CN111452788B - Rear-end collision prevention control method and device - Google Patents
Rear-end collision prevention control method and device Download PDFInfo
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- CN111452788B CN111452788B CN201910058938.1A CN201910058938A CN111452788B CN 111452788 B CN111452788 B CN 111452788B CN 201910058938 A CN201910058938 A CN 201910058938A CN 111452788 B CN111452788 B CN 111452788B
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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
- 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
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Abstract
The invention provides a control method and a device for preventing rear-end collision in a backward direction, wherein the method comprises the following steps: acquiring surrounding environment information of a vehicle, wherein the surrounding environment information at least comprises information of a front obstacle and information of a rear obstacle; if the rear obstacle is a preset risk obstacle, calculating a rear-end collision risk level according to the information of the rear obstacle; judging whether a front bufferable path exists according to the information of the front obstacle under the condition that the rear-end collision dangerous grade meets the preset grade condition and the rear-end collision prevention activating signal is acquired; if a front buffering path exists, judging whether the vehicle state information meets the preset forward movement condition; and if the vehicle state information meets the preset forward movement condition, executing preset active protection operation. The method disclosed by the invention can actively avoid the potential dangerous target behind the vehicle, so that the risk of rear-end collision of the vehicle is reduced.
Description
Technical Field
The invention relates to the technical field of active safety of vehicles, in particular to a backward rear-end collision prevention control method and device.
Background
With the improvement of the average conservation amount of automobiles, road traffic accidents frequently occur, and rear-end collisions are the most common accident form. In order to improve the running safety of vehicles, rear-end collision prevention technology has been developed.
The existing rear-end collision prevention technology is mainly used for preventing the rear-end collision of the own vehicle with the front vehicle. The automobile self-adaptive cruise system or the automatic emergency braking AEB system outputs acceleration or deceleration control instructions to the automobile execution system based on the environmental information acquired by the forward environmental sensing equipment, so that the automobile self-adaptive cruise system or the automatic emergency braking AEB system assists a driver to conduct forward active safety. However, the vehicle unsafe factor is increased because the self-vehicle cannot be prevented from being knocked into the rear.
Disclosure of Invention
In view of the above, the present invention provides a method and apparatus for controlling rear-end collision in a backward direction, which comprises the following steps:
A control method for preventing rear-end collision in the backward direction comprises the following steps:
Acquiring surrounding environment information of a vehicle, wherein the surrounding environment information at least comprises information of a front obstacle and information of a rear obstacle;
If the rear obstacle is a preset risk obstacle, calculating a rear-end collision risk level according to the information of the rear obstacle;
Judging whether a front bufferable path exists according to the information of the front obstacle under the condition that the rear-end collision dangerous grade meets a preset grade condition and a rear-end collision prevention activating signal is acquired;
if the front buffering path exists, judging whether the vehicle state information meets the preset forward movement condition;
if the vehicle state information meets the preset forward movement condition, executing preset active protection operation;
the calculating the rear-end collision risk level according to the information of the rear obstacle comprises the following steps:
acquiring a relative speed of the rear obstacle and the vehicle, a relative distance of the rear obstacle and the vehicle, and a travel speed of the rear obstacle from the information of the rear obstacle;
calculating a basic anti-collision distance according to the relative speed and the running speed of the rear obstacle;
Acquiring a relative compensation distance corresponding to a preset pre-collision threshold and the running speed of the rear obstacle, and calculating a safety distance threshold under the preset pre-collision threshold by utilizing the relative compensation distance and the basic anti-collision distance;
a rearward collision risk level is determined based on the relative distance and the safe distance threshold.
Preferably, the method for acquiring the backward rear-end collision prevention activation signal includes:
Generating alarm information used for representing the backward rear-end collision grade, and acquiring a backward rear-end collision prevention activation signal input by a user based on the alarm information; or alternatively
And automatically generating a backward rear-end collision prevention activating signal under the condition that the backward rear-end collision dangerous grade meets the preset grade condition.
