeter (7), right tachymeter (8) are respectively connecting to central processing unit (9), for tachymeter to be collected into Ben Che and other cars
Relative velocity data pass to middle processor, central processing unit is handled data, analyzed；The central control module
Central processing unit (9) be connected to the left display (10), right display (11) and buzzer (12) of alarm set, according to center
The processing of processor, analysis situation transmit running condition information to display and the control of alarm whether are sent to buzzer transmission
Signal processed.
3. vehicle high-speed lane change according to claim 1 aids in intelligent reminding system, it is characterized in that the preceding tachymeter
(6), left tachymeter (7) and right tachymeter (8) are Doppler anemometer.
A kind of 4. vehicle high-speed lane change auxiliary intelligent prompt method of system for prompting based on claim 1, it is characterized in that it is wrapped
Include following steps：
Step (1), when this car driver has lane change intention, i.e., (right side) stirs steering indicating light to the left, operating circuit and center control
The central processing circuit of module is started working；
Step (2), a left side (right side) control steering wheel and preceding control steering wheel operating circuit in operating circuit are connected, anterior with left (right side) control
Steering wheel processed is started working, and goes to opposite side from the side maximum deflection angle of setting, then rotate back into original position；
Step (3), preceding control steering wheel is with left (right side) control steering wheel corresponding tachymeter of drive in defined angle internal rotation, measurement
Whether there are car traveling and the relative velocity with this car in this region, and be sent to central processing unit；
Whether step (4), the lane change of central processing unit intelligent decision current state are safe；
Step (5), during via judging that current state lane change is safe, control two vehicle running state displays display left (right side) changes
Road icon, while internal buzzer sends all-bottom sound, while remind front vehicle and this car driver；When judge current state become
When road is dangerous, internal buzzer sends high frequency warning, dangerous with alerting drivers current state lane change.
5. according to the method for claim 4, it is characterized in that whether the lane change of central processing unit intelligent decision current state is safe
Judgment principle be：
The theoretical minimum safe distance of this car and front truck：
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In formula, S1For lane-change when this car and front truck safe distance；Speed when V (t) is this car lane-change；τ is artificially anti-when being lane-change
Answer lag time, span is the 0.1-0.5 seconds；Acceleration when a is this car lane-change；Vq(t) it is the speed of front truck；aqTo be preceding
The acceleration of car；
The theoretical minimum safe distance of this car and rear car
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</mfrac>
</mrow>
In formula, S2For lane-change when this car and rear car safe distance；Vh(t) it is rear vehicle speed；τhDuring response lag artificial for rear car
Between, span is the 0.3-1 seconds；ahFor the acceleration of rear car.
A. this car and the leading vehicle distance S of people having a common goal are setq, S in the case of normally travelq≥S1；
B. this car and the rear car distance S of people having a common goal are seth, S in the case of normally travelh≥S2；
Work as Sq≥S1,Sh≥S2When, control two left (right side) lane change icons of vehicle running state display display, while internal buzzing
Device sends all-bottom sound, while reminds front vehicle and this car driver；When S is worked as in judgementq≤S1, Sh≤S2When, internal buzzer hair
Go out high frequency warning, it is dangerous with alerting drivers current state lane change.
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