CN111532262A - Rear-end anti-collision control method and system for automatic driving vehicle, computer and storage medium - Google Patents

Rear-end anti-collision control method and system for automatic driving vehicle, computer and storage medium Download PDF

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CN111532262A
CN111532262A CN202010405323.4A CN202010405323A CN111532262A CN 111532262 A CN111532262 A CN 111532262A CN 202010405323 A CN202010405323 A CN 202010405323A CN 111532262 A CN111532262 A CN 111532262A
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vehicle
automatic driving
reaction time
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acceleration
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CN111532262B (en
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李烨
史云涛
伍丹
黄合来
唐进君
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Central South University
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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
    • 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
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles

Abstract

The invention discloses an automatic driving vehicle rear end anti-collision control method, a system, a computer and a storage medium, wherein the control method comprises the following steps: s1: collecting vehicle information of an automatic driving vehicle and an adjacent rear vehicle on a current lane of the automatic driving vehicle, and calculating critical reaction time based on the vehicle information; s2: and calculating the collision probability of the current rear vehicle and the automatic driving vehicle based on the critical reaction time, if the collision probability is higher than a preset threshold value, controlling the automatic driving vehicle to be in a rear-end anti-collision control mode, and if not, controlling the automatic driving vehicle to be in an original control mode of automatic driving. According to the control method, the rear-end collision risk caused by distraction, misoperation and the like of a driver of the manually-driven vehicle under the condition of a mixed flow of manual driving and automatic driving in the automatic driving development transition stage is effectively reduced, and the highway traffic safety in the automatic driving development transition stage is effectively improved.

Description

Rear-end anti-collision control method and system for automatic driving vehicle, computer and storage medium
Technical Field
The invention belongs to the field of intelligent driving, and particularly relates to a rear-end anti-collision control method and system for an automatic driving vehicle, a computer and a storage medium.
Background
In recent years, with the rapid development of economy in China, the living standard of people is increasingly improved, and the quantity of motor vehicles kept is also increasingly increased. According to the relevant data display of the police department, the number of motor vehicles in China reaches 3.48 hundred million by 2019, and the situation of rapid growth is still kept. The proliferation of motor vehicles presents a serious safety problem. Autonomous vehicles have the potential to alleviate traffic safety issues and are therefore an important guide to future driving developments. However, due to the step-by-step nature of the development process, the vehicle inevitably faces a stage of mixing the manual driving vehicle with the automatic driving vehicle. How to reduce the probability of the rear-end collision of the automatic driving vehicle by utilizing the advantages of the automatic driving vehicle is the focus of the invention.
Disclosure of Invention
The invention aims to provide a rear-end anti-collision control method, a rear-end anti-collision control system, a rear-end anti-collision control computer and a storage medium for an automatic driving vehicle, which are used for acquiring the collision probability of the rear vehicle and the automatic driving vehicle based on manual driving reaction time, dynamically adjusting the acceleration of the automatic driving vehicle under the condition of potential rear-end collision, ensuring that the automatic driving vehicle does not collide with the rear vehicle, reserving more reaction time for the rear vehicle at the same time so as to facilitate the timely driving behavior of the automatic driving vehicle and reduce the rear-end collision risk.
The invention provides an automatic driving vehicle rear end anti-collision control method, which comprises the following steps:
step S1: collecting vehicle information of an automatic driving vehicle and an adjacent rear vehicle on a current lane of the automatic driving vehicle, and calculating critical reaction time based on the vehicle information;
wherein the critical reaction time represents the reaction time before the rear vehicle takes braking action under the critical condition that the rear vehicle collides with the automatic driving vehicle;
step S2: calculating the collision probability of the current rear vehicle and the automatic driving vehicle based on the critical reaction time, if the collision probability is higher than a preset threshold value, controlling the automatic driving vehicle to be in a rear-end anti-collision control mode, and if not, controlling the automatic driving vehicle to be in an original control mode of automatic driving;
the rear-end collision avoidance control mode is that the autonomous vehicle controls the acceleration of the autonomous vehicle while not rear-ending a preceding vehicle, so as to change the current speed of the autonomous vehicle to extend the reaction time available for a following vehicle.