Preferably, the preset active protection operation includes:
Any one or more of an acceleration buffering operation and a steering lane change operation.
Preferably, the method further comprises:
and if the rear obstacle is a preset risk-free obstacle, generating prompt information for representing the risk of rear-end collision.
Preferably, the method further comprises:
and if the front buffering path does not exist or the vehicle state information does not meet the preset forward movement condition, executing a preset passive protection operation.
Preferably, the preset passive protection operation includes:
Any one or more of a seat belt pretensioning operation, an active suspension adjustment operation, an electronic parking system EPB parking operation, and a brake system ESP pretensioning operation.
A rear-end collision prevention control device comprising:
The information acquisition module is used for acquiring surrounding environment information of the vehicle, wherein the surrounding environment information at least comprises information of a front obstacle and information of a rear obstacle;
The grade calculation module is used for calculating a rear-end collision risk grade according to the information of the rear obstacle if the rear obstacle is a preset risk obstacle;
the first judging module is used for judging whether a front bufferable path exists according to the information of the front obstacle when the rear-end collision dangerous grade meets a preset grade condition and a rear-end collision prevention activating signal is acquired; if the front buffering path exists, triggering a second judging module;
The second judging module is used for judging whether the vehicle state information meets the preset forward movement condition; if the vehicle state information meets the preset forward movement condition, triggering an active protection module;
the active protection module is used for executing preset active protection operation;
the grade calculation module is specifically configured to:
Acquiring a relative speed of the rear obstacle and the vehicle, a relative distance of the rear obstacle and the vehicle, and a travel speed of the rear obstacle from the information of the rear obstacle; calculating a basic anti-collision distance according to the relative speed and the running speed of the rear obstacle; acquiring a relative compensation distance corresponding to a preset pre-collision threshold and the running speed of the rear obstacle, and calculating a safety distance threshold under the preset pre-collision threshold by utilizing the relative compensation distance and the basic anti-collision distance; a rearward collision risk level is determined based on the relative distance and the safe distance threshold.
Preferably, the preset active protection operation includes:
Any one or more of an acceleration buffering operation and a steering lane change operation.
Compared with the prior art, the invention has the following beneficial effects:
The control method and the device for preventing rear-end collision in the backward direction can detect the surrounding environment information of the vehicle; since most of the road driving is an automobile, the probability of rear-end collision is much higher than that of non-motor vehicles or pedestrians, etc., the rear-end collision risk level of the rear obstacle can be further determined when the rear obstacle is determined to be at risk, and thus the preset active protection operation is executed when the rear-end collision level and the rear-end collision activating signal meet the condition and the forward movement condition exists. The method disclosed by the invention can actively avoid the potential dangerous target behind the vehicle, so that the risk of rear-end collision of the vehicle is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling rear-end collision in a backward direction according to an embodiment of the present invention;
FIG. 2 is a partial flow chart of a method for controlling rear-end collision in a backward direction according to an embodiment of the present invention;
FIG. 3 is a flowchart of another method of the method for controlling rear-end collision in the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a rear-end collision prevention control device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a control method for preventing rear-end collision in the backward direction, which can realize the rear-end collision prevention in urban working conditions and high-speed working conditions. The following is a brief description of city and high speed conditions:
in urban working conditions, the driver of the vehicle finds that the front vehicle brakes and the vehicle is gradually stationary, and the driver of the vehicle presses the brake pedal because the driver is close to the front vehicle, and the rear vehicle can overtake the vehicle because the driver does not notice or notice the fact that the vehicle brakes later and does not brake in time.
The working condition of the expressway is that the rear vehicle is closer to the vehicle, and when the vehicle takes forced movement, the rear vehicle driver acquires the information and carries out braking operation with a certain delay, so that the risk of rear-end collision of the vehicle exists.
