CN110682864B - Early warning method and device for preventing rear-end collision in abnormal braking and vehicle - Google Patents
Early warning method and device for preventing rear-end collision in abnormal braking and vehicle Download PDFInfo
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Abstract
The invention discloses a rear-end collision prevention early warning method and device for abnormal braking and a vehicle, wherein the method comprises the following steps: acquiring front vehicle speed information in real time, wherein the speed information comprises vehicle deceleration information; judging whether the front vehicle brakes or not according to the speed information; when the front vehicle decelerates, obtaining brake lamp information of the front vehicle, and judging whether the brake lamp is lighted; when the brake lamp of the front vehicle is not lightened, warning information is sent to a driver of the vehicle; when a brake lamp of a vehicle in front is turned on, acquiring road condition information of the road in front, wherein the road condition information is road congestion information; judging whether the front vehicle belongs to abnormal brake or not according to the deceleration information of the front vehicle and the road condition information of the front road; when the front vehicle is judged to be abnormally braked, warning information is sent to a driver of the vehicle, and the abnormal braking condition of the front vehicle is judged in time through the braking frequency condition of the front vehicle and the road condition information of the front vehicle, so that the front vehicle can be conveniently intervened in advance to avoid collision risks.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an early warning method and device for preventing rear-end collision during abnormal braking and a vehicle.
Background
With the rapid development of economy, the number of automobiles kept by people increases year by year, and the automobiles bring great convenience to the life of people and bring an increasingly prominent problem of road traffic safety. The rapid development of intelligent traffic systems is one of the important means for solving traffic problems. An intelligent automobile system is an important component of an intelligent traffic system, the intelligent automobile system is ADAS, advanced vehicle-mounted sensors (millimeter wave radar, camera, ultrasonic radar, laser radar and the like), advanced ECU controllers, actuators and the like are used for automatically controlling vehicles or giving out early warning and the like to ensure the safety of the vehicles, and at present, L2-level intelligent driving based on a forward looking radar and (or) a forward looking camera represented by functions such as AEB and ACC is sold in the middle and high-end vehicles.
In an actual driving environment, when a vehicle is in a medium-high speed driving state with the speed per hour being more than 60-80 kpk, if the following distance is short and the front vehicle performs a braking action, when a driver of the vehicle cannot perform the braking action in time due to untimely reaction to brake the vehicle, a rear-end collision or even a rear-end collision accident may occur. Particularly, in the case of frequent braking of the preceding vehicle due to factors such as driving experience, the driver of the following own vehicle may thus loose control of the vehicle. Studies have shown that if the driver can add 0.5 seconds more warning time, 60% of rear-end collisions can be avoided, and 1 second more, 90% of rear-end collisions can be avoided. When the sudden emergency brake of current car, the back car driver does not have sufficient time and braking distance and takes emergency braking measure, if the back car disposes the AEB work ability this moment, may trigger AEB, but can produce great negative acceleration when AEB triggers, driver and inertial action preshoot can produce very big uncomfortable sense, the back row passenger is owing to do not tie the safety belt and probably produce the car and run into the bus and hinder even, consequently in the long distance before functions such as AEB trigger, it is necessary to give the preceding car because the dangerous early warning of probably knocking into the back that the unreasonable brake of preceding car caused.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a method and an apparatus for early warning of abnormal braking and rear-end collision prevention, and a vehicle, which can timely know the abnormal braking condition of a vehicle ahead, so as to intervene in advance to avoid collision risks.
In order to solve the technical problems, the specific technical scheme of the invention is as follows:
in one aspect, the invention provides a rear-end collision prevention early warning method for abnormal braking, which comprises the following steps:
acquiring front vehicle speed information in real time, wherein the speed information comprises vehicle deceleration information;
judging whether the front vehicle brakes or not according to the speed information;
when the front vehicle decelerates, obtaining brake lamp information of the front vehicle, and judging whether the brake lamp is lighted;
when the brake lamp of the front vehicle is not lightened, warning information is sent to a driver of the vehicle;
when a brake lamp of a vehicle in front is turned on, acquiring road condition information of the road in front, wherein the road condition information is road congestion information;
judging whether the front vehicle belongs to abnormal brake or not according to the speed reduction information of the front vehicle and the road condition information of the front road;
and when the front vehicle is judged to be an abnormal brake, warning information is sent to a driver of the vehicle.
