CN108407719A - A kind of prior-warning device and method that avoid vehicle that secondary collision occurs - Google Patents
A kind of prior-warning device and method that avoid vehicle that secondary collision occurs Download PDFInfo
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- CN108407719A CN108407719A CN201810359750.6A CN201810359750A CN108407719A CN 108407719 A CN108407719 A CN 108407719A CN 201810359750 A CN201810359750 A CN 201810359750A CN 108407719 A CN108407719 A CN 108407719A
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- 230000034994 death Effects 0.000 description 3
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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
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
Abstract
The invention belongs to automobile active safety technical fields, disclose a kind of prior-warning device and method for avoiding vehicle that secondary collision occurs, including：Vehicle, road surface mode selection module, vehicle speed sensor, the steering wheel angle sensor on steering wheel for vehicle, the data processing unit in vehicle, the flashing buzzer being fixed on meter panel of motor vehicle and the millimetre-wave radar that rear of vehicle or so twice vehicle is detected, the millimetre-wave radar is divided into two, is individually fixed at vehicle tail end left and right turn signal；The signal input part of the data processing unit be electrically connected the output end of the road surface mode selection module, the output end of the vehicle speed sensor, the steering wheel angle sensor output end and the millimetre-wave radar output end, the signal output end of the data processing unit is electrically connected the flashing buzzer, when can find that hazardous vehicles occurs in rear after vehicle generation accident, audible and visible alarm is sent out to driver in time.
Description
Technical field
The invention belongs to automobile active safety technical field more particularly to a kind of early warning for avoiding vehicle that secondary collision occurs
Device and method.
Background technology
Currently, although vehicle passive safety system is more mature, after accident occurs, back car causes driver
The event of secondary injures and deaths is commonplace, and so-called back car causes secondary injury to refer in front truck generation traffic accident driver
Afterwards, vehicle is not moved to home by driver in time, and in the case of not to be noted back car, and driver gets off inspection
Vehicle collision scenarios are negotiated with other accidents participant, and back car vehicle driver fails to brake in time and cause two
Secondary accident, causes casualties.
Invention content
In view of the above-mentioned problems, the purpose of the present invention is to provide it is a kind of avoid vehicle occur secondary collision prior-warning device and
Method when can find that hazardous vehicles occurs in rear after vehicle generation accident, sends out acousto-optic police to driver in time
Report.
In order to achieve the above objectives, the present invention is realised by adopting the following technical scheme.
Technical solution one：
A kind of prior-warning device for avoiding vehicle that secondary collision occurs, the prior-warning device include：
Road surface mode selection module, rotary angle transmitter, vehicle speed sensor, two millimetre-wave radars, data processor and
Flashing buzzer；
The signal output end of road road surface mode selection module, the signal output end of the rotary angle transmitter, the vehicle
Signal output end five with the data processor respectively of the signal output end of fast sensor, described two millimetre-wave radars
Signal input part is correspondingly connected with, and the signal output end of the data processor and the control signal of the flashing buzzer connect
It connects.
It the characteristics of technical solution of the present invention one and is further improved to：
(1) the road surface selecting module is mounted on meter panel of motor vehicle, including Three models：It is dry pavement pattern, wet and slippery
Road surface pattern and ice and snow road pattern, and the corresponding vehicle maximum deceleration of the dry pavement pattern is A, the wet and slippery road
The corresponding vehicle maximum deceleration of surface model is B, and the corresponding vehicle maximum deceleration of the ice and snow road pattern is C；
The rotary angle transmitter is mounted in the shaft of steering wheel for vehicle, and the vehicle speed sensor is mounted on the wheel of vehicle
On, described two millimetre-wave radars are separately mounted to vehicle tail and insure the left and right sides shouldered, and the data processor is mounted on
Vehicle interior, the flashing buzzer are mounted on meter panel of motor vehicle.
(2) the corresponding vehicle maximum deceleration A=7m/s of the dry pavement pattern2, the wet-skid road surface pattern correspondence
Vehicle maximum deceleration B=4.5m/s2, the corresponding vehicle maximum deceleration C=1.5m/s of the ice and snow road pattern2。
(3) rotary angle transmitter uses 89245-0N020 type steering wheel angle sensors；
The vehicle speed sensor uses W211 wheel speed sensors；
The millimetre-wave radar uses ESR millimetre-wave radars；
The data processor is microprocessor, microcontroller or arm processor；
The flashing buzzer uses AD16-22SM type flashing buzzers.