The method flowchart of the method for controlling rear-end collision in the embodiment is shown in fig. 1, and includes the following steps:
s10, acquiring surrounding environment information of the vehicle, wherein the surrounding environment information at least comprises information of a front obstacle and information of a rear obstacle.
In the process of executing step S10, the vehicle-mounted millimeter wave radar may be used to obtain surrounding environmental information of the vehicle, and may specifically include surrounding obstacles, such as relative longitudinal speeds, relative lateral speeds, relative longitudinal distances, relative lateral distances, and the like of ordinary cars, sports cars, commercial vehicles, non-motor vehicles, pedestrians, and the like.
In the specific implementation process, the related information of the front obstacle CAN be acquired by utilizing the front millimeter wave radar and sent to a controller for executing the backward rear-end collision prevention control through the vehicle-mounted CAN network; and the rear millimeter wave radar is utilized to acquire the related information of the rear obstacle, and the rear camera CAN be utilized to acquire the related information of the rear obstacle at the same time, and the related information is transmitted to the rear millimeter wave radar in a private CAN (controller area network) form, so that the rear millimeter wave radar performs data fusion, and the fused data is transmitted to the controller through the vehicle-mounted CAN network.
S20, if the rear obstacle is a preset risk obstacle, calculating a rear-end collision risk level according to information of the rear obstacle.
In the process of executing step S20, the surrounding obstacles may be classified in advance according to the rear-end collision risk. For example, commercial vehicles have long braking distances and the running vehicles drive on roads relatively rapidly, so that the commercial vehicles and the running vehicles can be classified as high-risk obstacles; non-motor vehicles and pedestrians can be classified as risk-free obstacles because of their low traveling speeds; the common car has lower rear-end collision risk compared with commercial vehicles and sports cars and higher rear-end collision risk compared with non-motor vehicles and pedestrians, so that the common car can be classified as a low-risk obstacle. Thereby classifying the preset high-risk obstacle and the low-risk obstacle as preset risky obstacles, and classifying the preset non-risk obstacle as preset non-risk obstacle.
If the rear obstacle is a preset risk obstacle, the information of the waiting obstacle is further processed by combining a basic car following algorithm and a compensation algorithm of the anti-collision system so as to calculate the rear-end collision risk level of the rear obstacle. And if the rear obstacle is a preset risk-free obstacle, generating prompt information for representing the risk of rear-end collision, such as turning on a green light.
In the specific implementation process, the "calculating the rear-end collision risk level according to the information of the rear obstacle" in step S20 may include the following steps, where the method flowchart is shown in fig. 2:
S201, the relative speed of the rear obstacle and the vehicle, the relative distance between the rear obstacle and the vehicle, and the travel speed of the rear obstacle are obtained from the information of the rear obstacle.
S202, calculating the basic anti-collision distance according to the relative speed and the running speed of the rear obstacle.
In the process of performing step S202, the following formula (1) may be used to calculate the base impact distance:
Wherein D RCA_b is the basic anti-collision distance, v rear is the running speed of the rear obstacle, v ego is the running speed of the vehicle, τ rsys is the preset reaction estimated time of the rear obstacle, τ rdrv is the preset reaction time of the rear driver, ACC ego is the acceleration of the vehicle, Compensating for the safety distance at the running speeds of different rear obstacles.
S203, acquiring a relative compensation distance corresponding to a preset pre-collision threshold value and the running speed of the rear obstacle, and calculating a safety distance threshold value under the preset pre-collision threshold value by utilizing the relative compensation distance and the basic anti-collision distance.
In the process of executing step S203, the preset pre-touch threshold may include a maximum pre-touch threshold, a medium pre-touch threshold, and a minimum pre-touch threshold. Calculating a safety distance threshold under a preset pre-collision threshold according to the following calculation formula (2):
DRCA(TL)＝DRCA_b+fL(vrear,TL) (2)
wherein D RCA(TL) is a safety distance threshold under a preset collision threshold, and f L(vrear,TL) is a relative compensation distance under different preset collision thresholds and the running speed of the rear obstacle.
