CN111038502A - Safe vehicle distance pre-estimation, correction, early warning and driving qualification evaluation method and system - Google Patents

Safe vehicle distance pre-estimation, correction, early warning and driving qualification evaluation method and system Download PDF

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CN111038502A
CN111038502A CN201911300802.3A CN201911300802A CN111038502A CN 111038502 A CN111038502 A CN 111038502A CN 201911300802 A CN201911300802 A CN 201911300802A CN 111038502 A CN111038502 A CN 111038502A
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vehicle
distance
driving
safe
time
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赵志芳
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Nanjing College of Information Technology
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Nanjing College of Information Technology
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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
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

Abstract

The invention discloses a safe vehicle distance estimation, correction, early warning and driving qualification evaluation method and system, which relate to the technical field of vehicle safety.

Description

Safe vehicle distance pre-estimation, correction, early warning and driving qualification evaluation method and system
Technical Field
The invention relates to the technical field of vehicle safety, in particular to a method and a system for estimating, correcting, early warning and evaluating driving quality of a safe vehicle distance.
Background
In recent years, traffic accidents are increasing continuously, rear-end collisions on expressways account for more than 75% of the collision accidents during holidays in particular, estimation and judgment of vehicle speed and inter-vehicle distance are the most direct and effective methods for preventing the rear-end collisions, and at present, automatic braking systems of many high-grade vehicles can make judgment, early warning, driving intervention and the like in advance, and intervene driving behaviors according to flexible safe inter-vehicle distances, so that research on establishment of flexible safe inter-vehicle distance models has wide application value.
Disclosure of Invention
The invention aims to provide a safe vehicle distance estimation, correction, early warning and driving qualification evaluation method and system, which improve the distance estimation precision and the anti-collision probability, have wide application value and have simple and practical structure.
The technical purpose of the invention is realized by the following technical scheme:
the invention provides a safe vehicle distance pre-estimating method, which comprises the following steps:
dividing the braking process of driving a vehicle into three time stages of driver reaction time, braking coordination time and continuous braking time;
acquiring time and speed respectively corresponding to two time stages of driver reaction time and brake coordination time, and calculating corresponding running distance according to the time and the speed;
acquiring the speed and the acceleration corresponding to the continuous braking time stage, and calculating the corresponding running distance according to the speed and the acceleration;
and establishing a flexible safe distance model for the driving distance in the parking process of the front vehicle according to the driving distance corresponding to the response time, the braking coordination time and the continuous braking time of the driver and the safe distance between the driving vehicle and the front vehicle when the driving vehicle and the front vehicle are static to estimate the safe vehicle distance, so as to obtain an estimated result.
Preferably, the driving distance during the driver reaction time period is calculated using formula (1):
S1＝v1t1
(1)
in the formula: v. of1Representing a running speed of the vehicle; t is t1Representing driver reaction time;
calculating the travel distance in the brake coordination time phase by adopting a formula (2):
S2＝v1t2
(2)
in the formula: v. of1Representing a running speed of the vehicle; t is t2Indicating a brake coordination time;
calculating the driving distance in the continuous braking time period by adopting the formula (3):
Figure BDA0002321725460000021
in the formula: v. of1Representing a running speed of the vehicle; a is1Indicating the maximum braking acceleration.
Preferably, the front vehicle comprises two driving conditions of limit parking and normal driving parking;
for the limit stop condition of the front vehicle, the distance traveled by the front vehicle is S4＝0；
For the normal running and parking conditions of the front vehicle, calculating the normal running and parking distance of the front vehicle by adopting a formula (4):
Figure BDA0002321725460000022
in the formula: v. of2Representing the running speed of the front vehicle; a is2Indicating the maximum braking acceleration.
Preferably, a flexible safe distance model of the driving vehicle and the front vehicle is established by adopting the formula (5):
Figure BDA0002321725460000031
in the formula: s represents a flexible safety distance; Δ S represents a safe distance when the driving vehicle is stationary from the preceding vehicle.
The invention also provides a safe vehicle distance correction method based on the safe vehicle distance estimation method, which comprises the following steps:
counting the speed data of the front vehicle and obtaining the average speed of the front vehicle;
according to the running speed of the driving vehicle and the total continuous high-speed driving time, counting the sum of interval time intervals when the difference value between the running speed of the driving vehicle exceeding a set value and the average speed of a front vehicle is less than or equal to the set value, and obtaining a safe driving stability coefficient;
and recalculating the corrected reaction time and braking acceleration of the driver according to the safe driving stability coefficient, and substituting the formula (5) into the calculation result to establish the corrected flexible safe distance.
