CN110435650A - Emergency avoidance method, system, equipment and storage medium are collided after vehicle - Google Patents
Emergency avoidance method, system, equipment and storage medium are collided after vehicle Download PDFInfo
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- CN110435650A CN110435650A CN201910779479.6A CN201910779479A CN110435650A CN 110435650 A CN110435650 A CN 110435650A CN 201910779479 A CN201910779479 A CN 201910779479A CN 110435650 A CN110435650 A CN 110435650A
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- vehicle
- lane
- rear car
- adjacent
- neighboring trace
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Abstract
The present invention provides colliding Emergency avoidance method, system, equipment and storage medium after vehicle, method includes the following steps: acquiring this vehicle relative distance with the rear car and relative velocity, and the lateral travel speed of rear car is acquired；When whether the lateral travel speed of rear car is less than pre-set velocity threshold value, whether this vehicle and rear car prediction collision time are less than preset time threshold, and there is neighboring trace vehicle in the adjacent two sides lane in first pre-determined distance in this front side lane, then information exchange is carried out with the maximum neighboring trace vehicle of preceding following distance in the lane of two sides adjacent with front, selected neighboring trace vehicle carry out accelerate vacate evacuation region driven into for the lane change of this vehicle, or the idle adjacent lane of the low side of this Che Xiangyu rear car registration carries out lane change, or this vehicle does not have in adjacent two sides lane the adjacent lane of the side of neighboring trace vehicle to carry out lane change forwards.The present invention can carry out safe active lane change operation in time, protect the security of the lives and property of passenger inside the vehicle.
Description
Technical field
The present invention relates to traveling control fields, specifically, colliding Emergency avoidance method, system, equipment after being related to vehicle
And storage medium.
Background technique
Autonomous driving vehicle (Autonomous vehicles；Self-driving automobile) it is also known as unmanned
Automobile, computer driving or wheeled mobile robot are that one kind by computer system realizes unpiloted intelligent automobile.
Autonomous driving vehicle relies on artificial intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating, allows computer
Automatic safe motor vehicles can be operated under the operation of nobody class active.
Anti-collision warning technology is more more and more universal, but anti-collision warning technology on the market is pre- both for preceding collision at present
It is alert, and detecting devices is housed from front side, the moment monitors the relative distance and speed from vehicle and front vehicles, certain when reaching
When thresholding, automatic alarm reminds driver's brake, but seldom considers front vehicle since driver does not notice our vehicle
Or other reasons hit the method for early warning of our vehicle
Therefore, the present invention provides Emergency avoidance method, system, equipment and storage medium are collided after a kind of vehicle.
Summary of the invention
For the problems of the prior art, the purpose of the present invention is to provide collided after vehicle Emergency avoidance method, system,
Equipment and storage medium can make full use of the sensor devices such as existing camera and radar, according to this vehicle, the traveling shape of rear car
State and road conditions, the collision that this vehicle rear may occur monitor in real time, become to carry out safe active in time
Road operation, the generation for avoiding rear from knocking into the back protect the security of the lives and property of passenger inside the vehicle.
The embodiment of the present invention collides Emergency avoidance method after providing a kind of vehicle, comprising the following steps:
S101, this vehicle relative distance with the rear car and relative velocity are acquired by range radar, and taken the photograph by backsight
Registration as the lateral travel speed of head acquisition rear car and with this vehicle in driving direction；
S102, judge whether the lateral travel speed of the rear car is less than pre-set velocity threshold value, if so, thening follow the steps
S103, if it is not, then return step S101；
S103, judge whether this vehicle and rear car prediction collision time are less than preset time threshold, if so, thening follow the steps
S104, if it is not, thening follow the steps S109；
S104, judge whether the adjacent two sides lane in first pre-determined distance in this front side lane has neighboring trace vehicle,
If so, S105 is thened follow the steps, if it is not, thening follow the steps S106；
Information exchange is carried out with the maximum neighboring trace vehicle of preceding following distance in S105, this vehicle selection two sides adjacent with front lane
It is driven with linkage, the selected neighboring trace vehicle is accelerated, and vacates evacuation region in adjacent lane, this vehicle is sailed by lane change
Enter to avoid region；
S106, judge in adjacent two sides lane in first pre-determined distance in this front side lane whether all without neighboring trace
Vehicle, if so, S107 is thened follow the steps, if it is not, thening follow the steps S108；
The adjacent lane of the low side of S107, this Che Xiangyu rear car registration carries out lane change；
S108, this vehicle do not have in adjacent two sides lane the adjacent lane of the side of neighboring trace vehicle to carry out lane change forwards；With
And
S109, this vehicle execute evacuation alarm operation.