S204, determining the rear-end collision risk level based on the relative distance and the safety distance threshold.
In the process of executing step S204, the rear-end collision risk level may be determined according to the following formula (3):
Wherein Danger Level is a rear-end collision risk level, D sen is a relative distance, T L_MAX is a maximum pre-collision threshold, T L_MID is a medium pre-collision threshold, and T L_MIN is a minimum pre-collision threshold.
It should be noted that, since the preset risk obstacle is further classified into two types, i.e., a high risk obstacle and a low risk obstacle, in order to achieve that the high risk obstacle enters the active control in advance compared with the low risk obstacle, different values may be adaptively configured for the preset reaction estimated time τ rsys of the rear obstacle, the preset reaction time τ rdrv of the rear driver, the relative compensation distances f L(vrear,TL under different preset pre-crash thresholds and the traveling speeds of the rear obstacle in the above formula (1) to formula (3), the maximum pre-crash threshold T L_MAX, the intermediate pre-crash threshold T L_MID, and the minimum pre-crash threshold T L_MIN.
In addition, if the rear obstacle is a high-risk obstacle, the prompt information of 'driving away from the lane as soon as possible' can be displayed to the driver directly through the HMI human-computer interaction system, such as a central control large screen.
S30, judging whether a front bufferable path exists according to the information of the front obstacle under the condition that the rear-end collision dangerous grade meets the preset grade condition and the rear-end collision prevention activating signal is acquired; if there is a front buffer path, step S40 is performed.
In the process of executing step S30, the preset level condition may specifically be "the level of the rear-end collision risk is higher than three levels" or "the level of the rear-end collision risk is one level", etc., and may be set according to actual needs.
In addition, the rear-end collision prevention activation signal can be acquired by adopting different acquisition modes according to the state of the automatic driving mode:
If the automatic driving mode is in a closed state, generating alarm information for representing a backward rear-end collision grade, such as three-stage green light illumination, two-stage yellow light illumination and one-stage red light illumination, and acquiring a backward rear-end collision prevention activation signal input by a user based on the alarm information, wherein the user can input through an HMI human-computer interaction system, such as a central control large screen.
If the automatic driving mode is in an on state, automatically generating a backward rear-end collision prevention activation signal under the condition that the backward rear-end collision dangerous grade meets the preset grade condition.
Further, in the process of judging whether the front cushionable path exists according to the information of the front obstacle, the vehicle may be pre-planned for the travelable path by using the relative longitudinal speed, the relative lateral speed, the relative longitudinal distance, the relative lateral distance, and the like of the front obstacle, and if the travelable path is planned, the existence of the front cushionable path is indicated, otherwise, the existence of the front cushionable path is not indicated. While planning the travelable path can be implemented using existing software or algorithms.
It should be noted that, in the case where the rear-end collision risk level does not satisfy the preset level condition or the rear-end collision prevention activation signal is not acquired, no operation is performed.
S40, judging whether the vehicle state information meets the preset forward movement condition; if the vehicle state information satisfies the preset forward movement condition, step S50 is performed.
In performing step S40, the acquired vehicle state information may be from a DOC active suspension system, an ESP brake system, an EMS engine system, a TCU transmission system, an EPB electronic parking system, an SDM vehicle safety system, an HMI human-machine interaction system, a GW gateway system, a WSS wheel speed sensor system, an EPS electronic power steering system, and the like.
The preset forward movement condition can be specifically set for the power-on state, the gear state, the safety belt state, the vehicle door state, the wheel speed state, the fault state of each related controller node system and the like of the whole vehicle, and the embodiment is not limited to the specific setting.
S50, executing a preset active protection operation.