Preferably, the safe driving stability factor is calculated using equation (6):
M＝t0/t (6)
in the formula: t is t0The sum of interval time intervals which represent that the difference between the running speed of the driving vehicle exceeding the set value and the average speed of the front vehicle is less than or equal to the set value; t represents the total time for continuing the high-speed driving;
calculating the driver reaction time using equation (7):
Figure BDA0002321725460000032
calculating the braking acceleration using equation (8):
Figure BDA0002321725460000041
establishing a corrected flexible safety distance using equation (9):
Figure BDA0002321725460000042
the invention also provides a safety distance early warning method based on the safety distance correction method, which comprises the following steps:
if T0-t0|2If the value is more than epsilon, prompting to ask a service area to rest and eliminating fatigue driving;
if | Dj-Sj|2If the distance is more than epsilon, the distance is S meters from the front vehicle, and the safe vehicle distance is noticed;
if | V1j-V2j|≤|v1j-v2jI, prompting to pay attention to deceleration;
in the formula: t is0Representing the actual time node of the first obvious change of the value of the safe driving stability coefficient M; ε represents a predetermined error value; djRepresenting the actual detected distance at the j-th moment; sjRepresenting the empirical flexible safety distance at the j-th moment;
Figure BDA0002321725460000043
representing the safe following speed at the j-th moment;
Figure BDA0002321725460000044
indicating the actual detected forward vehicle speed at time j.
Preferably, the empirical flexible safety distance is calculated by adopting a formula (10);
Figure BDA0002321725460000045
in the formula: n represents the number of detection days; sijThe flexible safety distance of the vehicle on the same lane in high-speed running at the ith moment is represented;
calculating the empirical front-rear vehicle distance by adopting a formula (11);
Figure BDA0002321725460000051
in the formula: n represents the number of detection days; dijRepresenting the distance between the front and the rear vehicles of the same lane in high-speed running at the jth moment on the ith day;
calculating an empirical safe driving stability coefficient by adopting a formula (12);
Figure BDA0002321725460000052
in the formula: n represents the number of detection days; mijRepresenting a continuous high-speed safe driving stability coefficient;
calculating an empirical time node of the first obvious change of the safe driving stability coefficient by adopting a formula (13);
Figure BDA0002321725460000053
in the formula: n represents the number of detection days;
Figure BDA0002321725460000054
represents the safety and stability coefficient M in the driving process of the ith dayijThe first occurrence of a significant decreaseThe time node of (2);
calculating the empirical vehicle speed of the previous vehicle at the jth moment by adopting a formula (14);
Figure BDA0002321725460000055
in the formula:
Figure BDA0002321725460000056
and represents the speed of the vehicle ahead of the same lane in high-speed running at the time of j on the ith day.
Calculating the safe following speed of the preceding vehicle at the jth moment by adopting a formula (15);
Figure BDA0002321725460000061
wherein
Figure BDA0002321725460000063
The invention also provides a driving qualification evaluation method based on the safe inter-vehicle distance early warning method, which comprises the following steps:
carrying out statistics on N days of experimental data of each driver to find out the time t of each driver along with the continuous drivingjExperience time node t for changing first obvious change of experience safe driving stability coefficient M value0Using the value of the safe driving stability coefficient M and the time node t0Classifying drivers;
M＝1，t0240, excellent qualification;
M＝1，120≤t0less than 240, excellent quality;
M＜1，60≤t0less than 120, good quality;
M＜1，30≤t0less than 60, the qualification is qualified;
M＜1，0＜t0less than 30, the qualification is unqualified.
The invention has the following beneficial effects:
according to the safe vehicle distance estimation, correction, early warning and driving qualification evaluation method and system, the vehicle running speed, the front vehicle speed and the front vehicle distance are measured according to the vehicle-mounted radar under the continuous high-speed driving state, the difference and the adaptability of the driving technology and experience of a driver, the running road surface, the vehicle dynamic characteristics, the braking performance and the like are integrated, the occurrence of rear-end accidents is prevented most directly and effectively, the flexible safe vehicle distance estimation and correction method is more reasonable in estimation result compared with the prior art, the estimated safe vehicle distance can be prevented from being too large or too small, the system distance estimation accuracy and the anti-collision probability are improved, the application value is wide, and the structure is simple and practical.