If the collision probability of the rear vehicle and the automatic driving vehicle is judged to be higher than the preset threshold value, the current speed of the automatic driving vehicle is improved, the reaction time before the rear vehicle can take braking measures can be prolonged, more time is provided for the rear vehicle to break away from a dangerous state, the collision severity is reduced under the condition that collision cannot be avoided, the occurrence of traffic accidents is reduced, and the traffic safety of roads is effectively improved.
Further preferably, the collision probability based on the critical reaction time is as follows:
Figure BDA0002491041580000021
wherein P represents the collision probability, f (; mu, sigma) represents the probability density function, represents the reaction time before the rear vehicle takes the braking measure, and follows the logarithmic normal distribution, mu, sigma are the mean value and standard deviation in the logarithmic normal distribution parameter of the reaction time before the rear vehicle takes the braking measure,*critical reaction time;
the probability density function f (; μ, σ) is shown below:
Figure BDA0002491041580000022
where e is a natural constant and has a value of about 2.71828.
Further preferably, the process of obtaining the mean and the standard deviation is as follows:
collecting peripheral vehicle information of a plurality of automatic driving vehicles, and calibrating parameters of the vehicle information based on an intelligent driver model to obtain a reaction time data set of a driver of a following vehicle; obtaining the mean value and the standard deviation according to the distribution diagram of the reaction time data set;
wherein the parameters are scaled as: simulating the motion trail of the rear vehicle by combining an intelligent driver model according to the motion trail of the front vehicle, and solving the condition of which parameter combination the error between the simulated trail of the rear vehicle and the real trail is minimum, wherein the intelligent driver model comprises the following steps:
Figure BDA0002491041580000023
Figure BDA0002491041580000024
wherein a (t +) represents the acceleration of the following vehicle in the following vehicle group after reaction duration at the current time t, and s*Indicates the desired front-to-back side distance, a, in the current statemaxIndicating the maximum acceleration of the vehicle behind the following vehicle group, β indicating the maximum desired deceleration of the vehicle behind the following vehicle group, v and v0Respectively representing the current speed and the expected speed of the vehicle behind the following vehicle group; s represents the distance between the front and rear vehicles in the current state; t represents the following time distance in the following process of the vehicle; s0The minimum distance between the rear vehicle and the front vehicle when the front vehicle and the rear vehicle of the following vehicle group are in a static condition is shown (the minimum distance between the rear vehicle and the front vehicle when the front vehicle and the rear vehicle are in a static condition can be understood); Δ v represents the speed difference between the following and the preceding vehicle of the following train.
The parameters are combined as follows: maximum acceleration a 'of vehicle behind following vehicle group'maxA maximum expected deceleration β of a vehicle behind the following vehicle group, a minimum distance s between the rear vehicle and the front vehicle in a static condition of the front vehicle and the rear vehicle of the following vehicle group0Distance between heel and heelMaximum desired speed v of vehicle behind vehicle train0The reaction time, wherein the intelligent driver model considers that the driving behavior decision factor of the driver is determined by the combination of the six parameters.
The automatic driving vehicle is provided with a perception sensor which is mainly used for counting the information of surrounding vehicles, uploading the information to a database, and periodically calibrating to obtain the mean value and the standard deviation of the manual driving reaction time. The calibration period may be a quarter or a year or other set period of time.
Further preferably, the critical reaction time is calculated according to the following formula:
Figure BDA0002491041580000031
in the formula (I), the compound is shown in the specification,*denotes the critical reaction time, xACC、LACC、vACC、aACC、aminRespectively indicate the current position, the vehicle length, the current speed, the current acceleration, the vehicle maximum deceleration (indicating the braking performance of the vehicle), x, of the autonomous vehiclecf、vcf、acfRespectively representing the current position, the current speed and the current acceleration of the rear vehicle;
if the calculated critical reaction time is an imaginary value, setting the critical reaction time to be + ∞; if the calculated critical reaction time is a negative real number, setting the critical reaction time to be 0; if the calculated critical reaction time is a positive real number, the critical reaction time is a calculated value.