In the process of executing step S50, the preset active guard operation may be any one or more of an acceleration buffering operation and a steering lane change operation. The acceleration buffering operation can slow down the collision risk of the rear vehicle, and the steering lane changing operation can steer and change lanes to a certain extent under the condition that the vehicle is beside to be free of the vehicle, so that the collision risk of the rear vehicle is assisted to be slowed down.
In other embodiments, in order to reduce injury to passengers as much as possible when the vehicle is inevitably collided, the method further includes the following steps, based on the rear-end collision prevention control method shown in fig. 1, where a method flowchart of the rear-end collision prevention control method is shown in fig. 3:
S60, if no front cushionable path exists or the vehicle state information does not meet the preset forward movement condition, executing the preset passive protection operation.
In the process of executing step S60, the preset passive guard operation may be any one or more of a seat belt pretensioning operation, an active suspension adjustment operation, an EPB parking operation, and an ESP pretensioning operation. Wherein,
The pre-tightening operation of the safety belt can reduce the injury to passengers after collision; the active suspension adjusting operation can reduce the mass center position of the whole vehicle and reduce the vehicle rollover risk caused by collision through damping adjustment of different rigidities of four wheels; the EPB parking operation or the ESP pre-pressure operation can increase the friction force between the vehicle and the ground when the vehicle collides, so that the movement of the vehicle under the external force is reduced, and the damage to the neck of the driver is reduced.
The backward rear-end collision prevention control method provided by the embodiment of the invention can detect the surrounding environment information of the vehicle; since most of the road driving is an automobile, the probability of rear-end collision is much higher than that of non-motor vehicles or pedestrians, etc., the rear-end collision risk level of the rear obstacle can be further determined when the rear obstacle is determined to be at risk, and thus the preset active protection operation is executed when the rear-end collision level and the rear-end collision activating signal meet the condition and the forward movement condition exists. The method disclosed by the invention can actively avoid the potential dangerous target behind the vehicle, so that the risk of rear-end collision of the vehicle is reduced.
Based on the method for controlling rear-end collision in the embodiment, the embodiment of the invention correspondingly provides a device for executing the method for controlling rear-end collision in the backward direction, and the schematic structural diagram of the device is shown in fig. 4, which includes:
An information acquisition module 10 for acquiring surrounding environment information of the vehicle, the surrounding environment information including at least information of a front obstacle and information of a rear obstacle;
A grade calculation module 20, configured to calculate a rear-end collision risk grade according to information of the rear obstacle if the rear obstacle is a preset risk obstacle;
A first judging module 30, configured to judge whether a front bufferable path exists according to information of a front obstacle when the rear-end collision risk level satisfies a preset level condition and a rear-end collision prevention activation signal is acquired; if a front bufferable path exists, triggering the second judging module 40;
A second judging module 40 for judging whether the vehicle state information satisfies a preset forward movement condition; if the vehicle status information meets the preset forward movement condition, triggering the active protection module 50;
the active protection module 50 is configured to perform a preset active protection operation.
Optionally, the level calculation module 20 is specifically configured to:
Acquiring the relative speed of the rear obstacle and the vehicle, the relative distance between the rear obstacle and the vehicle and the running speed of the rear obstacle from the information of the rear obstacle; calculating a basic anti-collision distance according to the relative speed and the running speed of the rear obstacle; acquiring a relative compensation distance corresponding to a preset pre-collision threshold value and the running speed of the rear obstacle, and calculating a safety distance threshold value under the preset pre-collision threshold value by utilizing the relative compensation distance and the basic anti-collision distance; a rearward-rear-end collision risk level is determined based on the relative distance and the safe distance threshold.
Optionally, presetting the active protection operation includes:
Any one or more of an acceleration buffering operation and a steering lane change operation.
The backward rear-end collision prevention control device provided by the embodiment of the invention can actively avoid the potential dangerous target behind the vehicle, thereby reducing the risk of rear-end collision of the vehicle.