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Fig. 1 is a block diagram of a method and a system for estimating, correcting, early warning and evaluating driving quality of a safe vehicle distance according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the invention discloses a system for estimating, correcting, early warning and evaluating driving quality of a safe vehicle distance, which comprises:
the storage module 1 is used for storing the reaction stage, the brake coordination, the duration of the brake, the brake deceleration of the vehicle, the brake deceleration of the front vehicle and the minimum safe distance which is required to be kept when the two vehicles are still set by the driver in advance.
And the calculating module 2 is used for calculating and obtaining the estimated safe distance based on the reaction stage, the brake coordination, the continuous brake time, the vehicle brake deceleration, the front vehicle brake deceleration and the minimum safe distance which is required to be kept when the two vehicles are static, which are set by the driver, stored in the storage module 1 in advance, and the vehicle speed and the front vehicle speed which are detected and obtained by the detecting module 5.
The correction module 3 corrects and predicts the safe vehicle distance based on the safe driving stability coefficient value, the judgment characteristic value and the operation characteristic value which are endowed by the driving qualification evaluation module 6 and the vehicle type and the driving road type which are obtained by the judgment module 4; or the estimated safe distance is corrected based on the vehicle type, the driving road type and the driving behavior type obtained by the judging module 4.
And the judging module 4 is used for judging the driving behavior type of the driver based on the safe driving stability coefficient value, the judging characteristic value and the operating characteristic value which are obtained by the driving qualification evaluation module 6.
The detection module 5 is used for detecting a sensor of the vehicle speed and a vehicle-mounted millimeter wave radar for detecting the vehicle speed, the front vehicle speed and the vehicle distance.
And the driving qualification evaluation module 6 is used for testing the normal physiological condition reaction condition, the safe driving stability coefficient, the judgment characteristic and the operation characteristic of the driver under the simulation setting of the road condition, the vehicle condition and the vehicle state, and endowing the corresponding safe driving stability coefficient value, the judgment characteristic value and the operation characteristic value.
The safe driving stability coefficient represents the characteristics of distance perception and speed perception of a driver, and the expression symbol is M; judging characteristics, namely judging time and response time characteristics of a driver on braking; the operation characteristics are the characteristics of the driving track, the operation correct and error times and the driving speed of the driver.
Vehicle types include small-sized cars, medium-sized buses, and large trucks; the road types comprise expressways, ordinary roads and urban roads; the high-speed driving state includes driving on a highway, an expressway, or the like; the types of driving behavior include aggressive, regular, and steady.
The invention discloses a safe vehicle distance pre-estimating method, which comprises the following steps:
according to vehicle brake dynamics, dividing a braking process of driving a vehicle into three time stages of driver reaction time, brake coordination time and continuous brake time;
acquiring time and speed respectively corresponding to two time stages of driver reaction time and brake coordination time, and calculating corresponding running distance according to the time and the speed;
acquiring the speed and the acceleration corresponding to the continuous braking time stage, and calculating the corresponding running distance according to the speed and the acceleration;
and establishing a flexible safe distance model for the driving distance in the parking process of the front vehicle according to the driving distance corresponding to the response time, the braking coordination time and the continuous braking time of the driver and the safe distance between the driving vehicle and the front vehicle when the driving vehicle and the front vehicle are static to estimate the safe vehicle distance, so as to obtain an estimated result.
Driver reaction time: the time at which the driver finds the obstacle and makes the decision. Let the driver reaction time be t1The running speed of the vehicle is v1Then its driving distance is S1＝v1t1The reaction time of the driver is generally between 0.4 and 1.0 s.
Braking coordination time: including the time required to eliminate brake pedal lash and the time required to eliminate various hinges, bearing lash, and brake pads fully bearing against the brake drum or disc. Let the brake coordination time be t2Then its driving distance is S2＝v1t2Research shows that the brake coordination time of 99% of vehicles is 0.2 s-0.9 s.