Preferably, the tail part by this vehicle center line is arranged in the rearview camera, leads in the step S101
Rearview camera shooting rear car is crossed, the lateral travel speed of the driving direction perpendicular to the rear car of rear car is acquired, after comparison
The projection of the direction of advance of the bias direction of the middle line of vehicle vertical direction and this vehicle middle line, the Ben Che and rear car degree that overlaps is high
Side registration is high, Ben Che and the projection of the direction of advance of rear car overlap degree it is low side registration it is low.
Preferably, the value range of the pre-set velocity threshold value is 0.5m/s to 2m/s, and first pre-determined distance takes
Value range is 15 meters to 100 meters.
It preferably, include that this vehicle and rear car prediction are obtained by the relative distance and relative velocity in the step S103
Collision time.
Preferably, the value range of the preset time threshold is 2 seconds to 5 seconds.
Preferably, in the step S104 by the angle detections of radar front side lane of the front of this vehicle first it is default away from
Whether there is neighboring trace vehicle from interior adjacent two sides lane.
Preferably, include the following steps in the step S105
S1051, this vehicle send distance measurement request by two neighboring trace vehicles in the respectively forwardly adjacent two sides lane in side；
S1052, the neighboring trace vehicle detect respectively respectively with the distance between front truck and feed back to this vehicle；
The maximum neighboring trace vehicle of S1053, this Che Xiangyu leading vehicle distance sends evacuation request；And
S1054, Ben Che and neighboring trace vehicle establish interim control channel, this vehicle control neighboring trace vehicle raises speed forward in its lane
On vacate evacuation region, while this vehicle by lane change drive into avoid region.
Preferably, the length direction in the evacuation region is greater than 5 meters.
It preferably, include that this vehicle lights brake lamp, and plays preset alarm audio in the step S109.
The embodiment of the present invention collides Emergency avoidance system after also providing a kind of vehicle, for realizing colliding after the vehicle
Emergency avoidance method, comprises the following modules:
Data acquisition module acquires this vehicle relative distance with the rear car and relative velocity by range radar, and leads to
Cross the lateral travel speed of rearview camera acquisition rear car and the registration with this vehicle in driving direction；
First judgment module, judges whether the lateral travel speed of the rear car is less than pre-set velocity threshold value, if so, holding
The second judgment module of row, if it is not, then returned data acquisition module；
Second judgment module, judges whether this vehicle and rear car prediction collision time are less than preset time threshold, if so, holding
Row third judgment module, if it is not, then executing the 4th evacuation module；
Third judgment module, judges whether the adjacent two sides lane in first pre-determined distance in this front side lane has neighbour
Road vehicle, if so, the first evacuation module is executed, if it is not, then executing the 4th judgment module；
First evacuation module, this vehicle select to carry out in the lane of two sides adjacent with front with the maximum neighboring trace vehicle of preceding following distance
Information exchange and linkage drive, and the selected neighboring trace vehicle is accelerated, and vacate evacuation region, Ben Chetong in adjacent lane
It crosses lane change and drives into evacuation region；
4th judgment module, judge in the adjacent two sides lane in first pre-determined distance in this front side lane whether all
There is no neighboring trace vehicle, if so, the second evacuation module is executed, if it is not, then executing third evacuation module；
Second evacuation module, the adjacent lane of the low side of this Che Xiangyu rear car registration carry out lane change；
Third avoids module, this vehicle does not have in adjacent two sides lane the adjacent lane of the side of neighboring trace vehicle to carry out forwards
Lane change；And
4th evacuation module, this vehicle execute evacuation alarm operation.
The embodiment of the present invention collides Emergency avoidance equipment after also providing a kind of vehicle, comprising:
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to execute via the executable instruction is executed after above-mentioned vehicle collide and promptly keep away
Allow method the step of.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is held
The step of Emergency avoidance method is collided after above-mentioned vehicle is realized when row.
The present invention provides Emergency avoidance method, system, equipment and storage medium is collided after vehicle, can make full use of existing
There are the sensor devices such as camera and radar, it, may to this vehicle rear according to this vehicle, the driving status of rear car and road conditions
The collision of generation is monitored in real time, to carry out safe active lane change operation, the generation for avoiding rear from knocking into the back, protection in time
The security of the lives and property of passenger inside the vehicle.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is the flow chart of collision Emergency avoidance method after vehicle of the invention.
Fig. 2 to 10 is the schematic diagram that the implementation process of Emergency avoidance method is collided after vehicle of the invention.
Figure 11 is the module diagram of collision Emergency avoidance system after vehicle of the invention.
Figure 12 is the structural schematic diagram of collision Emergency avoidance equipment after vehicle of the invention.And
Figure 13 is the structural schematic diagram of the computer readable storage medium of one embodiment of the invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein.On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure
Icon note indicates same or similar structure, thus will omit repetition thereof.