(4) road surface mode selection module is sent out for providing different road surface patterns for driver, and by the selection of driver
Give the data processor；
The rotary angle transmitter, the corner for obtaining steering wheel for vehicle, and it is sent to the data processor；
The vehicle speed sensor, the speed for obtaining vehicle, and it is sent to the data processor；
Described two millimetre-wave radars are respectively used to be obtained from the relative distance of vehicle and rear or so vehicle and relatively speed
Degree, and it is sent to the data processor；
The data processor, road surface pattern and the corresponding vehicle maximum of the pattern for receiving driver's selection subtract
Speed, the corner for receiving steering wheel for vehicle, the speed for receiving vehicle, and for received from vehicle and rear or so vehicle
Relative distance and relative velocity, and to the flashing buzzer send control signal；
The flashing buzzer, for according to the control signal, alarming driver.
Technical solution two：
A kind of method for early warning for avoiding vehicle that secondary collision occurs, the method are applied to pre- as described in technical solution one
Alarm device, the method for early warning include the following steps：
Step 1, the road surface pattern and its corresponding vehicle maximum deceleration that road surface mode selection module selects driver
It is sent to data processor；The real-time corner of steering wheel for vehicle is sent to the data processor by rotary angle transmitter；Speed passes
The real-time speed of vehicle is sent to the data processor by sensor；Two millimetre-wave radars respectively will be from vehicle and rear or so vehicle
Real-time relative distance and real-time relative velocity be sent to the data processor；
Step 2, the data processor obtains the real time acceleration of vehicle according to the real-time speed, and according to the reality
When speed and real time acceleration tentatively judge whether vehicle occurs accident；
Step 3, after tentatively judging vehicle generation accident, the data processor is real-time according to the steering wheel for vehicle
Corner judges the behavior that whether vehicle occurs accident and driver whether there is mobile vehicle again；
Step 4, if judging the behavior that accident occurs for vehicle and mobile vehicle is not present in driver again, at the data
Device is managed according to the real-time relative velocity from vehicle and rear or so vehicle, real-time relative distance, and under the pattern of difference road surfaces most
The corresponding actual time safety distance of real time acceleration of rear or so vehicle and the maximum deceleration is calculated in big retarding degree
Corresponding critical safe distance is spent, and is compared with real-time relative distance, and control signal is sent out to flashing buzzer, it is described
Control signal pre-warning signal for pre-warning signal or not.
It the characteristics of technical solution of the present invention two and is further improved to：
(1) step 2 is specially：
It is when the real-time speed and following two conditions of real time acceleration satisfaction a period of time, i.e., preliminary to judge that thing occurs for vehicle
Therefore：
(1) the real-time speed is down to 0 in 0.1s by forward direction speed, and continues to be reduced to 0 again after negative direction increases；
(2) real time acceleration is more than setting acceleration rate threshold.
(2) step 3 is specially：
In 1min after tentatively judging vehicle generation accident, any change does not occur for the real-time corner of steering wheel for vehicle
Change, then judges to determine the behavior that accident occurs for vehicle and mobile vehicle is not present in driver again.
(3) step 4 is specially：
(1) the corresponding actual time safety distance R1 of real time acceleration of rear or so vehicle is calculated：
Wherein, u indicates the real-time opposite speed of rear or so vehicle, and a1 is the real time acceleration of rear or so vehicle；
(2) the corresponding critical safe distance R2 of maximum deceleration under different road surface patterns is calculated：
Wherein, u indicates the real-time opposite speed of rear or so vehicle, amaxIt is that rear or so vehicle is corresponding to road surface pattern
Under maximum deceleration；
(3) remember that from the real-time relative distance of vehicle and rear or so vehicle be R；
If R2≤R≤R1 or R >=R1 >=R2, data processor sends out control signal, the control to flashing buzzer
Signal processed not pre-warning signal；
If R≤R2≤R1, data processor sends out control signal to flashing buzzer, and the control signal is believed for early warning
Number.