The critical reaction time of the present invention takes into account that the current status of the autonomous vehicle and its following vehicles is mainly divided into nine (3 x 3) cases as follows, as shown in table 1 below:
Figure BDA0002491041580000032
y represents the distance between the autonomous vehicle and its rear vehicle.
TABLE 1
Figure BDA0002491041580000033
Figure BDA0002491041580000041
For the cases of b2, b3, c2, and c3, no collision occurs in the current state, so that the collision is converted to + ∞, i.e., no rear-end collision occurs regardless of the reaction time. For other situations, how to take no measures, after a period of time, a rear-end collision between the autonomous vehicle and its rear end vehicle may occur. However, during the actual movement of the vehicle, the rear vehicle may experience a reaction time period, and then take braking measures to avoid collision with the front vehicle. The purpose of the above equation is to calculate a critical reaction time*The reaction time period of the vehicle just after the collision does not occur, that is, the maximum reaction time period given to supply to the following vehicle in the present state is described. If calculated*< 0, it means that collision avoidance is possible only when the reaction time is negative, and the reaction time is not possible to be negative, i.e., in this case collision avoidance cannot be performed regardless of the reaction time. No matter how long the rear car is in response, collision cannot be avoided, so the calculated negative value is converted into 0. If calculated*The imaginary number, i.e. y (t) has no intersection point with the t axis, indicates that the rear position is always smaller than the front position no matter how long the reaction time is, i.e. the rear vehicle and the front vehicle can never have rear-end collision, so the reaction time for supplying the rear vehicle is infinite by converting the imaginary number into + ∞.
Further preferably, the acceleration of the autonomous vehicle is controlled in the rear-end collision avoidance control mode according to the following rule:
if the adjacent preceding vehicle of the autonomous vehicle satisfies: a isclIs < 0 and
Figure BDA0002491041580000042
controlling the acceleration of the autonomous vehicle to be the acceleration corresponding to the minimum collision probability according to the following A-type constraint:
constraint of type A:
min P
Figure BDA0002491041580000043
if not, the acceleration of the automatic driving vehicle is controlled to be the acceleration corresponding to the minimum collision probability according to the following B-type constraint:
constraint of type B:
min P
Figure BDA0002491041580000044
in the formula, acl、vcl、xcl、LclRepresenting the current acceleration, current speed, current position and vehicle length, x, of a preceding vehicle adjacent to the autonomous vehicleACC、LACC、vACC、aACC、amin、amaxRespectively represents the current position, the length, the current speed, the current acceleration, the maximum deceleration, the maximum acceleration, and t of the autonomous vehicle*And the cycle iteration duration of the set front vehicle of the automatic driving vehicle without rear-end collision of the current lane is shown, and t represents time.
Further preferably, if the collision probability is higher than the preset threshold in step S2, the method further includes:
step S3: judging whether a lane changing lamp of the automatic driving vehicle is turned on, and if so, executing step S4; if not, selecting the lane change direction and turning on the lane change lamp, and then executing the step S4;
step S4: judging whether the turn-on time of the turn lamp exceeds a preset time length, and if so, executing a step S5; if not, ending the current flow;
step S5: judging whether a safe lane changing condition is met or not, and if yes, changing lanes; otherwise, the current flow is ended.
Further preferably, the safe lane changing condition is as follows:
firstly, judging whether the automatic driving vehicle can ensure a safe distance with a front vehicle on a target lane under the current acceleration, and if so, calculating the collision probability between the automatic driving vehicle and a rear vehicle on the target lane;
if the collision probability is smaller than a preset threshold value, a safe lane changing condition is achieved; if the safe distance between the vehicle and the front vehicle on the target lane cannot be ensured or the collision probability is greater than or equal to a preset threshold value, the safe lane changing condition is not met;
judging whether the acceleration of the automatic driving vehicle meets the following criterion, if so, judging whether the automatic driving vehicle can guarantee the safe distance with the front vehicle on the target lane, and if so, judging that the automatic driving vehicle can guarantee the safe distance with the front vehicle on the target lane;
Figure BDA0002491041580000051
wherein x isACC、vACC、aACCRespectively representing the current position, the current speed and the current acceleration of the automatic driving vehicle; a istl、vtl、xtl、LtlRespectively representing the current acceleration, current speed, current position and vehicle length of a preceding vehicle in the target lane of the autonomous vehicle, t*And the cycle iteration duration of the set front vehicle of the automatic driving vehicle without rear-end collision of the current lane is shown, and t represents time.
