CN110949378A - Anti-collision rear-end collision device and method for automobile under high-speed working condition - Google Patents
Anti-collision rear-end collision device and method for automobile under high-speed working condition Download PDFInfo
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- CN110949378A CN110949378A CN201911392674.XA CN201911392674A CN110949378A CN 110949378 A CN110949378 A CN 110949378A CN 201911392674 A CN201911392674 A CN 201911392674A CN 110949378 A CN110949378 A CN 110949378A
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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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
Abstract
The invention relates to an anti-collision rear-end collision device and method for an automobile under high-speed working conditions, wherein the method comprises the following steps: 1) detecting the state information of the vehicles running in front of the same lane, the information of the vehicles running behind the same lane and the information of the vehicles running in adjacent lanes when the automobile runs at a high speed; 2) when the vehicle running in front of the same lane brakes suddenly, the vehicle decelerates to keep a safe distance with the front vehicle, and when the vehicle decelerates to a lower limit value, the vehicle runs according to the following method: when no vehicle runs behind the same lane, the automatic driving module controls the vehicle to continue to decelerate and keep a safe distance with the vehicle in front of the same lane; when a running vehicle exists behind the same lane and no running vehicle exists in front of and behind the adjacent lanes, the path planning module plans a lane changing track, and the automatic driving module controls the automobile to run according to the lane changing track and change lanes to the adjacent lanes. The device and the method are beneficial to avoiding collision and rear-end collision of the automobile with surrounding running vehicles in high-speed running, and improving the running safety.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to an anti-collision rear-end collision device and method for an automobile under a high-speed working condition.
Background
With the development of various technologies, intelligent automobiles have been developed at a high speed. The intelligent automobile under the low-speed working condition can almost realize unmanned driving, and the intelligent automobile under the high-speed working condition can realize simple automatic driving, but does not have enough automatic driving technology to deal with the situation when complex road driving situations are met. At present, when the intelligent automobile runs at a high speed and runs in a deceleration emergency brake of a running vehicle in the same lane in front, the intelligent automobile can brake in time and keep a safe distance with the vehicle in the front of the same lane. However, the collision and rear-end collision accident which may occur with the vehicle behind when the intelligent automobile is braked cannot be avoided.
Disclosure of Invention
The invention aims to provide an anti-collision rear-end collision device and an anti-collision rear-end collision method for an automobile under a high-speed working condition, which are beneficial to avoiding collision and rear-end collision of the automobile with surrounding running vehicles during high-speed running and improving the running safety.
In order to achieve the purpose, the invention adopts the technical scheme that: an anti-collision rear-end collision device for a high-speed working condition of an automobile comprises:
the first detection module is used for detecting the state information of a vehicle running in front of the same lane when the automobile runs at a high speed;
the second detection module is used for detecting the information of the vehicles running behind the same lane and the information of the vehicles running in the adjacent lanes when the automobile runs at a high speed;
the path planning module is used for planning a lane change track; and
and the automatic driving module is used for judging whether to change lanes or not and controlling the automobile to decelerate or change lanes to the adjacent lanes according to the lane change track.
Further, the state information of the vehicle running in front of the same lane comprises whether a brake lamp of the vehicle running in front of the same lane is on or not and the distance between the vehicle running in front of the same lane and the automobile.
Further, the information of the vehicles running behind the same lane andthe information of vehicles running in adjacent lanes comprises a first distance between the vehicles and the rear of the same laneS1 whether there is a running vehicle in the range of 1, and the second distance in front of the adjacent lanesS2 whether there is a running vehicle in the range, and a third distance behind the adjacent laneS3 whether there is a running vehicle in the range.
The invention also provides an automobile high-speed working condition anti-collision rear-end collision method based on the device, which comprises the following steps:
1) when the automobile runs at a high speed, a first detection module detects the state information of the running vehicles in front of the same lane, and a second detection module detects the information of the running vehicles behind the same lane and the information of the running vehicles in the adjacent lane;
2) when the first detection module detects that the vehicle running in front of the same lane brakes suddenly, the vehicle decelerates and keeps a set safe distance with the vehicle in front of the same lane, and when the vehicle speed is reduced to a set lower limit value, the vehicle runs according to the following method: when the second detection module detects that no vehicle runs behind the same lane, the automatic driving module controls the vehicle to continue normal deceleration and keep a safe distance with the vehicle running in front of the same lane; when the second detection module detects that the driving vehicle exists behind the same lane and no driving vehicle exists in front of the adjacent lane and behind the adjacent lane, the path planning module plans a lane changing track, and the automatic driving module controls the vehicle to drive according to the lane changing track and change lanes to the adjacent lane.