The present invention's avoids vehicle secondary collision from causing casualties system as a kind of active safety system, it can be accurate
Really judge whether this vehicle vehicle occurs accident, real-time detect the travel speed and operating range of rear or so twice vehicle,
It was found that potential danger, gives a warning to driver in time, in emergency circumstances driver may be selected to abandon vehicle and move to home, keep away
Exempt to cause casualties.Remains stationary state after vehicle generation accident, rear or so track are carried out vehicle and are travelled with speed u, are
Ensure front truck personnel safety, the operating range between two vehicles have to be larger than criticality safety that rear car is braked with maximum deceleration away from
From when the operating range between two vehicles is less than or equal to the critical safe distance of rear potential danger vehicle, system just should
Judge potential longitudinal impact, and is given a warning to driver；It can find that rear occurs after vehicle generation accident
When hazardous vehicles, audible and visible alarm is sent out to driver in time.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of principle signal of prior-warning device for avoiding vehicle that secondary collision occurs provided in an embodiment of the present invention
Figure；
Fig. 2 is a kind of structural representation of prior-warning device for avoiding vehicle that secondary collision occurs provided in an embodiment of the present invention
Figure；
Fig. 3 is a kind of flow signal of method for early warning for avoiding vehicle that secondary collision occurs provided in an embodiment of the present invention
Figure.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The invention will be further described below in conjunction with the accompanying drawings：
Referring to Fig.1, it is a kind of for avoiding vehicle that the warning device that secondary collision causes casualties occurs of the present invention
Principle schematic, remains stationary state after vehicle generation accident, rear or so track is carried out vehicle and is travelled with speed u, to protect
Front truck personnel safety is demonstrate,proved, the operating range R between two vehicles has to be larger than the critical safe distance R2 of rear car, the row between two vehicles
When sailing critical safe distance R2s of the distance R less than or equal to back car, vehicle should just judge potential longitudinal impact, and
It is given a warning to driver.
Currently, although vehicle passive safety system is more mature, after accident occurs, back car causes driver
The event of secondary injures and deaths is commonplace, and so-called back car causes secondary injury to refer in front truck generation traffic accident driver
Afterwards, vehicle is not moved to home by driver in time, and in the case of not to be noted back car, and driver gets off inspection
Vehicle collision scenarios are negotiated with other accidents participant, and back car vehicle driver fails to take brake measure in time
And second accident is caused, cause casualties.
In view of the foregoing drawbacks, the embodiment of the present invention proposes a kind of for avoiding vehicle generation secondary collision that personnel is caused to hinder
The warning device and method died, the prior-warning device include millimetre-wave radar, and millimetre-wave radar is divided into two, is respectively and fixedly installed to
At the left and right turn signal of vehicle tail, for detecting front vehicle.Specifically, millimetre-wave radar for detect front vehicle with
Relative distance, front vehicle between this vehicle and the relative velocity between this vehicle.In the embodiment of the present invention, the millimeter wave
Radar uses the ESR- millimetre-wave radars of Delphi companies, but is not limited to the millimetre-wave radar of this kind of model.
It further includes vehicle speed sensor, speed sensing that this, which is avoided vehicle that the warning device that secondary collision causes casualties occurs,
Device is fixedly mounted on the knuckle of vehicle front vehicle wheel, for the speed of vehicle where acquiring driver in real time, and will be collected
Data transmission to data processing unit.In the embodiment of the present invention, vehicle speed sensor uses W221 wheel speed sensors, speed sensing
The vehicle speed sensor that device can utilize vehicle self-contained, advantageously reduces cost.
It further includes steering wheel angle sensor that this, which is avoided vehicle that the warning device that secondary collision causes casualties occurs, is used
In real-time detection direction disk corner, and data processing unit is transferred data to, is used to determine whether that accident occurs, the present invention is real
It applies in example, steering wheel angle sensor uses the 89245-0N020 type steering wheel angle sensors of CHHK brands, steering wheel angle
The steering wheel angle sensor that sensor can utilize vehicle self-contained, advantageously reduces cost.
It further includes road surface mode selection module, road that this, which is avoided vehicle that the warning device that secondary collision causes casualties occurs,
Surface model selecting module uses key switch, driver that different traveling road conditions is selected to correspond to maximum deceleration of different sizes.
It further includes data processing unit and alarm that this, which is avoided vehicle that the warning device that secondary collision causes casualties occurs,
Device.With reference to Fig. 2, for the circuit connection signal for avoiding vehicle that the warning device that secondary collision causes casualties occurs of the invention
Figure.The input terminal of the data processing unit be electrically connected road surface mode selection module output end, vehicle speed sensor output end,
The output end of steering wheel angle sensor output end and millimetre-wave radar；The output end of data processing unit is electrically connected the flash of light
Buzzer siren.Data processing unit is for receiving this vehicle speed, steering wheel angle and road surface pattern, and according to being calculated
Critical safe distance, actual time safety distance are compared with the running distance that millimetre-wave radar real-time detects, and are tied according to comparing
Fruit controls flashing buzzer work.