Fig. 1 is the flow chart of collision Emergency avoidance method after vehicle of the invention.As shown in Figure 1, the embodiment of the present invention
Emergency avoidance method is collided after a kind of vehicle is provided, comprising the following steps:
S101, this vehicle relative distance with the rear car and relative velocity are acquired by range radar, and taken the photograph by backsight
Registration as the lateral travel speed of head acquisition rear car and with this vehicle in driving direction.
S102, judge whether the lateral travel speed of rear car is less than pre-set velocity threshold value, if so, S103 is thened follow the steps,
If it is not, then return step S101.
S103, judge whether this vehicle and rear car prediction collision time are less than preset time threshold, if so, thening follow the steps
S104, if it is not, thening follow the steps S109.
S104, judge whether the adjacent two sides lane in first pre-determined distance in this front side lane has neighboring trace vehicle,
If so, S105 is thened follow the steps, if it is not, thening follow the steps S106.
Information exchange is carried out with the maximum neighboring trace vehicle of preceding following distance in S105, this vehicle selection two sides adjacent with front lane
It is driven with linkage, selected neighboring trace vehicle is accelerated, and vacates evacuation region in adjacent lane, this vehicle is driven by lane change and kept away
Allow region.
S106, judge in adjacent two sides lane in first pre-determined distance in this front side lane whether all without neighboring trace
Vehicle, if so, S107 is thened follow the steps, if it is not, thening follow the steps S108.
The adjacent lane of the low side of S107, this Che Xiangyu rear car registration carries out lane change.
S108, this vehicle do not have in adjacent two sides lane the adjacent lane of the side of neighboring trace vehicle to carry out lane change forwards.With
And
S109, this vehicle execute evacuation alarm operation.
Preferably, the tail part by this vehicle center line is arranged in rearview camera, is taken the photograph in step S101 by backsight
As head shooting rear car, the lateral travel speed of the driving direction perpendicular to rear car of rear car is acquired, rear car vertical direction is compared
The projection of the direction of advance of the bias direction of middle line and this vehicle middle line, Ben Che and rear car overlaps the high side registration of degree
Height, Ben Che and the projection of the direction of advance of rear car overlap degree it is low side registration it is low.
In a preferred embodiment, the value range of pre-set velocity threshold value is 0.5m/s to 2m/s.
It in a preferred embodiment, include that this Che Yuhou is obtained by relative distance and relative velocity in step S103
Vehicle predicts collision time.
In a preferred embodiment, the value range of preset time threshold is 2 seconds to 5 seconds.
In a preferred embodiment, pass through the angle detections of radar front side lane of the front of this vehicle in step S104
Whether the adjacent two sides lane in the first pre-determined distance has neighboring trace vehicle.
In a preferred embodiment, include the following steps in step S105
S1051, this vehicle send distance measurement request by two neighboring trace vehicles in the respectively forwardly adjacent two sides lane in side.
S1052, neighboring trace vehicle detect respectively respectively with the distance between front truck and feed back to this vehicle.
The maximum neighboring trace vehicle of S1053, this Che Xiangyu leading vehicle distance sends evacuation request.
S1054, Ben Che and neighboring trace vehicle establish interim control channel, this vehicle control neighboring trace vehicle raises speed forward in its lane
On vacate evacuation region, while this vehicle by lane change drive into avoid region.After the completion of evacuation movement, interim control channel is automatic
Revocation.In the present invention, due to being that this vehicle does not pass through any base station or server, but directly controls neighboring trace vehicle, so that originally
The control system of vehicle can directly control Ben Che and is displaced with selected neighboring trace vehicle synchronous, avoid by base station or
The communication delay of server, so that adjacent two vehicle is able to carry out the different displacement actions of high level of synchronization requirement, to meet
Shortest time completes the requirement of evacuation, protects the security of the lives and property of passenger inside the vehicle.
In a preferred embodiment, the length direction for avoiding region is greater than 5 meters.
It in a preferred embodiment, include that this vehicle lights brake lamp, and plays preset alarm sound in step S109
Frequently.
Fig. 2 to 10 is the schematic diagram that the implementation process of Emergency avoidance method is collided after vehicle of the invention.As shown in Fig. 2,
Vehicle A runs are on road 11, and vehicle B, D and E are travelled on road 12, and vehicle C runs are on road 13.In the present embodiment,
Vehicle A, B, C, D, E are the intelligent automobiles with car networking function, and car networking refers mainly to: the mobile unit on vehicle passes through
Wireless communication technique efficiently uses all vehicle multidate informations in information network platform, provides in vehicle operation
Different function services.It can be found that car networking shows following feature: car networking being capable of spacing between vehicle and vehicle
It provides safeguard, reduces the probability that vehicle crashes.Car networking can help car owner's real-time navigation, and by with other vehicles
And network system communication, improve the efficiency of traffic circulation.