Further preferably, the rear-end collision avoidance control method of the automatic driving vehicle circularly detects in a preset period, and the value range of the preset period is as follows: [0.1s, 0.5s ].
The optimal preset period of the method is 0.1s, it is clear that the control method performs cyclic detection in the preset period, if the collision probability detected in the previous time is higher than the preset threshold, the automatic driving vehicle is in the rear-end anti-collision control mode, and when the detection is performed again, if the collision probability detected continuously is higher than the preset threshold, the automatic driving vehicle keeps the rear-end anti-collision control mode; and if the collision probability is continuously detected to be not higher than the preset threshold value, the automatic driving vehicle exits the rear-end anti-collision control module and enters an original control mode of automatic driving.
The invention provides an automatic driving vehicle rear end anti-collision control system, which comprises:
an acquisition module: the system comprises a vehicle information acquisition module, a vehicle information acquisition module and a vehicle information acquisition module, wherein the vehicle information acquisition module is used for acquiring vehicle information of an automatic driving vehicle and adjacent rear vehicles and front vehicles of the automatic driving vehicle;
a collision probability acquisition module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for calculating critical reaction time based on vehicle information of an automatic driving vehicle and a vehicle behind the automatic driving vehicle; calculating the collision probability of the current rear vehicle and the automatic driving vehicle based on the critical reaction time;
rear end anticollision control module: for controlling the autonomous vehicle in a rear-end collision avoidance control mode;
original control module of automatic driving: for controlling the autonomous vehicle in an original control mode of autonomous driving.
The invention provides computer equipment which comprises a memory and a processor, wherein a computer program capable of running on the processor is stored on the memory, and the processor executes the computer program to realize the steps of the rear-end anti-collision control method of the automatic driving vehicle.
The invention provides a storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the above-described rear-end collision avoidance control method for an autonomous vehicle.
Advantageous effects
The invention can solve the problem of rear-end collision caused by traditional manual driving. Under the constraint condition that the front vehicle does not collide with the rear vehicle, more time is provided for the rear vehicle to break away from the dangerous state, the collision severity is reduced under the condition that collision cannot be avoided, the occurrence of traffic accidents is reduced, and the traffic safety of the highway is effectively improved. The rear-end anti-collision control method based on the automatic driving vehicle has very important engineering application value for improving the traffic safety problem in the transition stage of turning from the traditional manual driving to the automatic driving. The invention can reduce the rear-end collision risk caused by manual driving by utilizing the perception sensing technology of automatic driving at the mixed stage of manual driving and automatic driving, thereby having strong application prospect.
Drawings
FIG. 1 is a schematic flow chart provided by an embodiment of the present invention;
fig. 2 is a schematic view of a scenario provided by the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
The embodiment of the invention provides an automatic driving vehicle rear end anti-collision control method, which comprises the following steps:
step S1: vehicle information of the automatic driving vehicle and an adjacent rear vehicle on a current lane of the automatic driving vehicle is collected, and critical reaction time is calculated based on the vehicle information. Wherein the vehicle information includes: current position, current speed, current acceleration, vehicle length, etc.
Calculating the critical reaction time is a process of carrying out quantitative processing on the vehicle information, and the idea is as follows: the autonomous vehicle and its following vehicles keep moving with the current acceleration, and the following vehicles take emergency braking measures after a period of reaction time to avoid rear-end collisions with the autonomous vehicle. Thus, the calculation yields a critical situation for a collision*(i.e. the length of reaction time that can be supplied to the rear-end vehicle in the critical case of a collision). Thus, the critical reaction time is calculated according to the formula*。
Step S2: and calculating the collision probability of the current rear vehicle and the automatic driving vehicle based on the critical reaction time, if the collision probability is higher than a preset threshold value, controlling the automatic driving vehicle to be in a rear-end anti-collision control mode, and if not, controlling the automatic driving vehicle to be in an original control mode of automatic driving.