Further, in the step 1), the first detecting module detects the state information of the vehicle running in front of the same lane, including detecting whether a brake lamp of the vehicle running in front of the same lane is on, and detecting the distance between the vehicle running in front of the same lane and the automobile; the second detection module detects information of vehicles driving behind the same lane and vehicles driving in adjacent lanes, including detecting a first distance behind the same lane of the vehicleS1 whether there is a running vehicle within the range, detecting a second distance in front of the adjacent laneS2 whether there is a running vehicle within the range, and detecting a third distance behind the adjacent laneS3 whether there is a running vehicle in the range.
Further, in the step 2), the driving is performed specifically as follows:
a) the second detection module detects a first distance behind the same laneSWhen no vehicle runs within the range of 1, the automatic driving module controls the automobile to continue normal deceleration and keep the set safe distance with the vehicle running in front of the same laneS0；
b) The second detection module detects a first distance behind the same laneS1 range with running vehicles and second distance in front of adjacent lanesS2 and a third distance behind the adjacent laneS3 when no vehicle runs in the range, the path planning module plans a lane changing track, and the automatic driving module controls the vehicle to run according to the lane changing track and change lanes to adjacent lanes;
c) the second detection module detects a first distance behind the same laneS1 range with running vehicles and second distance in front of adjacent lanesS2 and a third distance behind the adjacent laneSWhen the running vehicle exists in the range of 3, the automatic driving module controls the automobile to continue normal deceleration and keeps the set safe distance with the running vehicle in front of the same laneS0, no lane change operation is performed.
Compared with the prior art, the invention has the following beneficial effects: the device and the method control the automobile to decelerate and keep a safe distance when detecting that the automobile decelerates in front of the same lane under the high-speed working condition, and control the automobile to change the lane according to a lane changing track when the automobile is behind the same lane and the adjacent lane has no automobile, thereby avoiding rear-end collision accidents of the automobile behind the same lane when the automobile decelerates and improving the driving safety under the high-speed working condition.
Drawings
Fig. 1 is a schematic view of an application scenario of an embodiment of the present invention.
Fig. 2 is a flow chart of a method implementation of an embodiment of the invention. .
Fig. 3 is a schematic diagram of a lane change trajectory plan of an automobile in an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Fig. 1 is a schematic view of an application scenario of an embodiment of the present invention. As shown in fig. 1, it mainly includes the following scenarios.
Scene one: front safety distance of automobile on the same laneS0 with running vehicle in, a first distance behindS1 no running vehicle. When the automobile runs within the range of 100-120km/h, the safe distance between the automobile and the vehicle running in front of the same lane is determined according to the intersection ruleS0 minimum value of 100m, a safe distance considering a maximum driving speed of 120km/hS0 is taken to be 120 m.
Scene two: front safety distance of automobile on the same laneS0 with running vehicle in, a first distance behindS1, running vehicles exist in the lane, and no running vehicles exist in the range of the adjacent lanes. First distanceS1 is the distance between the automobile and the vehicle running behind the same lane, and the first distance is determined according to the intersection ruleS1 is a minimum of 100 m. Adjacent lane range refers to the distance between the vehicle and the vehicle in front of the adjacent laneS2 and the rear distance of the adjacent laneS3, in order to avoid collision with the adjacent lane vehicles in the lane changing process of the automobile, a safe distance needs to be kept between the automobile and the adjacent lane vehicles before lane changingS2 keeping a safe distance with the rear vehicle of the adjacent laneS3。
Scene three: front safety distance of automobile on the same laneS0 with running vehicle in, a first distance behindS1, a running vehicle is arranged in the vehicle body, and a running lane is arranged in the range of an adjacent lane.
In order to realize the automobile running control under the above scene, the invention provides an anti-collision rear-end collision device under the high-speed working condition of an automobile, which comprises: the automatic driving system comprises a first detection module, a second detection module, a path planning module and an automatic driving module.
The first detection module is used for detecting the state information of the vehicle running in front of the same lane when the automobile runs at a high speed. The first detection module comprises an image acquisition device and a radar device which are arranged on the front portion of an automobile, the first detection module detects the state information of the vehicle running in the front of the same lane, and comprises the steps of detecting whether a brake lamp of the vehicle running in the front of the same lane is turned on through the image acquisition device, and detecting the distance between the vehicle running in the front of the same lane and the automobile through the radar device.