As shown in figure 3, carrying out data acquisition with vehicle D for this vehicle in the present embodiment, the headstock of vehicle D is equipped with angle radar
21, the tailstock of 23 and forward sight camera 22, vehicle D are equipped with angle radar 24,26 and rearview camera 25, and rearview camera is set
It sets in the tail part by vehicle D center line.
As shown in figure 4, acquiring relative distance S between vehicle D and vehicle E and opposite by the angle radar 24,26 of vehicle D
Speed Va.
As shown in figure 5, acquiring the lateral travel speed Vb of vehicle E by the rearview camera of vehicle D and existing with vehicle D
Registration in driving direction.Vehicle E is shot by vehicle D rearview camera, acquires the traveling perpendicular to vehicle E of vehicle E
The lateral travel speed in direction compares the middle line of vehicle E vertical direction and the bias direction of vehicle D middle line, in the present embodiment, vehicle
The projection of the direction of advance of the D and vehicle E high right side registration of degree that overlaps is high, the direction of advance of vehicle D and vehicle E
It is low to project the low left side registration of degree that overlaps.
When the lateral travel speed of vehicle E is more than or equal to pre-set velocity threshold value, expression vehicle E has lane change trend, does not have
Knock into the back risk, then returns to acquisition step above-mentioned, and the value range of pre-set velocity threshold value is 0.5m/s to 2m/s, in the present embodiment
Pre-set velocity threshold value is 1.5m/s.When the lateral travel speed of vehicle E is less than pre-set velocity threshold value, expression vehicle E will be maintained
Current lane, knock into the back risk, then obtains vehicle D and vehicle E by relative distance and relative velocity and predict collision time, judgement
The size of vehicle D and vehicle E prediction collision time.When vehicle D and vehicle E prediction collision time is more than or equal to preset time threshold
Value, vehicle D execute evacuation alarm operation, and vehicle D lights brake lamp, and plays preset alarm audio, preset time threshold
Value range is 2 seconds to 5 seconds, and preset time threshold is 3 seconds in the present embodiment.When vehicle D and vehicle E prediction collision time is less than
Preset time threshold, this illustrates that vehicle E is possible to knock into the back, and vehicle D needs to be avoided as early as possible.
In the present embodiment, pass through the phase in first pre-determined distance in the angle detections of radar front side lane of the front of vehicle D
Whether adjacent two sides lane has neighboring trace vehicle, and the neighboring trace vehicle in the present embodiment refers to the vehicle in the adjacent two sides in the lane of vehicle D
The vehicle travelled on road.The value range of first pre-determined distance is 15 meters to 100 meters, and the first pre-determined distance in the present embodiment is
30 meters, but not limited to this
Adjacent two sides lane in front of the vehicle D in first pre-determined distance in lane does not all have a neighboring trace vehicle, vehicle D to
The adjacent lane in the low left side of vehicle E registration carries out lane change.In the present embodiment, vehicle D is to the left side low with vehicle E registration
A possibility that carrying out lane change and be conducive to the driving path for leaving vehicle E within the time short as far as possible, reducing collision generation, and if
Vehicle D carries out lane change to the high right side of vehicle E registration, then or can have some temporal delays, it is difficult to play to the greatest extent
The effect of the fast driving path for being detached from vehicle E.
When there is neighboring trace vehicle in an only lane in the adjacent two sides lane in first pre-determined distance in the front vehicle D lane
, then vehicle D does not have in adjacent two sides lane the adjacent lane of the side of neighboring trace vehicle to carry out lane change forwards.
When there is neighboring trace vehicle in the adjacent two sides lane in first pre-determined distance in the front vehicle D lane, vehicle D is possible to
Lane 11 is driven by lane change to the left along track M or lane 13 is driven by lane change to the right along track N.
As shown in Fig. 6,7,8, the adjacent lane that vehicle D can choose the left side low with vehicle E registration carries out lane change, vehicle
D and vehicle A carries out information exchange and linkage drives, and vehicle A is accelerated, and vacates in adjacent lane and avoids region, the edge vehicle D
Track M drives into evacuation region by lane change to the left.