In the embodiment of the invention, the formula for calculating the collision probability
Figure BDA0002491041580000071
It can be known that, calculating the collision probability also requires knowing the mean and standard deviation, and the obtaining idea is: collected from respective vehicle driven by motorThe method comprises the steps of collecting and storing track information of surrounding vehicles in a networking mode, carrying out parameter calibration on the track information based on an intelligent driver model to obtain a human driver reaction time data set, drawing a distribution diagram of the obtained reaction time, and fitting the distribution diagram to obtain distribution parameters mu and sigma. The specific idea of the intelligent driver model is to determine the acceleration after the reaction time (since the human driver has a perceived reaction time between the recognition of the deceleration and the execution of the deceleration operation) based on the current state of the front and rear vehicles. The specific idea of parameter calibration is mainly to simulate the motion track of the rear vehicle by combining an intelligent driver model according to the motion track of the front vehicle, and to find out the minimum error between the simulated track and the real track of the rear vehicle under the condition of which parameter combination.
The invention obtains the collision probability P and a preset threshold value P*By comparison, if P > P*Then the rear-end collision avoidance control system is entered and the speed reduction lights are turned on to alert the rear vehicle (whether the autonomous vehicle acceleration is positive or negative). In this embodiment, the preset threshold is preferably 20%, and in other possible embodiments, the preset threshold may be in a range from 10% to 50%.
The rear-end anti-collision control mode provided by the invention is used for controlling the acceleration of the automatic driving vehicle according to the following rules:
if the adjacent preceding vehicle of the autonomous vehicle satisfies: a isclIs < 0 and
Figure BDA0002491041580000072
controlling the acceleration of the autonomous vehicle to be the acceleration corresponding to the minimum collision probability according to the following A-type constraint:
constraint of type A:
min P
Figure BDA0002491041580000073
if not, the acceleration of the automatic driving vehicle is controlled to be the acceleration corresponding to the minimum collision probability according to the following B-type constraint:
constraint of type B:
min P
Figure BDA0002491041580000081
in the formula, acl、vcl、xcl、LclRepresenting the current acceleration, current speed, current position and vehicle length, x, of a preceding vehicle adjacent to the autonomous vehicleACC、LACC、vACC、aACC、amin、amaxRespectively represents the current position, the length, the current speed, the current acceleration, the maximum deceleration, the maximum acceleration, and t of the autonomous vehicle*And the cycle iteration duration of the set front vehicle of the automatic driving vehicle without rear-end collision of the current lane is shown, and t represents time. In the present embodiment, the maximum desired acceleration and the maximum deceleration (i.e., the minimum acceleration) of the vehicle are divided into 2m/s2And-3 m/s2，t*The value is 1 s.
From the formula, the rear-end anti-collision control mode determines the acceleration of the automatic driving vehicle according to the minimum collision probability on the basis of meeting the constraint condition, and further adjusts the speed of the automatic driving vehicle.
Step S3: judging whether a lane changing lamp of the automatic driving vehicle is turned on, and if so, executing step S4; if not, selecting the lane change direction and turning on the lane change lamp, and then executing the step S4;
in the embodiment, if the automatic driving vehicle is in the leftmost lane or the rightmost lane, the lane changing direction does not need to be decided, and only the only selection is carried out; if the automatic driving vehicle is in the middle lane, decision making judgment is needed, and the judgment is as follows: and respectively calculating the collision probability between the automatic driving vehicle and the rear vehicle on the lane change according to a collision probability calculation formula, selecting the smaller one as the lane change direction, and turning on a steering lamp in the corresponding direction.
Step S4: judging whether the turn-on time of the turn lamp exceeds a preset time length, and if so, executing a step S5; if not, ending the current flow;
step S5: judging whether a safe lane changing condition is met or not, and if yes, changing lanes; otherwise, the current flow is ended.