The above describes in detail a method and apparatus for controlling rear-end collision prevention, and specific examples are applied to illustrate the principles and embodiments of the present invention, and the above examples are only used to help understand the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include, or is intended to include, elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The rear-end collision prevention control method is characterized by comprising the following steps of:
Acquiring surrounding environment information of a vehicle, wherein the surrounding environment information at least comprises information of a front obstacle and information of a rear obstacle;
If the rear obstacle is a preset risk obstacle, calculating a rear-end collision risk level according to the information of the rear obstacle, or if the rear obstacle is a high risk obstacle, displaying prompt information directly through an HMI human-computer interaction system, wherein the preset risk obstacle comprises a high risk obstacle and a low risk obstacle which are classified according to rear-end collision risk;
Judging whether a front bufferable path exists according to the information of the front obstacle under the condition that the rear-end collision dangerous grade meets a preset grade condition and a rear-end collision prevention activating signal is acquired;
if the front buffering path exists, judging whether the vehicle state information meets the preset forward movement condition;
if the vehicle state information meets the preset forward movement condition, executing preset active protection operation;
the calculating the rear-end collision risk level according to the information of the rear obstacle comprises the following steps:
acquiring a relative speed of the rear obstacle and the vehicle, a relative distance of the rear obstacle and the vehicle, and a travel speed of the rear obstacle from the information of the rear obstacle;
according to the relative speed and the running speed of the rear obstacle, adopting the formula:
Calculating a basic anti-collision distance; wherein D RCA_b is the basic anti-collision distance, v rear is the running speed of the rear obstacle, v ego is the running speed of the vehicle, τ rsys is the preset reaction estimated time of the rear obstacle, τ rdrv is the preset reaction time of the rear driver, ACC ego is the acceleration of the vehicle, Compensating for the safety distance of different rear obstacles at the running speed;
Acquiring a relative compensation distance f L(vrear,TL corresponding to a preset pre-collision threshold T L and the running speed v rear of the rear obstacle, and using the relative compensation distance f L(vrear,TL) and the basic anti-collision distance D RCA_b to enter the formula: d RCA(TL)＝DRCA_b+fL(vrear,TL) calculating a safe distance threshold D RCA(TL under the preset pre-touch threshold T L); the preset pre-touch threshold T L includes: a maximum pre-touch threshold T L_MAX, a medium pre-touch threshold T L_MID, and a minimum pre-touch threshold T L_MIN;
based on the relative distance D sen and the safe distance threshold D RCA(TL), the following formula:
determining a rear-end collision risk level Danger Level;
If the front buffering path does not exist or the vehicle state information does not meet the preset forward movement condition, executing a preset passive protection operation;
The method comprises the steps of configuring different values for the high-risk obstacle and the low-risk obstacle, namely presetting reaction estimated time tau rsys, presetting reaction time tau rdrv of a rear driver, different presetting pre-collision thresholds and relative compensation distances f L(vrear,TL under the running speed of the rear obstacle, and configuring a maximum pre-collision threshold T L_MAX, a medium pre-collision threshold T L_MID and a minimum pre-collision threshold T L_MIN, so that the rear obstacle enters active control in advance than the low-risk obstacle when being the high-risk obstacle;
The preset passive protection operation includes:
Any one or more of a seat belt pretensioning operation, an active suspension adjustment operation, an electronic parking system EPB parking operation, and a brake system ESP pretensioning operation.
2. The method of claim 1, wherein the acquiring means for acquiring the rearward anti-rear-end collision activation signal includes:
Generating alarm information used for representing the backward rear-end collision grade, and acquiring a backward rear-end collision prevention activation signal input by a user based on the alarm information; or alternatively
And automatically generating a backward rear-end collision prevention activating signal under the condition that the backward rear-end collision dangerous grade meets the preset grade condition.
3. The method of claim 1, wherein the preset active protection operation comprises:
Any one or more of an acceleration buffering operation and a steering lane change operation.