The second detection module is used for detecting the information of the vehicles running behind the same lane and the information of the vehicles running in the adjacent lanes when the automobile runs at a high speed. The second detection module comprises radar devices arranged at the rear part and the side parts of the automobile, the second detection module detects the information of the vehicles running behind the same lane and the information of the vehicles running in the adjacent lanes, and the first distance of the automobile behind the same lane is detected by the radar devicesS1 whether there is a running vehicle within the range, detecting a second distance in front of the adjacent laneS2 whether there is a running vehicle within the range, and detecting a third distance behind the adjacent laneS3 whether there is a running vehicle in the range.
The path planning module is used for planning a lane change track.
The automatic driving module is used for judging whether to change lanes or not and controlling the automobile to decelerate or change lanes to the adjacent lanes according to the lane changing track. And the automatic driving module is electrically connected with the brake controller, the steering controller and the throttle controller so as to control the automobile to run.
The invention also provides an automobile high-speed working condition anti-collision rear-end collision method based on the device, which comprises the following steps as shown in figure 2:
1) when the automobile runs at a high speed, a first detection module detects the state information of the running vehicles in front of the same lane, and a second detection module detects the information of the running vehicles behind the same lane and the information of the running vehicles in the adjacent lane;
2) when the first detection module detects that the vehicle running in front of the same lane brakes suddenly and the distance between the vehicle and the first detection module is reduced, the automatic driving module controls the vehicle to decelerate and keep the set safe distance with the vehicle running in front of the same laneS0 or more. And detecting whether the speed is less than 60km/h or not in the process of decelerating the automobile, if not, continuing to drive according to the original lane and keeping a safe distance with the vehicle in front of the same lane.
When the vehicle speed is reduced to a set lower limit value (the minimum driving speed on the expressway is 60km/h, the lower limit value is set to be 60km/h in the embodiment), the vehicle is driven as follows: when the second detection module detects that no vehicle runs behind the same lane, the automatic driving module controls the vehicle to continue normal deceleration and keep a safe distance with the vehicle running in front of the same lane; when the second detection module detects that the driving vehicle exists behind the same lane and no driving vehicle exists in front of the adjacent lane and behind the adjacent lane, the path planning module plans a lane changing track, and the automatic driving module controls the vehicle to drive according to the lane changing track and change lanes to the adjacent lane. The method specifically comprises the following steps:
a) the second detection module detects a first distance behind the same laneSWhen no vehicle runs within the range of 1, the automatic driving module controls the automobile to continue normal deceleration and keep the set safe distance with the vehicle running in front of the same laneS0；
b) The second detection module detects a first distance behind the same laneS1 range with running vehicles and second distance in front of adjacent lanesS2 and a third distance behind the adjacent laneS3 when no vehicle runs in the range, the path planning module plans a lane changing track, and the automatic driving module controls the vehicle to run according to the lane changing track and change lanes to adjacent lanes;
c) the second detection module detects a first distance behind the same laneS1 range with running vehicles and second distance in front of adjacent lanesS2 and a third distance behind the adjacent laneSWhen the running vehicle exists in the range of 3, the automatic driving module controls the automobile to continue normal deceleration and keeps the set safe distance with the running vehicle in front of the same laneS0, no lane change operation is performed.
Determination of safe distance
In the process of changing the lane of the automobile, the speed is kept at 60km/h, the running speed of the automobile in front of the adjacent lane can be more than 60km/h, the width and the length of the automobile are not considered, and the minimum safe distance without collision in the process of changing the lane is ensuredS2 is as follows:
S2 is greater than zero, but considering that the vehicles in front of the adjacent lane may have deceleration and the like during the lane change,S2 adding the automobile to the distance of automobile lane changeDistance traveled during vehicle deceleration:
safe distance between automobile and rear automobile of adjacent laneS3, the distance of the automobile during lane change plus the distance of the automobile during the braking and deceleration process after the automobile observing the automobile after the adjacent lane changes appears in front of the automobile:
in the formula (I), the compound is shown in the specification,v A in order to be the speed of the vehicle,v Rl the speed of the vehicle behind the adjacent lane is the speed of the vehicle,v Fl the speed of the vehicle in front of the adjacent lane,tin order to change the track time, the track is changed,μthe coefficient of friction between the car and the ground,gin order to be the acceleration of the gravity,Sthe longitudinal distance of the automobile during lane change.