Data processing unit and alarm are illustrated below, data processing unit is microprocessor, microcontroller
Or arm processor；Above-mentioned flashing buzzer is AD16-22SM type flashing buzzers.In addition the control of alarm can by after
Electric appliance is realized, at this point, the power end of alarm is serially connected with the auxiliary switch of relay, the control terminal of relay is electrically connected data
The output end of processing unit.After data processing unit sends control signal to relay, the working condition of relay can occur
Change, in this way, alarm can start alarm or stop alarm.
With reference to Fig. 3, show for the flow for avoiding vehicle that the alarm method that secondary collision causes casualties occurs of the present invention
It is intended to.The alarm method method for avoiding vehicle generation secondary collision from causing casualties includes the following steps：
S1. when driver starts vehicle, button selects road surface mode selection module, and data processing unit is not according to going the same way
The corresponding maximum deceleration of condition model selection.
S2. when the vehicle is running, vehicle speed sensor acquires the speed of vehicle where driver in real time, and by real-time speed number
According to data processing unit is sent to, data processing unit obtains vehicle acceleration data according to real-time vehicle speed data.
Data processing unit tentatively judges vehicle according to the vehicle speed data received and the vehicle acceleration data being calculated
Whether accident occurs：When following two conditions of vehicle satisfaction a period of time, i.e., tentatively it is judged as that accident occurs, executes step S3.
(1) speed is plunged by forward direction speed to 0 in 0.1s, and continues to be reduced to 0 again after negative direction increases；(2) add
Speed data is more than setting acceleration rate threshold.
In condition (2), the acceleration rate threshold that sets is 83.3m/s2。
S3. steering wheel angle sensor by the steering wheel angle data transmission acquired in real time to data processor, it is secondary to sentence
Whether disconnected vehicle occurs to whether there is the behavior of driver's mobile vehicle after accident and generation accident：When speed or vehicle accelerate
In 1min after changing described in degrees of data generation step S2, any variation does not occur for steering wheel for vehicle angle data, determines
Accident occurs for vehicle, and mobile vehicle behavior does not occur for driver, executes step S4.
S4. millimeter wave in real time detects the running data of the road rear of vehicle traveling or so twice vehicle,
The running data of described rear or so twice vehicle includes：The distance between rear or so twice vehicle and this vehicle, rear or so
The travel speed of twice vehicle；The running data of rear detected or so twice vehicle is sent at data by millimetre-wave radar
Manage unit.
S5. the running data of the rear that data processing unit receives or so twice vehicle, according to rear or so vehicle
It is current that rear or so road vehicle is calculated in maximum deceleration under travel speed, running distance, and different road surfaces pattern
The corresponding actual time safety distance of acceleration, the corresponding critical safe distance of maximum deceleration, and carried out with actual running distance
Compare, and sends out control signal：Early warning is not involved in.
In step sl, the maximum deceleration on different road surfaces driver start vehicle when road pavement mode selection module into
Row button obtains when selecting, and finds that pattern change in road surface can manually change on the way driving, due to the maximum deceleration on different road surfaces
Degree is only related to pavement behavior, and the maximum deceleration of potential vehicle can be defaulted as in the calculating of S5.
In step s 2, when vehicle meets following two conditions for the moment, system can only tentatively judge that accident occurs for vehicle, only
It just can finally determine that vehicle security risk, data processing unit can just carry out the meter in S5 steps later with the presence of S3 steps are carried out
It calculates；
(1) speed is plunged by forward direction speed to 0 in 0.1s, and continues to be reduced to 0 again after negative direction increases；(2) add
Speed data is more than setting acceleration rate threshold, when data processing unit detects that the real-time speed of vehicle and acceleration are all unsatisfactory for
Two conditions described in S2 steps, or meet one of condition, but be unsatisfactory in S3 steps condition when, data processing
Unit abandons the operation and later-mentioned step, reduces the probability of wrong report.