As shown in Figures 9 and 10, vehicle D sends ranging by two neighboring trace vehicles in the respectively forwardly adjacent two sides lane in side and asks
It asks.Neighboring trace vehicle detect respectively respectively with the distance between front truck and feed back to vehicle D.The detections of radar that vehicle A passes through itself
Distance to the vehicle F in front only has 10 meters, vehicle C by itself detections of radar to front vehicle (not shown) distance
More than 50 meters.Vehicle D select in the lane of two sides adjacent with front with preceding following distance maximum neighboring trace vehicle C progress information exchange and
Linkage drives, and selected neighboring trace vehicle C is accelerated, and vacates evacuation region in adjacent lane, vehicle D is driven by lane change to be kept away
Allow region.Vehicle D sends evacuation request to the maximum neighboring trace vehicle C of leading vehicle distance.And neighboring trace vehicle raises speed forward
Evacuation region is vacated on its lane, the length direction for avoiding region is 10 meters, while vehicle D safely passes through lane change and drives into and keeps away
Allow region.Neighboring trace vehicle C raises speed forward in the present embodiment and vehicle D carries out lane change and carries out simultaneously, is become in vehicle D
During road, the evacuation region vacated on its lane of raising speed forward is just driven into for vehicle D, to accomplish Emergency avoidance feelings
The condition lower shortest time complete evacuation movement technical effect, this need by vehicle D for example, by BLE bluetooth (bluetooth low energy consumption,
Bluetooth Low Energy or Bluetooth LE, BLE) with neighboring trace vehicle C directly establish interim control channel (and
It is not the server by base station, otherwise will cause temporal delay), the control system of vehicle D is temporarily controlled
The accelerated motion of neighboring trace vehicle C completes the synchronous above-mentioned movement of progress of the two, and vehicle D is completed jointly as the two in the process
The calculating center of evacuation movement and control centre realize that the interaction of the two and movement are performed simultaneously, so that it is dynamic to greatly shorten evacuation
The time of work avoids the communication delay by base station or server, so that adjacent two vehicle is able to carry out high level of synchronization and wants
The different displacement actions asked complete the requirement of evacuation in the shortest time to meet, the lives and properties of passenger inside the vehicle are protected to pacify
Entirely.After the completion of the movement of the evacuation of two vehicles, interim control channel is cancelled automatically.
In a kind of variation, the present invention proposes anti-collision warning scheme after a kind of vehicle, it according to backward camera and
Millimetre-wave radar obtains the multidate information of front vehicle, in turn, the information acquired according to forward angle radar and forward direction camera
It is minimum the danger coefficient of vehicle is reduced to carry out control vehicle.The present invention mentions and passes through the relief angle radar of vehicle and backward
Camera captures the motion information of this lane front vehicle.Then testing the speed for radar, the superiority of ranging, while benefit are made full use of
Information between the two is merged with strong point of the camera to the identification of lane line and vehicle's contour width.Front vehicle
With from vehicle relative distance and speed use the data of radar acquisition, front vehicle and the opposite lateral position from vehicle, which pass through, to be taken the photograph
As head obtains.If identifying that front vehicle and the lateral position from vehicle are poor through camera through radar identification rear car without side velocity
(two vehicle centroid position range differences) is greater than (wheelspan+50 between two vehicles), then rear anti-collision warning is without starting.If known through radar
Other rear car identifies that front vehicle and the lateral position poor (two vehicle centroid position range differences) from vehicle are small without side velocity, through camera
In (wheelspan+50 between two vehicles), then rear anti-collision warning needs to start.Afterwards after anti-collision warning starting, according to rear car with from the phase of vehicle
It adjusts the distance and speed calculates collision time, vehicle braking lamp is lighted if collision time < 3s, external buzzer primary alarm
It reminds, reminds front vehicle, if collision time is needed in < 2s according to the preceding current vehicle that arrive to camera and angle radar detection
Surrounding enviroment information carries out decision adjustment, and strategy is as follows:
If (a) forward direction camera is recognized without vehicle in front of current vehicle, auto-pilot controller controls vehicle and carries out
Quickly accelerate, 2 grades of warnings of external buzzer are reminded, and loudness of a sound is increased.
If (b) forward direction camera, which recognizes in front of current vehicle, vehicle, but angle radar recognizes laterally without vehicle, then
The rear car that auto-pilot controller is provided according to backward camera controls vehicle and carries out turning to registration most with from the registration of vehicle
Small side road is to reduce the risk of collision, while 2 grades of warnings of external buzzer are reminded, and loudness of a sound is increased.
If (c) forward direction camera, which recognizes in front of current vehicle, vehicle, recognizing with hour angle radar laterally also has vehicle,
So auto-pilot controller control vehicle is braked, and can increase the adhesive force on tire and ground in this way, reduces vehicle quilt
The distance of propulsion reduces risk, while 2 grades of warnings of external buzzer are reminded, and loudness of a sound is increased.
The present invention provides Emergency avoidance method is collided after vehicle, the sensing such as existing camera and radar can make full use of
Device equipment supervises the collision that this vehicle rear may occur according to this vehicle, the driving status of rear car and road conditions in real time
Control, to carry out safe active lane change operation in time, the generation for avoiding rear from knocking into the back protects the lives and properties of passenger inside the vehicle
Safety.