Duration of braking: from an initial velocity v of the vehicle1The time for making uniform deceleration movement until the final speed is zero. The initial velocity of the vehicle at this stage is v1The final speed is zero, and the maximum braking acceleration is a1Then the driving distance is
Figure BDA0002321725460000091
a1Generally 6m/s2(ii) a For the front car, we consider two cases: limit stop and normal running, wherein in the case of limit stop (without considering continuous braking), the distance traveled by the front vehicle is S40; for the normal running condition of the front vehicle, the initial speed of the front vehicle is set as v2The maximum braking acceleration of the uniform deceleration movement is set as a2When the final speed is zero, the distance traveled is
Figure BDA0002321725460000092
a2Generally 6m/s2。
Assuming that the safe distance between two vehicles is Delta S when the two vehicles are static, the first flexible safe distance model is
Figure BDA0002321725460000093
According to the flexible safety distance model I, the general static safety distance is 2-5 m. The speed of the vehicle is a motion parameter of the vehicle, and in actual operation, the brake coordination time t2Typically 0.2s, a1、a2Typically 6m/s2Speed of vehicle>80km/h, driver reaction time t1The set range is generally 0.4-1.0 s, and under the condition that the physiological condition of the driver is normal under the age of 55 years, the driver has abundant physical strength, vigorous energy, strong visual perception capability, more concentrated attention and more stable driving skill1Generally taking 0.4s as an estimation base number (hereinafter referred to as an estimation base number) of the reaction time of the driver; typical age over 55 years, female, novice, driver with weak eyesight or mental fitness, t1The value can be taken as an estimation base number within 0.4-1.0 s according to the self physiological and technical quality; under the condition of continuous or critical fatigue driving, the reaction time exceeds 0.4-1.0 s, so rear-end collision accidents are easily caused, the high-speed safe vehicle distance cannot be estimated according to the maximum braking acceleration of the vehicle, otherwise, rear-end collision easily occurs, but the estimation cannot be simply carried out according to the braking acceleration adapting to the comfort degree of a human body, otherwise, the estimation of the safe vehicle distance is overlarge, and therefore, a large error exists when the safe vehicle distance is estimated by directly using a flexible safe distance model.
The invention discloses a safety vehicle distance correction method, which comprises the following steps:
flexible safety vehicle distance model for continuous high-speed driving: based on the analysis, the influence of the vehicle speed, the speed difference between the front vehicle and the rear vehicle and the continuous driving time on the braking reaction time and the braking acceleration is mainly considered, and the first flexible safety distance model is corrected. To more clearly express the influence of these two factors on the safe vehicle distance, we introduce a safe driving stability coefficient, denoted by M,
Figure BDA0002321725460000101
wherein t is3Indicating vehicle speed (over 80km/h) and front vehicle flatThe sum of interval time periods with the average speed difference value less than or equal to 10km/h, t represents the total time of continuous high-speed driving, and the flexible safety distance model of the continuous high-speed driving is
Figure BDA0002321725460000102
Wherein
Figure BDA0002321725460000103
The key of the flexible safety distance model II is the estimation of an M value; taking the first trip data of a driver on the same day as experimental data (generally selecting the weather of eight-twelve am except rain, snow and fog), repeatedly detecting and counting the speed data of the front vehicle by using a vehicle-mounted millimeter wave radar at high frequency to obtain the average speed of the front vehicle, namely the maximum speed limit of a road, detecting the speed of the self vehicle and the continuous high-speed driving time by using the vehicle-mounted millimeter wave radar, and counting the sum of the interval time intervals when the difference between the speed (over 80km/h) and the average speed of the front vehicle is less than or equal to 10km/h to obtain M, wherein the safe driving stability coefficient is highest when the driver firstly trips into a highway toll station on the same day under the condition that the influence of the continuous driving time on the normal performance of the driver skill is ignored, namely M is 1; as the continuous high-speed driving time is prolonged, an error occurs in speed judgment, the safe driving stability coefficient is reduced, namely, M is less than 1, the reaction time of a driver is increased, the braking acceleration is reduced, namely, the safe vehicle distance required to be reserved is increased, therefore, when a high-speed starting time period is obtained (M is 1,
Figure BDA0002321725460000111
(t＝t0，t0less than or equal to 30-60 min) flexible safety distance model III
Figure BDA0002321725460000112
When t > t0When M is less than 1, the ratio of M,