(2) in step s 5, rear or so track potential danger vehicle is calculated in the critical system for not colliding front truck
Dynamic distance R2,Wherein, u indicates the real-time opposite speed of rear or so vehicle, and amax is rear or so vehicle
Maximum deceleration under corresponding road surface pattern；
If the driver of rear or so track potential danger vehicle has found front accident and makes brake measure, more than
Maximum deceleration should be substituted for the real time acceleration of the rear potential danger vehicle that millimetre-wave radar detects, acquire real-time peace
Full distance R1,Wherein, a1 is the real time acceleration of potential danger vehicle.
In step s 5, data processing unit is in the row for receiving rear that millimetre-wave radar detects or so twice vehicle
After sailing data, data processing unit according to according to braking distance formula calculate actual time safety distance, critical safe distance, and with
The real time running distance that millimetre-wave radar detects is compared, when the actual range R between two vehicles is always greater than actual time safety
Apart from when, i.e. R >=R1 >=R2 shows that the driver of potential danger vehicle can carry out safety arrestment in existing running distance,
System is not involved in；When the running distance R between two vehicles is less than actual time safety distance, but is more than critical safe distance, i.e. R2≤R
≤ R1 shows that the indicating brake action that potential danger vehicle driver takes is insufficient, may be safe when being braked with maximum deceleration
Braking, once finding R≤R2≤R1, shows to dive at this point, system should continue to monitor the speed and acceleration change of the hazardous vehicles
Cannot carry out safety arrestment in only running distance in hazardous vehicles, system should carry out early warning immediately, remind driver and
Passenger abandons vehicle and is transferred to home.
In conclusion the present invention mainly by to rear of vehicle road come the critical safe distance of vehicle, actual time safety away from
From be compared with a distance from two vehicles that are actually detected, judge whether that second accident can occur, efficiently reduce because of driver not
Pay attention to occurring in the case of back car the probability of secondary injures and deaths.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in computer read/write memory medium, which exists
When execution, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or CD
Etc. the various media that can store program code.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (9)
1. a kind of prior-warning device for avoiding vehicle that secondary collision occurs, which is characterized in that the prior-warning device includes：
Road surface mode selection module, rotary angle transmitter, vehicle speed sensor, two millimetre-wave radars, data processor and flash of light
Buzzer；
The signal output end of road road surface mode selection module, the signal output end of the rotary angle transmitter, the speed pass
The signal output end of sensor, described two millimetre-wave radars signal output end respectively with five signals of the data processor
Input terminal is correspondingly connected with, and the signal output end of the data processor is connect with the control signal of the flashing buzzer.
2. a kind of prior-warning device for avoiding vehicle that secondary collision occurs according to claim 1, which is characterized in that
The road surface selecting module is mounted on meter panel of motor vehicle, including Three models：Dry pavement pattern, wet-skid road surface pattern
And ice and snow road pattern, and the corresponding vehicle maximum deceleration of the dry pavement pattern is A, the wet-skid road surface pattern pair
The vehicle maximum deceleration answered is B, and the corresponding vehicle maximum deceleration of the ice and snow road pattern is C；
The rotary angle transmitter is mounted in the shaft of steering wheel for vehicle, and the vehicle speed sensor is mounted on the wheel of vehicle,
Described two millimetre-wave radars are separately mounted to vehicle tail and insure the left and right sides shouldered, and the data processor is mounted on vehicle
Inside, the flashing buzzer are mounted on meter panel of motor vehicle.
3. a kind of prior-warning device for avoiding vehicle that secondary collision occurs according to claim 2, which is characterized in that
The corresponding vehicle maximum deceleration A=7m/s of the dry pavement pattern2, the corresponding vehicle of the wet-skid road surface pattern is most
Big retarding degree B=4.5m/s2, the corresponding vehicle maximum deceleration C=1.5m/s of the ice and snow road pattern2。
4. a kind of prior-warning device for avoiding vehicle that secondary collision occurs according to claim 1, which is characterized in that
The rotary angle transmitter uses 89245-0N020 type steering wheel angle sensors；
The vehicle speed sensor uses W211 wheel speed sensors；
The millimetre-wave radar uses ESR millimetre-wave radars；
The data processor is microprocessor, microcontroller or arm processor；
The flashing buzzer uses AD16-22SM type flashing buzzers.