Figure 11 is the module diagram of collision Emergency avoidance system after vehicle of the invention.As shown in figure 11, of the invention
Embodiment collides Emergency avoidance system after also providing a kind of vehicle, and collision Emergency avoidance system 5 includes: after vehicle
Data acquisition module 51 acquires this vehicle relative distance with the rear car and relative velocity by range radar, and
Pass through the lateral travel speed of rearview camera acquisition rear car and the registration with this vehicle in driving direction.
First judgment module 52, judges whether the lateral travel speed of rear car is less than pre-set velocity threshold value, if so, executing
Second judgment module 53, if it is not, then returned data acquisition module 51.
Second judgment module 53, judges whether this vehicle and rear car prediction collision time are less than preset time threshold, if so,
Third judgment module 54 is executed, if it is not, then executing the 4th evacuation module 59.
Third judgment module 54, judges whether the adjacent two sides lane in first pre-determined distance in this front side lane has
Neighboring trace vehicle, if so, the first evacuation module 55 is executed, if it is not, then executing the 4th judgment module 56.
First evacuation module 55, this vehicle select two sides adjacent with front lane in the maximum neighboring trace vehicle of preceding following distance into
Row information interaction and linkage drive, and selected neighboring trace vehicle is accelerated, and vacate evacuation region in adjacent lane, this vehicle passes through
Evacuation region is driven into lane change.
4th judgment module 56, judge in the adjacent two sides lane in first pre-determined distance in this front side lane whether
All there is no neighboring trace vehicle, if so, the second evacuation module 57 is executed, if it is not, then executing third evacuation module 58.
Second evacuation module 57, the adjacent lane of the low side of this Che Xiangyu rear car registration carry out lane change.
Third avoids module 58, this vehicle do not have in adjacent two sides lane forwards the adjacent lane of the side of neighboring trace vehicle into
Row lane change.And
4th evacuation module 59, this vehicle execute evacuation alarm operation.
The present invention provides Emergency avoidance system is collided after vehicle, the sensing such as existing camera and radar can make full use of
Device equipment supervises the collision that this vehicle rear may occur according to this vehicle, the driving status of rear car and road conditions in real time
Control, to carry out safe active lane change operation in time, the generation for avoiding rear from knocking into the back protects the lives and properties of passenger inside the vehicle
Safety.
The embodiment of the present invention collides Emergency avoidance equipment, including processor after also providing a kind of vehicle.Memory, wherein depositing
Contain the executable instruction of processor.Wherein, processor is configured to collide after being performed vehicle via execution executable instruction
The step of Emergency avoidance method.
As it appears from the above, the embodiment can make full use of the sensor devices such as existing camera and radar, according to this vehicle, after
The driving status and road conditions of vehicle, the collision that this vehicle rear may occur monitor in real time, to be pacified in time
Full active lane change operation, the generation for avoiding rear from knocking into the back protect the security of the lives and property of passenger inside the vehicle.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
Figure 12 is the structural schematic diagram of collision Emergency avoidance equipment after vehicle of the invention.Root is described referring to Figure 12
According to the electronic equipment 600 of the embodiment of the invention.The electronic equipment 600 that Figure 12 is shown is only an example, is not answered
Any restrictions are brought to the function and use scope of the embodiment of the present invention.
As shown in figure 12, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can be with
Including but not limited to: at least one processing unit 610, at least one storage unit 620, connection different platform component (including are deposited
Storage unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, storage unit is stored with program code, and program code can be executed with unit 610 processed, so that processing is single
Member 610 executes various exemplary implementations according to the present invention described in this specification above-mentioned electronic prescription circulation processing method part
The step of mode.For example, processing unit 610 can execute step as shown in fig. 1.
Storage unit 620 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 6201 and/or cache memory unit 6202, it can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205
6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, program is performed reality
The step of Emergency avoidance method is collided after existing vehicle.In some possible embodiments, various aspects of the invention may be used also
In the form of being embodied as a kind of program product comprising program code, when program product is run on the terminal device, program generation
Code is each according to the present invention described in this specification above-mentioned electronic prescription circulation processing method part for executing terminal device
The step of kind illustrative embodiments.
As it appears from the above, the embodiment can make full use of the sensor devices such as existing camera and radar, according to this vehicle, after
The driving status and road conditions of vehicle, the collision that this vehicle rear may occur monitor in real time, to be pacified in time
Full active lane change operation, the generation for avoiding rear from knocking into the back protect the security of the lives and property of passenger inside the vehicle.
Figure 13 is the structural schematic diagram of computer readable storage medium of the invention.With reference to shown in Figure 13, basis is described
The program product 800 for realizing the above method of embodiments of the present invention can be deposited using portable compact disc is read-only
Reservoir (CD-ROM) and including program code, and can be run on terminal device, such as PC.However, of the invention
Program product is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, should
Program can be commanded execution system, device or device use or in connection.