It should be understood that the embodiments of the present invention include the above steps S1-S5, and other possible embodiments may include only the steps S1-S2, which is not specifically limited by the present invention.
Based on the method, the embodiment of the invention also provides an automatic driving vehicle rear-end anti-collision control system, which comprises the following steps:
an acquisition module: the vehicle information acquisition system is used for acquiring vehicle information of an automatic driving vehicle and adjacent rear vehicles and front vehicles of the automatic driving vehicle.
A collision probability acquisition module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for calculating critical reaction time based on vehicle information of an automatic driving vehicle and a vehicle behind the automatic driving vehicle; calculating the collision probability of the current rear vehicle and the automatic driving vehicle based on the critical reaction time;
rear end anticollision control module: for controlling the autonomous vehicle in a rear-end collision avoidance control mode;
original control module of automatic driving: for controlling the autonomous vehicle in an original control mode of autonomous driving.
The lane changing control module: the lane changing lamp is used for judging whether the lane changing lamp of the automatic driving vehicle is started or not, judging whether the turn-on time of the steering lamp exceeds the preset time length or not and judging whether the lane changing condition is met or not.
Meanwhile, the corresponding hardware system includes: vehicle mounted sensors, a CPU, and a control subsystem. The vehicle-mounted sensor is a camera arranged at the head and the tail of the vehicle, a millimeter wave radar and a laser radar. The vehicle data is collected and transmitted to the CPU for data processing, the data processing result is fed back to the control subsystem, and the control subsystem controls the vehicle to be subjected to addition and subtraction operation or controls the vehicle to enter an original control mode of automatic driving.
The invention provides computer equipment which comprises a memory and a processor, wherein a computer program capable of running on the processor is stored on the memory, and the processor executes the computer program to realize the steps of the rear-end anti-collision control method of an automatic driving vehicle.
The invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of an autonomous vehicle rear-end collision avoidance control method.
Examples
Fig. 2 shows a unidirectional three-lane (bidirectional six-lane) highway, which is an application scenario of the rear-end collision avoidance control method based on the autonomous vehicle. We assume that a certain application scenario is shown in table 2 below:
TABLE 2
Vehicle with a steering wheel Position (x) Speed (v) Acceleration (a) Vehicle length (L)
ACC vehicle 23m 26m/s -0.5m/s2 5m
Current leader 56m 26m/s -0.5m/s2 5m
Current follower 0m 28m/s 1m/s2 5m
Left follower -4m 30m/s 0m/s2 5m
Left leader - - - -
Right follower -2m 24m/s 0.5m/s2 5m
Right leader - - - -
First, according to the current situation, calculating*The value of (c):
Figure BDA0002491041580000091
taking the positive value as
Figure BDA0002491041580000092
Thereafter calculating the collision probability
Figure BDA0002491041580000093
If P is more than 20%, the rear-end anti-collision control system is started, and the collision probability is assumed to be larger than the threshold value of the collision probability.
Second step, aclCalculated as-0.5 m/s2
Figure BDA0002491041580000094
Belonging to class B constraints. Calculating an objective function under class B constraint:
min P
Figure BDA0002491041580000101
solving the planning problem to obtain an optimal solution
Figure BDA0002491041580000102
And operates at this acceleration.
And thirdly, the lane changing lamp is not turned on, and the automatic driving vehicle is positioned in the middle lane, so that the direction of the expected lane changing is required to be judged. Calculating to obtain the vehicle behind the left lane
Figure BDA0002491041580000103
Vehicle behind right lane
Figure BDA0002491041580000104
Are compared to obtain
Figure BDA0002491041580000105
Namely, the right lane is selected as the target lane changing direction, and the right turn light is turned on.
And fourthly, obviously, the turning-on time of the steering lamp does not exceed 3s, and ending the current process.
It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the invention is not to be limited to the examples described herein, but rather to other embodiments that may be devised by those skilled in the art based on the teachings herein, and that various modifications, alterations, and substitutions are possible without departing from the spirit and scope of the present invention.