Fig. 3 is a planning path diagram of the lane change trajectory of the vehicle according to the embodiment of the invention. Fig. 3 is a track diagram of the vehicle during the lane change process, which is obtained through path planning, and the vehicle travels according to the track in the diagram, taking the current position of the vehicle as the origin of coordinates. In the lane changing process, the automobile always keeps a driving speed of 60km/h, the lane width is 3.75m, the total lane changing longitudinal distance is 120m, a cosine lane changing model is selected for lane changing, the mass center of the automobile at the starting moment of planning is taken as the origin of coordinates, and a lane changing model track function is as follows:
in the formula (I), the compound is shown in the specification,hthe width of the lane is set as the width of the lane,Lfor longitudinal displacement during lane change.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (6)
1. The utility model provides a device that knocks into back is prevented to high-speed operating mode of car which characterized in that includes:
the first detection module is used for detecting the state information of a vehicle running in front of the same lane when the automobile runs at a high speed;
the second detection module is used for detecting the information of the vehicles running behind the same lane and the information of the vehicles running in the adjacent lanes when the automobile runs at a high speed;
the path planning module is used for planning a lane change track; and
and the automatic driving module is used for judging whether to change lanes or not and controlling the automobile to decelerate or change lanes to the adjacent lanes according to the lane change track.
2. The device according to claim 1, wherein the state information of the vehicle running ahead of the same lane comprises whether a brake lamp of the vehicle running ahead of the same lane is on or not and the distance between the vehicle running ahead of the same lane and the vehicle.
3. The device according to claim 1, wherein the information of vehicles traveling behind the same lane and the information of vehicles traveling in adjacent lanes comprise a first distance between the vehicles traveling behind the same laneS1 whether there is a running vehicle in the range of 1, and the second distance in front of the adjacent lanesS2 whether there is a running vehicle in the range, and a third distance behind the adjacent laneS3 whether there is a running vehicle in the range.
4. An automobile high-speed working condition collision-prevention rear-end collision-prevention method based on the device of any one of claims 1-3, which is characterized by comprising the following steps:
1) when the automobile runs at a high speed, a first detection module detects the state information of the running vehicles in front of the same lane, and a second detection module detects the information of the running vehicles behind the same lane and the information of the running vehicles in the adjacent lane;
2) when the first detection module detects that the vehicle running in front of the same lane brakes suddenly, the vehicle decelerates and keeps a set safe distance with the vehicle in front of the same lane, and when the vehicle speed is reduced to a set lower limit value, the vehicle runs according to the following method: when the second detection module detects that no vehicle runs behind the same lane, the automatic driving module controls the vehicle to continue normal deceleration and keep a safe distance with the vehicle running in front of the same lane; when the second detection module detects that the driving vehicle exists behind the same lane and no driving vehicle exists in front of the adjacent lane and behind the adjacent lane, the path planning module plans a lane changing track, and the automatic driving module controls the vehicle to drive according to the lane changing track and change lanes to the adjacent lane.
5. The method according to claim 4, wherein in the step 1), the first detection module detects the state information of the vehicle running in front of the same lane, including whether a brake lamp of the vehicle running in front of the same lane is on or not and the distance between the vehicle running in front of the same lane and the vehicle; the second detection module detects information of vehicles driving behind the same lane and vehicles driving in adjacent lanes, including detecting a first distance behind the same lane of the vehicleS1 whether there is a running vehicle within the range, detecting a second distance in front of the adjacent laneS2 whether there is a running vehicle within the range, and detecting a third distance behind the adjacent laneS3 whether there is a running vehicle in the range.
6. The anti-collision rear-end collision method for the automobile under the high-speed working condition according to claim 5, wherein in the step 2), the automobile is driven according to the following method:
a) the second detection module detects a first distance behind the same laneSWhen no vehicle runs within the range of 1, the automatic driving module controls the automobile to continue normal deceleration and keep the set safe distance with the vehicle running in front of the same laneS0；
b) The second detection module detects a first distance behind the same laneS1 range with running vehicles and second distance in front of adjacent lanesS2 and a third distance behind the adjacent laneSWhen no vehicle runs within the range of 3, the path planning module plans a lane change trackThe driving module controls the automobile to run according to the lane changing track and change lanes to the adjacent lanes;
c) the second detection module detects a first distance behind the same laneS1 range with running vehicles and second distance in front of adjacent lanesS2 and a third distance behind the adjacent laneSWhen the running vehicle exists in the range of 3, the automatic driving module controls the automobile to continue normal deceleration and keeps the set safe distance with the running vehicle in front of the same laneS0, no lane change operation is performed.
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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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| CN115071695A (en) * | 2022-05-17 | 2022-09-20 | 岚图汽车科技有限公司 | Automatic emergency braking control method and system for vehicle |
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