Program product can be using any combination of one or more readable mediums.Readable medium can be readable signal Jie
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or partly lead
System, device or the device of body, or any above combination.More specific example (the non exhaustive column of readable storage medium storing program for executing
Table) it include: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only storage
Device (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer readable storage medium may include in a base band or as carrier wave a part propagate data-signal,
In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any readable Jie other than readable storage medium storing program for executing
Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its
The program of combined use.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, including but not
It is limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, programming language include object oriented program language-Java, C++ etc., further include conventional process
Formula programming language-such as " C " language or similar programming language.Program code can be calculated fully in user
It executes in equipment, partly execute on a user device, executing, as an independent software package partially in user calculating equipment
Upper part executes on a remote computing or executes in remote computing device or server completely.It is being related to remotely counting
In the situation for calculating equipment, remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
It to sum up, can be abundant the present invention provides Emergency avoidance method, system, equipment and storage medium is collided after vehicle
Using sensor devices such as existing camera and radars, according to this vehicle, the driving status of rear car and road conditions, to after this vehicle
The collision that side may occur is monitored in real time, to carry out safe active lane change operation, the hair for avoiding rear from knocking into the back in time
It is raw, protect the security of the lives and property of passenger inside the vehicle.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, In
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (12)
1. colliding Emergency avoidance method after a kind of vehicle, which comprises the following steps:
S101, this vehicle relative distance with the rear car and relative velocity are acquired by range radar, and pass through rearview camera
Acquire the lateral travel speed of rear car and the registration with this vehicle in driving direction；
S102, judge whether the lateral travel speed of the rear car is less than pre-set velocity threshold value, if so, S103 is thened follow the steps,
If it is not, then return step S101；
S103, judge whether this vehicle and rear car prediction collision time are less than preset time threshold, if so, S104 is thened follow the steps,
If it is not, thening follow the steps S109；
S104, judge whether the adjacent two sides lane in first pre-determined distance in this front side lane has neighboring trace vehicle, if so,
S105 is thened follow the steps, if it is not, thening follow the steps S106；
Information exchange and connection are carried out with the maximum neighboring trace vehicle of preceding following distance in S105, this vehicle selection two sides adjacent with front lane
Dynamic to drive, the selected neighboring trace vehicle is accelerated, and vacates evacuation region in adjacent lane, this vehicle is driven by lane change and kept away
Allow region；
S106, judge whether all there is no neighboring trace vehicle in adjacent two sides lane in first pre-determined distance in this front side lane
, if so, S107 is thened follow the steps, if it is not, thening follow the steps S108；
The adjacent lane of the low side of S107, this Che Xiangyu rear car registration carries out lane change；
S108, this vehicle do not have in adjacent two sides lane the adjacent lane of the side of neighboring trace vehicle to carry out lane change forwards；And
S109, this vehicle execute evacuation alarm operation.
2. colliding Emergency avoidance method after vehicle according to claim 1, which is characterized in that the rearview camera setting
Rear car is shot by rearview camera in the tail part by this vehicle center line, the step S101, acquires hanging down for rear car
Directly in the lateral travel speed of the driving direction of the rear car, the middle line of rear car vertical direction and the deviation side of this vehicle middle line are compared
High, the direction of advance of Ben Che and rear car to, the projection of the direction of advance of the Ben Che and rear car high side registration of degree that overlaps
The projection low side registration of degree that overlaps it is low.
3. colliding Emergency avoidance method after vehicle according to claim 1, which is characterized in that the pre-set velocity threshold value
Value range is 0.5m/s to 2m/s, and the value range of first pre-determined distance is 15 meters to 100 meters.
4. colliding Emergency avoidance method after vehicle according to claim 1, which is characterized in that include in the step S103
This vehicle is obtained by the relative distance and relative velocity and rear car predicts collision time.
5. colliding Emergency avoidance method after vehicle according to claim 4, which is characterized in that the preset time threshold
Value range is 2 seconds to 5 seconds.
6. colliding Emergency avoidance method after vehicle according to claim 1, which is characterized in that pass through in the step S104
Whether the adjacent two sides lane in first pre-determined distance in the angle detections of radar front side lane of the front of this vehicle has neighboring trace vehicle
.
7. colliding Emergency avoidance method after vehicle according to claim 1, which is characterized in that include in the step S105
Following steps
S1051, this vehicle send distance measurement request by two neighboring trace vehicles in the respectively forwardly adjacent two sides lane in side；
S1052, the neighboring trace vehicle detect respectively respectively with the distance between front truck and feed back to this vehicle；
The maximum neighboring trace vehicle of S1053, this Che Xiangyu leading vehicle distance sends evacuation request；And
S1054, Ben Che and neighboring trace vehicle establish interim control channel, this vehicle control neighboring trace vehicle raises speed forward in its lane overhead
Region is avoided out, while this vehicle drives into evacuation region by lane change.