Claims (10)

1. The utility model provides an automatic driving car rear end anticollision control method which characterized in that: the method comprises the following steps:
step S1: collecting vehicle information of an automatic driving vehicle and an adjacent rear vehicle on a current lane of the automatic driving vehicle, and calculating critical reaction time based on the vehicle information;
wherein the critical reaction time represents the reaction time before the rear vehicle takes braking action under the critical condition that the rear vehicle collides with the automatic driving vehicle;
step S2: calculating the collision probability of the current rear vehicle and the automatic driving vehicle based on the critical reaction time, if the collision probability is higher than a preset threshold value, controlling the automatic driving vehicle to be in a rear-end anti-collision control mode, and if not, controlling the automatic driving vehicle to be in an original control mode of automatic driving;
the rear-end collision avoidance control mode is that the autonomous vehicle controls the acceleration of the autonomous vehicle while not rear-ending a preceding vehicle, so as to change the current speed of the autonomous vehicle to extend the reaction time available for a following vehicle.
2. The control method according to claim 1, characterized in that: the collision probability based on the critical reaction time is as follows:
Figure FDA0002491041570000011
wherein P represents the collision probability, f (; mu, sigma) represents the probability density function, represents the reaction time before the rear vehicle takes the braking measure, and follows the logarithmic normal distribution, mu, sigma are the mean value and standard deviation in the logarithmic normal distribution parameter of the reaction time before the rear vehicle takes the braking measure,*critical reaction time;
the probability density function f (; μ, σ) is shown below:
Figure FDA0002491041570000012
wherein e is a natural constant.
3. The control method according to claim 2, characterized in that: the process of obtaining the mean value and the standard deviation is as follows:
collecting peripheral vehicle information of a plurality of automatic driving vehicles, and calibrating parameters of the vehicle information based on an intelligent driver model to obtain a reaction time data set of a driver of a following vehicle; obtaining the mean value and the standard deviation according to the distribution diagram of the reaction time data set;
wherein the parameters are scaled as: simulating the motion trail of the rear vehicle by combining an intelligent driver model according to the motion trail of the front vehicle, and solving the condition of which parameter combination the error between the simulated trail of the rear vehicle and the real trail is minimum, wherein the intelligent driver model comprises the following steps:
Figure FDA0002491041570000013
Figure FDA0002491041570000021
wherein a (t +) represents the acceleration of the rear vehicle in the following vehicle group after the reaction duration at the current time t, and s*Represents a desired front-to-rear side distance, a 'in the current state'maxIndicating the maximum acceleration of the rear vehicle in the following train, β indicating the maximum desired deceleration of the rear vehicle in the following train, v and v0Respectively representing the current speed and the expected speed of a rear vehicle in the following vehicle group; s represents the distance between the front and rear vehicles in the current state; t represents the following time distance in the following process of the vehicle; s0Indicating the minimum distance which the rear vehicle is expected to keep from the front vehicle under the static condition of the front vehicle and the rear vehicle in the following vehicle group; Δ v representsThe speed difference between a rear vehicle and a front vehicle in the following vehicle group;
the parameters are combined as follows: maximum acceleration a 'of rear vehicle in driven vehicle group'maxA maximum desired deceleration β of a rear vehicle in the following vehicle group, a minimum distance s that the rear vehicle is expected to keep from the front vehicle when the front vehicle and the rear vehicle are in a static condition in the following vehicle group0Distance to follow-up T, maximum desired speed v of rear vehicle in following-up group0And reaction time.
4. The control method according to claim 1, characterized in that: the critical reaction time is calculated according to the following formula:
Figure FDA0002491041570000022
in the formula (I), the compound is shown in the specification,*denotes the critical reaction time, xACC、LACC、vACC、aACC、aminRespectively representing the current position, the vehicle length, the current speed, the current acceleration, the vehicle maximum deceleration, x, of the autonomous vehiclecf、vcf、acfRespectively representing the current position, the current speed and the current acceleration of the rear vehicle;
if the calculated critical reaction time is an imaginary value, setting the critical reaction time to be + ∞; if the calculated critical reaction time is a negative real number, setting the critical reaction time to be 0; if the calculated critical reaction time is a positive real number, the critical reaction time is a calculated value.