Further, the obtaining of the speed information of the vehicle ahead in real time, where the speed information includes vehicle deceleration information, further includes:
and acquiring the braking frequency information of the front vehicle.
Specifically, the obtaining of the braking frequency of the front vehicle is the number N of times that the front vehicle brakes within a preset distance.
Further, according to the speed reduction information of the front vehicle and the road condition information of the front road, judging whether the front vehicle brakes abnormally comprises:
and judging whether the front vehicle belongs to abnormal braking or not according to the braking frequency of the front vehicle and the congestion information of the front road.
Further, the road condition information of the front road comprises smooth, basically smooth, light congestion, moderate congestion and severe congestion;
when the N is larger than or equal to the first preset value and the front road condition information is smooth or basically smooth, the front vehicle belongs to abnormal braking;
and when the N is greater than or equal to a second preset value and the front road condition information is light congestion, the front vehicle belongs to abnormal braking, wherein the second preset value is greater than the first preset value.
In a second aspect, the present invention further provides an abnormal braking rear-end collision prevention early warning device, which is configured to execute the method provided above, and the device includes:
the speed information acquisition module is used for acquiring the speed information of the front vehicle in real time, wherein the speed information comprises vehicle deceleration information;
the brake judging module is used for judging whether the front vehicle brakes or not according to the speed information;
the braking lamp information judging module is used for acquiring braking lamp information of the front vehicle when the front vehicle decelerates, judging whether the braking lamp is turned on or not, and acquiring road condition information of the front road when the braking lamp of the front vehicle is turned on, wherein the road condition information is road congestion information;
the abnormal brake judging module is used for judging whether the front vehicle belongs to abnormal brake or not according to the speed reduction information of the front vehicle and the road condition information of the front road;
and the warning module is used for sending warning information to a driver of the vehicle when a brake lamp of the vehicle in front is not lightened or when the vehicle in front is judged to be in abnormal brake.
Further, the speed information acquisition module includes:
and the braking frequency acquisition unit is used for acquiring the braking frequency information of the front vehicle.
Specifically, the obtaining of the braking frequency of the front vehicle is the number N of times that the front vehicle brakes within a preset distance.
Further, the road condition information of the front road comprises smooth, basically smooth, light congestion, moderate congestion and severe congestion;
when the N is larger than or equal to the first preset value and the front road condition information is smooth or basically smooth, the front vehicle belongs to abnormal braking;
and when the N is greater than or equal to a second preset value and the front road condition information is light congestion, the front vehicle belongs to abnormal braking, wherein the second preset value is greater than the first preset value.
In a third aspect, the invention further provides a vehicle, and the vehicle comprises the abnormal braking rear-end collision prevention early warning device.
By adopting the technical scheme, the abnormal brake rear-end collision prevention early warning method, the abnormal brake rear-end collision prevention early warning device and the vehicle have the following beneficial effects:
1. according to the early warning method and device for preventing rear-end collision during abnormal braking and the vehicle, the abnormal braking condition of the front vehicle is judged in time according to the braking frequency condition of the front vehicle and the front road condition information, and the early warning method and device are convenient to intervene in advance to avoid collision risks.
2. According to the early warning method and device for preventing rear-end collision of the abnormal brake and the vehicle, the existing equipment is combined, the hardware cost is not increased, only corresponding control logic needs to be set, the cost is saved, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram illustrating steps of an abnormal braking rear-end collision prevention early warning method according to the present invention;
FIG. 2 is a flow chart of an abnormal braking rear-end collision prevention early warning method according to the present invention;
FIG. 3 is a schematic structural diagram of an abnormal braking rear-end collision prevention early warning device according to the present invention;
FIG. 4 is a schematic diagram of the structure of the speed information acquisition module of FIG. 3;
fig. 5 is a control logic diagram of an abnormal braking rear-end collision prevention early warning device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Example 1
The rear-end collision is usually caused by that the front vehicle brakes and the rear vehicle does not brake in time. Under the environment when the middle-high speed is driven, the driver of the rear vehicle driving on the road is close to the following distance, and when the current vehicle suddenly brakes emergently, the driver of the rear vehicle has insufficient time and braking distance to take emergency braking measures, and rear-end collision cannot be avoided. In an Advanced Driver Assistance System (Advanced Driver Assistance System), referred to as ADAS System for short, if a rear vehicle is equipped with an automatic Braking function, referred to as AEB function for short, AEB may be triggered, but AEB triggers a large negative acceleration, which may cause great discomfort to a Driver and an inertia forward stroke, and even a rear passenger may cause an in-vehicle collision injury because of not fastening a safety belt, so that it is necessary to give an early warning of a possible rear-end collision danger to a front vehicle due to unreasonable Braking of the front vehicle at a long distance before AEB and other functions are triggered.