8. colliding Emergency avoidance method after vehicle according to claim 7, which is characterized in that the length in the evacuation region
Direction is greater than 5 meters.
9. colliding Emergency avoidance method after vehicle according to claim 1, which is characterized in that include in the step S109
This vehicle lights brake lamp, and plays preset alarm audio.
10. Emergency avoidance system is collided after a kind of vehicle, for realizing Emergency avoidance is collided after vehicle as described in claim 1
Method characterized by comprising
Data acquisition module acquires this vehicle relative distance with the rear car and relative velocity by range radar, and after passing through
Registration depending on the lateral travel speed of camera acquisition rear car and with this vehicle in driving direction；
First judgment module, judges whether the lateral travel speed of the rear car is less than pre-set velocity threshold value, if so, executing the
Two judgment modules, if it is not, then returned data acquisition module；
Second judgment module, judges whether this vehicle and rear car prediction collision time are less than preset time threshold, if so, executing the
Three judgment modules, if it is not, then executing the 4th evacuation module；
Third judgment module, judges whether the adjacent two sides lane in first pre-determined distance in this front side lane has neighboring trace vehicle
, if so, the first evacuation module is executed, if it is not, then executing the 4th judgment module；
First evacuation module, this vehicle select to carry out information with the maximum neighboring trace vehicle of preceding following distance in the lane of two sides adjacent with front
Interaction and linkage drive, and the selected neighboring trace vehicle is accelerated, and vacate evacuation region in adjacent lane, this vehicle passes through change
Road drives into evacuation region；
4th judgment module judges whether all do not have in the adjacent two sides lane in first pre-determined distance in this front side lane
Neighboring trace vehicle, if so, the second evacuation module is executed, if it is not, then executing third evacuation module；
Second evacuation module, the adjacent lane of the low side of this Che Xiangyu rear car registration carry out lane change；
Third avoids module, this vehicle does not have the adjacent lane of the side of neighboring trace vehicle to be become in adjacent two sides lane forwards
Road；And
4th evacuation module, this vehicle execute evacuation alarm operation.
11. colliding Emergency avoidance equipment after a kind of vehicle characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 1 to 9 institute via the execution executable instruction
State the step of Emergency avoidance method is collided after vehicle.
12. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit require any one of 1 to 9 described in the step of Emergency avoidance method is collided after vehicle.
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| CN201910779479.6A CN110435650A (en) | 2019-08-22 | 2019-08-22 | Emergency avoidance method, system, equipment and storage medium are collided after vehicle |
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| CN111028530A (en) * | 2019-12-06 | 2020-04-17 | 广东科学技术职业学院 | Method and device for controlling unmanned equipment to move and unmanned equipment |
| CN111186435A (en) * | 2020-01-19 | 2020-05-22 | 奇瑞汽车股份有限公司 | Anti-collision method and device for automobile and storage medium |
| CN111775940A (en) * | 2020-07-08 | 2020-10-16 | 中国第一汽车股份有限公司 | Automatic channel changing method, device, equipment and storage medium |
| CN112606838A (en) * | 2020-12-15 | 2021-04-06 | 东风汽车集团有限公司 | Anti-collision control method and device for lane change of vehicle |
| CN113619574A (en) * | 2021-08-27 | 2021-11-09 | 中国第一汽车股份有限公司 | Vehicle avoidance method and device, computer equipment and storage medium |
| CN113799801A (en) * | 2021-10-19 | 2021-12-17 | 中国第一汽车股份有限公司 | Vehicle avoidance control method and device, electronic equipment and storage medium |
| CN114093187A (en) * | 2021-11-26 | 2022-02-25 | 交通运输部公路科学研究所 | Risk early warning control method for automatic driving vehicle and intelligent network system |
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| CN114248764A (en) * | 2022-01-07 | 2022-03-29 | 安徽江淮汽车集团股份有限公司 | Rear-end collision avoidance preventing system and method for rear vehicle |
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| CN114155743B (en) * | 2021-12-10 | 2023-01-31 | 安徽江淮汽车集团股份有限公司 | Rear-end collision avoidance system and method |
| CN114248764A (en) * | 2022-01-07 | 2022-03-29 | 安徽江淮汽车集团股份有限公司 | Rear-end collision avoidance preventing system and method for rear vehicle |
| CN114724408A (en) * | 2022-03-31 | 2022-07-08 | 东风汽车集团股份有限公司 | Vehicle rear distance early warning method and device, electronic equipment and reading and storing medium |
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Application publication date: 20191112 |