Figure BDA0002321725460000113
the flexible safe distance model IV of the time is
Figure BDA0002321725460000114
Application of the model: the flexible safe distance model two, three and four formulas are stored in the calculation module 2 and the correction module 3, and the front millimeter wave radar is installed on individual, classified insurance or group unit vehicles, so that the flexible safe distance model detects and records four state data (hereinafter referred to as experimental data) every minute every day: for example, a driver is detected for the first trip every day (beginning eight points, ending twelve points and no rain, snow and fog weather), the detection days are N days, detection is performed every minute every day, and the speed of the vehicle on the same lane in high-speed running at the jth moment of the ith day is
Figure BDA0002321725460000115
Front vehicle speed is
Figure BDA0002321725460000116
The distance between the front and rear wheels is DijAnd duration of driving tjAnd presetting the maximum braking acceleration values of the front and the rear vehicles according to the braking performance of the vehicles, and estimating the stability coefficient M of continuous high-speed safe driving by using a flexible safe distance model three and four formulasijFlexible safety distance between vehicles
Figure BDA0002321725460000117
Sij(i-1, 2, …, N, j-1, 2, …, 240). Counting the safety and stability coefficient M of the driver in the driving process of the ith dayijTime node with obvious decline occurring for the first time
Figure BDA0002321725460000118
Respectively summing and averaging the safe driving stability coefficient, the front-rear vehicle distance and the flexible safe vehicle distance of the driver at the jth moment in N days
Figure BDA0002321725460000119
For the empirically safe driving stability factor at the driver's time j,
Figure BDA00023217254600001110
the distance between the driver and the vehicle before and after the experience of the driver at the jth moment,
Figure BDA00023217254600001111
for the experienced flexible safety headway at the jth moment of the driver,
Figure BDA00023217254600001112
the empirical time node for which the safe driving stability coefficient of the driver changes significantly for the first time,
Figure BDA0002321725460000121
the vehicle speed is the empirical vehicle speed of the front vehicle at the j-th time.
The invention also provides a driving qualification evaluation method, which comprises the following steps:
the classified insurance and group unit regularly counts the N-day experimental data of each driver, and finds out the duration t of each driver along with the continuous driving timejExperience time node t for changing first obvious change of experience safe driving stability coefficient M value0Using the magnitude of the value of M and the time node t0Classifying the driver:
M＝1，t0240, such drivers excel in qualification; m is 1, and t is more than or equal to 1200< 240, such drivers are of good quality; m is less than 1, t is more than or equal to 600< 120, such drivers are well qualified; m is less than 1, t is more than or equal to 300Less than 60, the qualification of the drivers is qualified; m is less than 1, 0 is less than t0Less than 30, such drivers are unqualified; the reason analysis of physiology, health, spirit, skill and the like can be carried out on the driver group with unqualified qualification, and the reminding of the fatigue driving and the physical health condition of the driver can be prevented in time.
Considering that the state of a driver is relatively stable at the beginning stage of high-speed driving and rear-end accidents generally do not occur, the following four formulas of the flexible safe distance model are mainly used for estimating the safe distance.
The invention also provides a safety distance early warning method, which comprises the following steps:
time node deviation early warning: the actual time node when the safe driving stability coefficient M value of the driver is obviously changed for the first time during the trip of the driver is assumed to be T0We can pass its absolute error value | T from the empirical time node0-t0|2And judging the deviation degree of the driver according to the deviation degree of the driver, wherein epsilon is a preset error value, and the value is generally less than 1. When the absolute error value is larger than the given epsilon, after the high-speed driving is continuously carried out and the time node is entered, voice prompt is carried out at intervals: "please go to the service area for rest and eliminate fatigue driving! ".
And (4) safety distance deviation early warning: suppose that the actual detection distance of the driver at the j th time of the trip of the day is DjWe can use its absolute error value | D from the empirical flexible safe vehicle distance at time jj-Sj|2And judging the deviation degree of the driver according to the deviation degree of the driver, wherein epsilon is a preset error value, and the value is generally less than 1. When the absolute error value is larger than the given epsilon, the driver is reminded by voice in time. "distance S meters from the front vehicle, attention to safe distance! ".