An ADAS system for a vehicle automatically controls or gives an early warning to the vehicle by using advanced vehicle-mounted sensors (millimeter wave radar, camera, ultrasonic radar, laser radar, etc.), advanced ECU controller, actuator, etc. to ensure the safety of the vehicle, so that an embodiment of the present specification controls the vehicle by using a forward-looking radar, a forward-looking camera, and high-precision map data in the ADAS system through a preset logic algorithm through an ADAS domain controller, specifically, as shown in fig. 3 and 4, an embodiment of the present specification provides an abnormal braking rear-end collision prevention early warning device, the device comprising:
the speed information acquisition module is used for acquiring speed information of a front vehicle in real time, wherein the speed information comprises vehicle deceleration information, specifically, the speed acquisition module can be a front-view radar of the self vehicle, the front vehicle of the lane is continuously detected in the visual field range of the front vehicle, it needs to be stated that the front vehicle is a front vehicle which is closest to the lane, the acquired speed information is the deceleration information of the front vehicle, meanwhile, the reverse acceleration of the front vehicle can be acquired according to the deceleration information, the braking frequency of the front vehicle can be determined according to different values of the reverse acceleration, in order to determine the braking frequency of the front vehicle, the braking frequency within a preset distance can be determined, such as the braking frequency within one kilometer, and the preset distance can be adjusted according to different road conditions and vehicle types;
the brake judging module is used for judging whether the front vehicle brakes or not according to the speed information; when the front vehicle brakes, the front road condition is indicated or the front vehicle has a problem, and at the moment, the front vehicle information needs to be further determined, so that the driving safety of the front vehicle is improved.
The brake light information judging module is used for acquiring brake light information of the front vehicle when the front vehicle decelerates and judging whether the brake light is turned on or not, specifically, the brake light information judging module can be a front-view camera of the self vehicle, and after the fact that the front vehicle has a deceleration behavior is determined, image information of the tail of the front vehicle can be acquired through the front-view camera, so that whether the brake light of the tail of the front vehicle is turned on or not is judged through the image information, if the brake light of the tail of the front vehicle is not turned on, the problem of the brake light of the tail of the front vehicle can be shown possibly, and certain risk can be generated by continuously following the front vehicle under the condition, so that a driver can be reminde;
the road condition information acquisition module is used for acquiring road condition information of a front road when a brake lamp of a front vehicle is turned on, wherein the road condition information is road congestion information, and specifically, the road condition information acquisition module can be a high-precision map acquisition unit, can acquire the road condition information of the front road in real time, and optionally can be the congestion information of the front road, wherein the high-precision map acquisition unit can be used for carrying out classification according to the congestion condition of the road, and can be five conditions of smooth, basically smooth, light congestion, moderate congestion and severe congestion;
the abnormal brake judging module is used for judging whether the front vehicle belongs to the abnormal brake or not according to the deceleration information of the front vehicle and the road condition information of the front road, and optionally, the abnormal brake judging module can be a functional module in an ADAS domain controller and executes the function through a preset algorithm;
the warning module is used for sending warning information to a driver of the vehicle when a brake lamp of the vehicle in front is not lightened or when the vehicle in front is judged to be abnormally braked, particularly, dangerous driving behaviors exist when the ADAS domain controller judges that the vehicle in front is abnormally braked, the abnormal brake information of the vehicle in front can be sent to a human-machine interface (HMI), the HMI can remind through a preset reminding mode, such as voice and display screen display, and after the driver of the vehicle receives the HMI reminding, the vehicle can decelerate and run for the sake of safety, the following distance is increased, or the vehicle is switched to other lanes and other actions, so that the driving safety is ensured.