5. a kind of prior-warning device for avoiding vehicle that secondary collision occurs according to claim 1, which is characterized in that
Road surface mode selection module is sent to institute for providing different road surface patterns for driver, and by the selection of driver
State data processor；
The rotary angle transmitter, the corner for obtaining steering wheel for vehicle, and it is sent to the data processor；
The vehicle speed sensor, the speed for obtaining vehicle, and it is sent to the data processor；
Described two millimetre-wave radars are respectively used to be obtained from the relative distance and relative velocity of vehicle and rear or so vehicle, and
It is sent to the data processor；
The data processor, road surface pattern and the corresponding vehicle maximum deceleration of the pattern for receiving driver's selection
Degree, the corner for receiving steering wheel for vehicle, the speed for receiving vehicle, and for received from vehicle and rear or so vehicle
Relative distance and relative velocity, and to the flashing buzzer send control signal；
The flashing buzzer, for according to the control signal, alarming driver.
6. a kind of method for early warning for avoiding vehicle that secondary collision occurs, the method is applied to such as any one of claim 1-5
The prior-warning device, which is characterized in that the method for early warning includes the following steps：
Step 1, the road surface pattern and its corresponding vehicle maximum deceleration that road surface mode selection module selects driver are sent
To data processor；The real-time corner of steering wheel for vehicle is sent to the data processor by rotary angle transmitter；Vehicle speed sensor
The real-time speed of vehicle is sent to the data processor；Two millimetre-wave radars respectively will be from vehicle and rear or so vehicle
Real-time relative distance and real-time relative velocity are sent to the data processor；
Step 2, the data processor obtains the real time acceleration of vehicle according to the real-time speed, and according to the real-time vehicle
Speed and real time acceleration tentatively judge whether vehicle occurs accident；
Step 3, after tentatively judging vehicle generation accident, the data processor turns in real time according to the steering wheel for vehicle
Angle judges the behavior that whether vehicle occurs accident and driver whether there is mobile vehicle again；
Step 4, if judging the behavior that accident occurs for vehicle and mobile vehicle is not present in driver, the data processor again
Subtracted according to the maximum under the real-time relative velocity from vehicle and rear or so vehicle, real-time relative distance, and different road surfaces pattern
The corresponding actual time safety distance of real time acceleration of rear or so vehicle and the maximum deceleration pair is calculated in speed
The critical safe distance answered, and be compared with real-time relative distance, and send out control signal, the control to flashing buzzer
Signal pre-warning signal for pre-warning signal or not.
7. a kind of method for early warning for avoiding vehicle that secondary collision occurs according to claim 6, which is characterized in that step 2
Specially：
When the real-time speed and following two conditions of real time acceleration satisfaction a period of time, i.e., tentatively judge that accident occurs for vehicle：
(1) the real-time speed is down to 0 in 0.1s by forward direction speed, and continues to be reduced to 0 again after negative direction increases；
(2) real time acceleration is more than setting acceleration rate threshold.
8. a kind of method for early warning for avoiding vehicle that secondary collision occurs according to claim 6, which is characterized in that step 3
Specially：
In 1min after tentatively judging vehicle generation accident, any variation does not occur for the real-time corner of steering wheel for vehicle, then
Judge to determine the behavior that accident occurs for vehicle and mobile vehicle is not present in driver again.
9. a kind of method for early warning for avoiding vehicle that secondary collision occurs according to claim 6, which is characterized in that step 4
Specially：
(1) the corresponding actual time safety distance R1 of real time acceleration of rear or so vehicle is calculated：
Wherein, u indicates the real-time opposite speed of rear or so vehicle, and a1 is the real time acceleration of rear or so vehicle；
(2) the corresponding critical safe distance R2 of maximum deceleration under different road surface patterns is calculated：
Wherein, u indicates the real-time opposite speed of rear or so vehicle, amaxIt is rear or so vehicle under corresponding road surface pattern
Maximum deceleration；
(3) remember that from the real-time relative distance of vehicle and rear or so vehicle be R；
If R2≤R≤R1 or R >=R1 >=R2, data processor sends out control signal, the control letter to flashing buzzer
Number not pre-warning signal；
If R≤R2≤R1, data processor sends out control signal to flashing buzzer, and the control signal is pre-warning signal.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109830105A (en) * | 2019-03-18 | 2019-05-31 | 中国安全生产科学研究院 | A kind of device and method preventing the fixed danger of vehicle collision trackside |
| CN110550049A (en) * | 2019-09-24 | 2019-12-10 | 北京智行者科技有限公司 | Collision alarm processing method and system for unmanned vehicle |
| CN112519767A (en) * | 2020-12-11 | 2021-03-19 | 武汉格罗夫氢能汽车有限公司 | Early warning device for front collision of hydrogen energy automobile |
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