And (3) speed difference early warning: the empirical safe driving stability coefficient M of the driver at the j time is calculatedjExperienced front vehicle speed
Figure BDA0002321725460000131
And empirical front and rear vehicle distance DjIs substituted into the formula
Figure BDA0002321725460000132
Wherein
Figure BDA0002321725460000133
Figure BDA0002321725460000134
Obtained at this time
Figure BDA0002321725460000135
The safe following speed of the driver at the jth moment is obtained; at the same front speed
Figure BDA0002321725460000136
Under the condition of (1), the actual detected front vehicle speed of the driver at the j th time of the day trip is assumed to be
Figure BDA0002321725460000137
We can follow the speed difference of the car
Figure BDA0002321725460000138
Timely voice reminding driver of' paying attention to deceleration! ".
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A safe vehicle distance estimation method is characterized by comprising the following steps:
dividing the braking process of driving a vehicle into three time stages of driver reaction time, braking coordination time and continuous braking time;
acquiring time and speed respectively corresponding to two time stages of driver reaction time and brake coordination time, and calculating corresponding running distance according to the time and the speed;
acquiring the speed and the acceleration corresponding to the continuous braking time stage, and calculating the corresponding running distance according to the speed and the acceleration;
and establishing a flexible safe distance model for the driving distance in the parking process of the front vehicle according to the driving distance corresponding to the response time, the braking coordination time and the continuous braking time of the driver and the safe distance between the driving vehicle and the front vehicle when the driving vehicle and the front vehicle are static to estimate the safe vehicle distance, so as to obtain an estimated result.
2. A safe distance estimation method according to claim 1, wherein the driving distance in the reaction time period of the driver is calculated by formula (1):
S1＝v1t1(1)
calculating the travel distance in the brake coordination time phase by adopting a formula (2):
S2＝v1t2(2)
calculating the driving distance in the continuous braking time period by adopting the formula (3):
Figure FDA0002321725450000011
in the formula: v. of1Representing a running speed of the vehicle; t is t1Representing driver reaction time; t is t2Indicating a brake coordination time; a is1Indicating the maximum braking acceleration.
3. A safe vehicle distance estimation method according to claim 2, wherein the front vehicle comprises two driving conditions of limit stop and normal driving stop;
for the limit stop condition of the front vehicle, the distance traveled by the front vehicle is S4＝0；
For the normal running and parking conditions of the front vehicle, calculating the normal running and parking distance of the front vehicle by adopting a formula (4):
Figure FDA0002321725450000021
in the formula: v. of2Representing the running speed of the front vehicle; a is2Indicating the maximum braking acceleration.
4. A safe distance estimation method according to claim 3, wherein the flexible safe distance model of the driving vehicle and the front vehicle is established by formula (5):
Figure FDA0002321725450000022
in the formula: s represents a flexible safety distance; Δ S represents a safe distance when the driving vehicle is stationary from the preceding vehicle.
5. A safe distance correction method based on the safe distance estimation method of claim 4, characterized by comprising the following steps:
counting the speed data of the front vehicle and obtaining the average speed of the front vehicle;
according to the running speed of the driving vehicle and the total continuous high-speed driving time, counting the sum of interval time intervals when the difference value between the running speed of the driving vehicle exceeding a set value and the average speed of a front vehicle is less than or equal to the set value, and obtaining a safe driving stability coefficient;
and recalculating the corrected reaction time and braking acceleration of the driver according to the safe driving stability coefficient, and substituting the formula (5) into the calculation result to establish the corrected flexible safe distance.
6. The safety headway correction method according to claim 5,
calculating a safe driving stability coefficient by using the formula (6):
M＝t0/t(6)
in the formula: t is t0The sum of interval time intervals which represent that the difference between the running speed of the driving vehicle exceeding the set value and the average speed of the front vehicle is less than or equal to the set value; t represents the total time for continuing the high-speed driving;
calculating the driver reaction time using equation (7):
Figure FDA0002321725450000031
calculating the braking acceleration using equation (8):
Figure FDA0002321725450000032
and (3) calculating to obtain the corrected flexible safety distance by adopting a formula (9):
Figure FDA0002321725450000033
7. a safety headway early warning method based on the safety headway correction method according to claim 6, comprising the steps of:
if T0-t0|2If the value is more than epsilon, prompting to ask a service area to rest and eliminating fatigue driving;
if | Dj-Sj|2If the distance is more than epsilon, the distance is S meters from the front vehicle, and the safe vehicle distance is noticed;
if | V1j-V2j|2≤v1j-v2j|2Prompting to pay attention to deceleration;
in the formula: t is0Representing the actual time node of the first obvious change of the value of the safe driving stability coefficient M; ε represents a predetermined error value; djRepresenting the actual detected distance at the j-th moment; sjRepresenting the empirical flexible safety distance at the j-th moment;
Figure FDA0002321725450000034
representing the safe following speed at the j-th moment;
Figure FDA0002321725450000035
indicating the actual detected forward vehicle speed at time j.