5. The control method according to claim 1, characterized in that: controlling the acceleration of the autonomous vehicle in the rear-end collision avoidance control mode according to the following rules:
if the adjacent preceding vehicle of the autonomous vehicle satisfies: a isclIs < 0 and
Figure FDA0002491041570000023
then according to the following class A approximationControlling the acceleration of the autonomous vehicle to be the acceleration corresponding to the minimum collision probability:
constraint of type A:
min P
Figure FDA0002491041570000031
if not, the acceleration of the automatic driving vehicle is controlled to be the acceleration corresponding to the minimum collision probability according to the following B-type constraint:
constraint of type B:
min P
Figure FDA0002491041570000032
in the formula, acl、vcl、xcl、LclRepresenting the current acceleration, current speed, current position and vehicle length, x, of a preceding vehicle adjacent to the autonomous vehicleACC、LACC、vACC、aACC、amin、amaxRespectively represents the current position, the length, the current speed, the current acceleration, the maximum deceleration, the maximum acceleration, and t of the autonomous vehicle*And the cycle iteration duration of the set front vehicle of the automatic driving vehicle without rear-end collision of the current lane is shown, and t represents time.
6. The method of claim 1, wherein: executing step S2, if the collision probability is higher than the preset threshold, further including:
step S3: judging whether a lane changing lamp of the automatic driving vehicle is turned on, and if so, executing step S4; if not, selecting the lane change direction and turning on the lane change lamp, and then executing the step S4;
step S4: judging whether the turn-on time of the turn lamp exceeds a preset time length, and if so, executing a step S5; if not, ending the current flow;
step S5: judging whether a safe lane changing condition is met or not, and if yes, changing lanes; otherwise, the current flow is ended.
7. The method of claim 6, wherein: the safe lane changing condition is as follows:
firstly, judging whether the automatic driving vehicle can ensure a safe distance with a front vehicle on a target lane under the current acceleration, and if so, calculating the collision probability between the automatic driving vehicle and a rear vehicle on the target lane;
if the collision probability is smaller than a preset threshold value, a safe lane changing condition is achieved; if the safe distance between the vehicle and the front vehicle on the target lane cannot be ensured or the collision probability is greater than or equal to a preset threshold value, the safe lane changing condition is not met;
judging whether the acceleration of the automatic driving vehicle meets the following criteria, if so, the automatic driving vehicle can guarantee the safe distance with the front vehicle on the target lane, and the criteria are as follows:
Figure FDA0002491041570000041
wherein x isACC、vACC、aACCRespectively representing the current position, the current speed and the current acceleration of the automatic driving vehicle; a istl、vtl、xtl、LtlRespectively representing the current acceleration, current speed, current position and vehicle length of a preceding vehicle in a target lane of an autonomous vehicle, t*And the cycle iteration duration of the set front vehicle of the automatic driving vehicle without rear-end collision of the current lane is shown, and t represents time.
8. The utility model provides an automatic driving car rear end collision avoidance control system which characterized in that: the method comprises the following steps:
an acquisition module: the system comprises a vehicle information acquisition module, a vehicle information acquisition module and a vehicle information acquisition module, wherein the vehicle information acquisition module is used for acquiring vehicle information of an automatic driving vehicle and adjacent rear vehicles and front vehicles of the automatic driving vehicle;
a collision probability acquisition module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for calculating critical reaction time based on vehicle information of an automatic driving vehicle and a vehicle behind the automatic driving vehicle; calculating the collision probability of the current rear vehicle and the automatic driving vehicle based on the critical reaction time;
rear end anticollision control module: for controlling the autonomous vehicle in a rear-end collision avoidance control mode;
original control module of automatic driving: for controlling the autonomous vehicle in an original control mode of autonomous driving.
9. A computer device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, characterized in that: the processor, when executing the computer program, realizes the steps of the method of any of claims 1-7.
10. A storage medium having a computer program stored thereon, characterized in that: the computer program when executed by a processor implements the steps of the method of any one of claims 1 to 7.
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