In order to better implement the device provided above, an embodiment of the present specification further provides a rear-end collision prevention early warning method for abnormal braking, as shown in fig. 1 and 2, the method including the following steps:
s1: acquiring front vehicle speed information in real time, wherein the speed information comprises vehicle deceleration information;
s2: judging whether the front vehicle brakes or not according to the speed information;
s3: when the front vehicle decelerates, obtaining brake lamp information of the front vehicle, and judging whether the brake lamp is lighted;
s4: when the brake lamp of the front vehicle is not lightened, warning information is sent to a driver of the vehicle;
s5: when a brake lamp of a vehicle in front is turned on, acquiring road condition information of the road in front, wherein the road condition information is road congestion information;
s6: judging whether the front vehicle belongs to abnormal brake or not according to the speed reduction information of the front vehicle and the road condition information of the front road;
s7: and when the front vehicle is judged to be an abnormal brake, warning information is sent to a driver of the vehicle.
Specifically, as shown in fig. 5, firstly, a forward-looking radar (FLR) and a forward-looking camera (FLC) continuously detect a vehicle ahead in a visual field, when the forward-looking radar detects that the speed of the vehicle ahead is suddenly reduced and the vehicle ahead is accelerated in a reverse direction, the forward-looking camera detects whether a brake lamp of the vehicle ahead is turned on at the moment, and transmits the information to an ADAS domain controller, and if the ADAS domain controller judges that the brake lamp of the vehicle ahead is actually in a fault state according to an algorithm judgment result, the ADAS domain controller sends a signal to an HMI, and reminds a driver of the vehicle from the HMI that the vehicle ahead is abnormally braked and dangerous driving behaviors exist.
The real-time acquisition of the speed information of the front vehicle comprises the following steps: acquiring the speed information of a front vehicle in real time, and judging whether the front vehicle decelerates or not; when the front vehicle decelerates, acquiring the braking frequency of the front vehicle, wherein the acquired braking frequency of the front vehicle is the number N of times that the front vehicle brakes within a preset distance.
Illustratively, when the ADAS domain controller determines that the preceding vehicle performed a brake once, it tags at this time, records the timestamp at that time and counts 1. The recording of the distance traveled is started. By analogy, when the previous vehicle is judged to perform braking, the counter is increased by 1, when 1 kilometer is finished, the counter can calculate the braking times in the kilometer, namely the braking frequency in a unit kilometer, and certainly, the preset distance of the vehicle type and the like is not limited to 1 kilometer according to different road condition environments.
Meanwhile, the domain controller receives traffic jam information about a front running lane from the high-definition map, and judges whether the front vehicle has abnormal braking behaviors or not according to the braking frequency of the front vehicle and the traffic jam condition of the current road.
For example, as shown in table 1, a mapping table is determined for the abnormal braking logic,
| brake per kilometer | Clear | Is basically unblocked | Light congestion | Moderate congestion | Severe congestion |
| 0～3 | Is normal | Is normal | Is normal | Is normal | Is normal |
| 3～5 | Abnormality (S) | Abnormality (S) | Is normal | Is normal | Is normal |
| 5 or more | Abnormality (S) | Abnormality (S) | Abnormality (S) | Is normal | Is normal |
When the road ahead is smooth, basically smooth or slightly congested and the braking frequency of the preceding vehicle per kilometer is 5 times or more, judging that the preceding vehicle is abnormally braked; when the front road is smooth and basically smooth, and the braking frequency of the front vehicle per kilometer is more than or equal to 3 times and less than 5 times, the front vehicle is judged to be abnormally braked; when the unit kilometer braking frequency of the front vehicle is less than 3, the front brake is considered to be normal, so that the driver of the front vehicle can reasonably judge whether the front vehicle is abnormally braked by fully considering the cautious nature of driving and the road jam condition in front.
When the front vehicle has an abnormal braking condition, the ADAS domain controller sends a signal to the HMI, and the HMI reminds a driver of the vehicle that the front vehicle has abnormal braking and dangerous driving behaviors.
After receiving the HMI reminding, the driver of the vehicle can decelerate to drive, increase the following distance or switch to other lanes and the like for the sake of safety so as to ensure the driving safety.
Finally, an embodiment of the present disclosure further provides a vehicle, which may be a gasoline vehicle, a hybrid vehicle, a pure electric vehicle, or the like, the vehicle is provided with an ADAS system, and the ADAS system configures a control algorithm of the above-provided warning device.
The method, the device and the vehicle for early warning of rear-end collision prevention of abnormal braking have the following beneficial effects that:
1) according to the early warning method and device for preventing rear-end collision during abnormal braking and the vehicle, the abnormal braking condition of the front vehicle is judged in time according to the braking frequency condition of the front vehicle and the front road condition information, and the early warning method and device are convenient to intervene in advance to avoid collision risks.