8. A safety headway early warning method as claimed in claim 7,
calculating an empirical flexible safe vehicle distance by adopting a formula (10);
Figure FDA0002321725450000036
in the formula: n represents the number of detection days; sijThe flexible safety distance of the vehicle on the same lane in high-speed running at the ith moment is represented;
calculating the empirical front-rear vehicle distance by adopting a formula (11);
Figure FDA0002321725450000041
in the formula: n represents the number of detection days; dijRepresenting the distance between the front and the rear vehicles of the same lane in high-speed running at the jth moment on the ith day;
calculating an empirical safe driving stability coefficient by adopting a formula (12);
Figure FDA0002321725450000042
in the formula: n represents the number of detection days; mijRepresenting a continuous high-speed safe driving stability coefficient;
calculating an empirical time node of the first obvious change of the safe driving stability coefficient by adopting a formula (13);
Figure FDA0002321725450000043
in the formula: n represents the number of detection days;
Figure FDA0002321725450000044
represents the safety and stability coefficient M in the driving process of the ith dayijA time node where a significant drop occurs for the first time;
calculating the empirical vehicle speed of the previous vehicle at the jth moment by adopting a formula (14);
Figure FDA0002321725450000045
in the formula:
Figure FDA0002321725450000046
representing the front vehicle speed of the same lane in high-speed running at the jth moment on the ith day;
calculating the safe following speed of the preceding vehicle at the jth moment by adopting a formula (15);
Figure FDA0002321725450000051
wherein
Figure FDA0002321725450000052
9. A driving qualification evaluation method based on the safe inter-vehicle distance early warning method according to claim 8, comprising the steps of:
carrying out statistics on N days of experimental data of each driver to find out the time t of each driver along with the continuous drivingjExperience time node t for changing first obvious change of experience safe driving stability coefficient M value0Using the value of the safe driving stability coefficient M and the time node t0Classifying drivers;
M＝1，t0240, excellent qualification;
M＝1，120≤t0less than 240, excellent quality;
M＜1，60≤t0less than 120, good quality;
M＜1，30≤t0less than 60, the qualification is qualified;
M＜1，0＜t0less than 30, the qualification is unqualified.
10. A safe vehicle distance pre-estimation, correction, early warning and driving qualification evaluation system is characterized by comprising: the storage module is used for pre-storing a reaction stage, brake coordination, continuous brake time, vehicle brake deceleration, front vehicle brake deceleration and a minimum safety distance which is required to be kept when the two vehicles are static, wherein the reaction stage, the brake coordination and the continuous brake time are set by a driver;
the calculation module is used for calculating and obtaining the estimated safe distance of the vehicle based on the reaction stage, the brake coordination, the continuous brake time, the vehicle brake deceleration, the front vehicle brake deceleration and the minimum safe distance which is required to be kept when the two vehicles are static, which are set by the driver, and the vehicle speed and the front vehicle speed which are detected and obtained by the detection module;
the correction module corrects and predicts the safe vehicle distance based on the safe driving stability coefficient value, the judgment characteristic value and the operation characteristic value which are given by the driving qualification evaluation module, and the vehicle type and the driving road type which are obtained by the judgment module; or the estimated safe distance is corrected based on the vehicle type, the driving road type and the driving behavior type obtained by the judging module;
the judging module is used for judging the driving behavior type of the driver based on the safe driving stability coefficient value, the judging characteristic value and the operating characteristic value obtained by the driving qualification evaluation module;
the detection module is used for detecting a sensor of the vehicle speed and a vehicle-mounted millimeter wave radar for detecting the vehicle speed, the front vehicle speed and the vehicle distance;
and the driving qualification evaluation module is used for simulating water collecting and freezing roads under rainy and snowy weather under the set road conditions, vehicle conditions and vehicle states, testing the normal physiological condition reaction condition, the safe driving stability coefficient, the judgment characteristic and the operation characteristic of the driver, and endowing the corresponding safe driving stability coefficient value, the judgment characteristic value and the operation characteristic value.
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