4. The method according to claim 1, wherein the method further comprises:
and if the rear obstacle is a preset risk-free obstacle, generating prompt information for representing the risk of rear-end collision.
5. A rear-end collision prevention control device, characterized by comprising:
The information acquisition module is used for acquiring surrounding environment information of the vehicle, wherein the surrounding environment information at least comprises information of a front obstacle and information of a rear obstacle;
The grade calculation module is used for calculating a rear-end collision danger grade according to the information of the rear obstacle if the rear obstacle is a preset risk obstacle, or directly displaying prompt information through an HMI human-computer interaction system if the rear obstacle is a high risk obstacle, wherein the preset risk obstacle comprises a high risk obstacle and a low risk obstacle;
the first judging module is used for judging whether a front bufferable path exists according to the information of the front obstacle when the rear-end collision dangerous grade meets a preset grade condition and a rear-end collision prevention activating signal is acquired; if the front buffering path exists, triggering a second judging module;
the second judging module is used for judging whether the vehicle state information meets the preset forward movement condition; if the vehicle state information meets the preset forward movement condition, triggering an active protection module; if the front buffering path does not exist or the vehicle state information does not meet the preset forward movement condition, triggering a passive protection module;
the active protection module is used for executing preset active protection operation;
the passive protection module is used for executing preset passive protection operation; the preset passive protection operation includes: any one or more of a seat belt pretensioning operation, an active suspension adjustment operation, an electronic parking system EPB parking operation, and a brake system ESP pretensioning operation;
the grade calculation module is specifically configured to:
acquiring a relative speed of the rear obstacle and the vehicle, a relative distance of the rear obstacle and the vehicle, and a travel speed of the rear obstacle from the information of the rear obstacle;
according to the relative speed and the running speed of the rear obstacle, adopting the formula:
Calculating a basic anti-collision distance; wherein D RCA_b is the basic anti-collision distance, v rear is the running speed of the rear obstacle, v ego is the running speed of the vehicle, τ rsys is the preset reaction estimated time of the rear obstacle, τ rdrv is the preset reaction time of the rear driver, ACC ego is the acceleration of the vehicle, Compensating for the safety distance of different rear obstacles at the running speed;
Acquiring a relative compensation distance f L(vrear,TL corresponding to a preset pre-collision threshold T L and the running speed v rear of the rear obstacle, and using the relative compensation distance f L(vrear,TL) and the basic anti-collision distance D RCA_b to enter the formula: d RCA(TL)＝DRCA_b+fL(vrear,TL) calculating a safe distance threshold D RCA(TL under the preset pre-touch threshold T L); the preset pre-touch threshold T L includes: a maximum pre-touch threshold T L_MAX, a medium pre-touch threshold T L_MID, and a minimum pre-touch threshold T L_MIN;
based on the relative distance D sen and the safe distance threshold D RCA(TL), the following formula:
determining a rear-end collision risk level Danger Level;
The preset reaction estimated time tau rsys, the preset reaction time tau rdrv of a rear driver, different preset pre-collision thresholds and the relative compensation distance f L(vrear,TL under the running speed of the rear obstacle, the maximum pre-collision threshold T L_MAX, the medium pre-collision threshold T L_MID and the minimum pre-collision threshold T L_MIN are configured with different values, so that the rear obstacle is actively controlled in advance of the low risk obstacle when the rear obstacle is the high risk obstacle.
6. The apparatus of claim 5, wherein the preset active protection operation comprises:
Any one or more of an acceleration buffering operation and a steering lane change operation.
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| CN113183967A (en) * | 2021-06-04 | 2021-07-30 | 多伦科技股份有限公司 | Vehicle safety control method, device, equipment and storage medium |
| CN114274953B (en) * | 2021-11-23 | 2024-01-02 | 深圳市易成自动驾驶技术有限公司 | Method, device, terminal equipment and storage medium for preventing rear-end collision of vehicle |
| 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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