2) According to the early warning method and device for preventing rear-end collision of the abnormal brake and the vehicle, the existing equipment is combined, the hardware cost is not increased, only corresponding control logic needs to be set, the cost is saved, and the driving safety is improved.
While the invention has been described with reference to specific embodiments, it will be appreciated by those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the invention can be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The early warning method for preventing rear-end collision of the abnormal brake is characterized by comprising the following steps of:
the method comprises the steps of obtaining braking frequency information of a front vehicle and obtaining speed information of the front vehicle in real time, wherein the speed information comprises vehicle deceleration information;
judging whether the front vehicle brakes or not according to the speed information;
when the front vehicle decelerates, obtaining brake lamp information of the front vehicle, and judging whether the brake lamp is lighted;
when the brake lamp of the front vehicle is not lightened, warning information is sent to a driver of the vehicle;
when a brake lamp of a vehicle in front is turned on, acquiring road condition information of the road in front, wherein the road condition information is road congestion information;
judging whether the front vehicle is abnormally braked or not according to the braking frequency information of the front vehicle and the congestion information of the front road;
and when the front vehicle is judged to be an abnormal brake, warning information is sent to a driver of the vehicle.
2. The method as claimed in claim 1, wherein the braking frequency information of the front vehicle is N times of braking of the front vehicle within a preset distance.
3. The method as claimed in claim 2, wherein the information of road conditions of the road ahead includes clear, substantially clear, light congestion, moderate congestion and severe congestion;
when the N is larger than or equal to the first preset value and the front road condition information is smooth or basically smooth, the front vehicle belongs to abnormal braking;
and when the N is greater than or equal to a second preset value and the front road condition information is light congestion, the front vehicle belongs to abnormal braking, wherein the second preset value is greater than the first preset value.
4. The utility model provides an early warning device that knocks into back is prevented in unusual brake which characterized in that includes:
the braking frequency acquisition unit is used for acquiring braking frequency information of a front vehicle;
the speed information acquisition module is used for acquiring the speed information of the front vehicle in real time, wherein the speed information comprises vehicle deceleration information;
the brake judging module is used for judging whether the front vehicle brakes or not according to the speed information;
the brake lamp information judging module is used for acquiring the brake lamp information of the front vehicle when the front vehicle decelerates and judging whether the brake lamp is turned on or not;
the road condition information acquisition module is used for acquiring road condition information of a front road when a brake lamp of a front vehicle is turned on, wherein the road condition information is road congestion information;
the abnormal brake judging module is used for judging whether the front vehicle belongs to abnormal brake or not according to the brake frequency information of the front vehicle and the congestion information of the front road;
and the warning module is used for sending warning information to a driver of the vehicle when a brake lamp of the vehicle in front is not lightened or when the vehicle in front is judged to be in abnormal brake.
5. The device of claim 4, wherein the braking frequency information of the front vehicle is the number N of times that the front vehicle brakes within a preset distance.
6. The abnormal brake rear-end collision prevention early warning device according to claim 4, wherein the road condition information of the road ahead comprises unblocked, basically unblocked, light congestion, moderate congestion and severe congestion;
when the N is larger than or equal to the first preset value and the front road condition information is smooth or basically smooth, the front vehicle belongs to abnormal braking;
and when the N is greater than or equal to a second preset value and the front road condition information is light congestion, the front vehicle belongs to abnormal braking, wherein the second preset value is greater than the first preset value.
7. A vehicle comprising an abnormal braking rear-end collision prevention warning device according to any one of claims 4 to 6.
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| CN111768651B (en) * | 2020-05-11 | 2022-07-12 | 吉利汽车研究院（宁波）有限公司 | Early warning method and device for preventing vehicle collision |
| CN113370994A (en) * | 2021-06-16 | 2021-09-10 | 上海追势科技有限公司 | Automatic driving behavior decision method based on surrounding vehicle behaviors |
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| CN103738238A (en) * | 2013-12-05 | 2014-04-23 | 刘建华 | Automotive anti-rear-end and anti-collision device |
| CN105931461A (en) * | 2016-06-01 | 2016-09-07 | 乐视控股（北京）有限公司 | Traffic condition early warning method, device and server |
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